Jeongseok (JS) Lee

Proposal: Cylindrical joint

1

[Definition of a cylinderical joint of Wikipedia](https://en.wikipedia.org/wiki/Cylindrical_joint).

Proposal: CollisionObject pairwise contact structure

1

This is a very rough idea based on offline talk with @mkoval, so I'm very open to hearing any idea to make the idea more concrete. The current contact structure...

Incorrect contact point computation of mesh-mesh collision

11

[Here](https://github.com/flexible-collision-library/fcl/commit/13a1f78e32ccdf26d1da3a3205480e860b456413) is a simple test to show the incorrect contact point computation in mesh-mesh collision I mentioned in #97. In the test, there are two meshes generated from [`Box`](https://github.com/flexible-collision-library/fcl/blob/master/include/fcl/shape/geometric_shapes.h#L76) as...

Pass MetaSkeleton as const reference to MetaSkeletonStateSpace

2

comment: https://github.com/personalrobotics/aikido/pull/278#pullrequestreview-87581484

Style: Adding empty line between header blocks or not

3

https://github.com/personalrobotics/aikido/pull/314#discussion_r187201620

Unlike `cloneRNGsFrom()`, we might use `cloneRNGFrom` to clone a single RNG. However, using this function is a bit inconvenient because it returns a one-element `std::vector`. I think it would make...

https://github.com/personalrobotics/aikido/pull/314#discussion_r187201251

Enable TSR planning problem to decide which IK solver to use.

2

Currently, we always use a Jacobian based iterative solver of DART. It'd be great to enable to choose which IK solver to use and to change other useful parameters.