Jeongseok (JS) Lee
Jeongseok (JS) Lee
I am encountering an issue while installing urdfdom using vcpkg on Windows. The urdfdom-config.cmake file that is generated and installed contains the following issue: ([CI log](https://dev.azure.com/dartsim/dart/_build/results?buildId=2114&view=logs&j=0a276db9-5b1c-5338-9da3-cff13433631b&t=50b954a6-333e-5c64-fe36-805407962dac&l=105)): ```cmake if (urdfdom_CONFIG_INCLUDED) return()...
This PR enables urdfdom to build static libraries by: - adding shared/static build option - adding URDFDOM_STATIC definition for static build - removing explicit build type specification from `add_library(~)` This...
The meaning of generalized coordinates of `BallJoint` and `FreeJoint` is not clear. `BallJoint` has rotation matrix R as configuration. Possible coordinate charts are: ``` r1 = log(R) r2 = inverseEuluerXYZ(R)...
It would be good if DART can report which part caused the simulation failure. - [ ] Handling NAN values - [ ] Limiting control input - [ ] Warning...
DART use body fixed frame representation for dynamics algorithms since it is faster according to Featherstone's study. Through some accuracy test, however, we discovered that there are some cases that...
Since soft flesh consists of point masses, we select the nearest point mass from a contact point on the mesh, and apply contact force to the point mass. Somehow we...
They are not supported by SDF in Gazebo as well.
Currently, contact parameters like friction and restitution are specified in `BodyNode`. `BodyNode` can have multiple collision shapes (objects) so it would be better if the parameters place in the collision...
The Coriolis term can be represented as $C(q, \dot{q}) \dot{q}$. The derivatives of the Coriolis term w.r.t. generalized positions and velocities would be useful in some cases. ``` \partial{C(q, \dot{q})...