Evan Drumwright
Evan Drumwright
@sherm1, I've been using a volumetric description of the intersecting geometries in Moby for convex polyhedra. One nice thing about this is that the volume is also convex, so point...
The answer to the question I _think_ you're asking, @gdbaldw, is that a single point of contact is generally insufficient to prevent interpenetration even though equipollent forces/impulses at the two...
Could I make two requests? 1. Could you bump the priority for joint locking? 2. Would you cause SAP solver to fail fast if joint locking is enabled? We spent...
I like this. Do you have a specific reason for wanting it to be a System rather than DrakeVisualizer like utilities?
We actually could not get by without initialization events! A bit hard to explain our use case, but it's a perfect storm of Monte Carlo simulation plus real-time plus IPC.
The most common use case within the Dextrous code base happens when we have some abstract state that is initialized based on the value of one or more Parameters. Since...
@sherm1 and I discussed. Here are our thoughts: Simulator::StepTo(.) should warn the user (message to stderr or an exception) when time has gone backwards, because Initialize(.) should almost always be...
It's a separate issue that I noticed when @RussTedrake noticed that one sequence worked and one didn't. I'd be just fine with throwing an exception here. I can't imagine a...
The user can catch the exception, no? StepTo(.) always lives in user-level code.
Fair enough. I don't know how we can warn in any reasonable manner that forces the user to be aware of the message.