Michael Koval

> Also, `maxNumContacts == 0` sounds like we don't want to check any contacts to me. That is correct. In a binary check you typically don't want to spend time...

What is the meaning of `maxNumContacts` if `enableContact == false`? My assumption is that setting `maxNumContacts == 1` would use FCL to compute the contact position and normal for the...

I think this is mostly a naming issue - we use "contact" to refer to both the pairwise collision of two `ShapeFrame`s and a contact point/normal. What are the point...

I am a fan of YAML and already `yaml-cpp` extensively in my own code. I think it's generally a great idea. However, I do have a few reservations: 1. **YAML...

> Correct me if I'm wrong, but to me it looks to me like YAML has the potential for being complicated, but we can choose to use it in a...

> We might don't want that case. One possible compromise I can come up with now is using threshhold. We make the joint to enforce position limits if the magnitute...

@jeffeb3 Thanks! I see @jslee02's comment now: > This could be confusing in some sense, but we added this switch to be able to turn the position limit constraint on...

I agree with everything @psigen said. Unless I'm missing a specific use case, I really think `setPositionLimitEnforced` _should not exist at all_. > The constraint solver doesn't generate constraints for...

I _strongly_ agree with moving the tutorials out of the DART source tree. Most users install DART as a binary package and build code _outside of the source tree_ that...

> In the meantime, the only thing I can think of would be to make a copy of the biped model if we want to split off the tutorial directory....