Jeongseok (JS) Lee

Good point. I meanted making `DART_INCLUDE_DIRS` as an undefined variable, but it seems CMake teats an undefined variable as an empty variable in `target_link_libraries` sliently. The user can be confused...

This is related to the angular momentum error but not to other errors such as linear velocity error.

It's not easy to decide which information should be included to a certain state class. I think we can avoid this problem by letting the user to determine it themselves...

Thank you for the report! I'm not familiar with the architectures (riscv64 and s390x). Could you please let me know where these architectures are generally used for? Also, I'm afraid...

> One idea I have would be to make the Skeleton class templated to a maximum number of degrees of freedom (set by the user) with `-1` meaning unlimited degrees...

@costashatz Thanks for investigating on this issue. The benchmark code would be very helpful for testing and improving the DART performance. It'd appreciated if you could share the code once...

That's a good point. I might first try to move the built-in data in Joint and BodyNode except for the state and properties in Aspect. If this shows a meaningful...

@costashatz Thanks for the provided benchmarks. I haven't had a chance to take a look at it. Let me go over the benchmarks, check what we can do, and get...

Sorry, no update yet. Let me work on this after releasing v6.10 addressing a couple of issues, which might be next week or so.

As @mxgrey said, closed loop constraint can be made by (1) adding dummy BodyNode (or breaking existing BodyNode in the closed loop into two BodyNode) using WeldJointConstraint (e.g., [rigidLoop app](https://github.com/dartsim/dart/tree/master/apps/rigidLoop))...