Twan Koolen
Twan Koolen
- [ ] Store collision geometry in `Mechanism` (current status: contact points stored in RigidBody, world-fixed environment in the form of halfspaces stored in `Mechanism`) - [ ] Decide how...
Will be needed for upcoming changes related to simultaneous simulation of multiple mechanisms (https://github.com/JuliaRobotics/RigidBodyDynamics.jl/issues/572, which might still take a while). TODO: - [ ] basic documentation - [ ] adjust...
On top of #577. I eventually want to merge this, but it'll take some time. These are all old commits. This will be part of a new major release. To...
Do you support damping in urdf? `` If not, how can I add one? _Originally posted by @Islam0mar in https://github.com/JuliaRobotics/RigidBodyDynamics.jl/issues/317#issuecomment-503895047_
* more URDFs * more dedicated tests * https://github.com/rdeits/RigidBodyTreeInspector.jl/issues/32
Found this out this week. Baseline on current master: ```julia BenchmarkTools.Trial: memory estimate: 0 bytes allocs estimate: 0 -------------- minimum time: 32.997 μs (0.00% GC) median time: 34.839 μs (0.00%...
- [x] Add constraint force subspace function for each joint type. - [x] Store loop joints in `Mechanism` - [x] Modify `attach!` to handle loop joints. - [x] Enforce loop...
* `rand` methods should take an `rng` * perhaps use the new sampler machinery to change `rand(Wrench{Float64}, frame)` to `rand(WrenchSampler(frame, [numbersampler]))`
... and instead making it be an argument of `inverse_dynamics!` and related functions.
- [x] Store joint limits in `Mechanism` or `Joint`. - [ ] Take joint limits into account in dynamics. - [x] URDF parsing.