Jan Bruedigam

MRP Test sometimes fails with slightly violated tolerance

3

See for example CI#299 (attempt 1). https://github.com/dojo-sim/Dojo.jl/actions/runs/1972726645/attempts/1

UnitQuaternions and ForwardDiff

6

When differentiating a function that takes a quaternion as an input, I get several different solutions for different setups. I know it's not really correct to treat a quaternion as...

In an empty environment, trying to add MeshCat v0.14.2 and Rotations v1.3.0 fails, even though according to MeshCat's Project.toml it should be possible. Not sure if maybe the manual compat...

The function `convert_frames_to_video` currently works, but on Windows, the resulting video cannot be played on standard players because they think the video is broken. A fix that works (I just...

So far only removing fixed joints is only implemented for URDF parsing

Functions related to contact handling are allocating a lot of memory. Could be tracked down and reduced for improved speed. The following code could be used for profiling (https://docs.julialang.org/en/v1/manual/profile/#Line-by-Line-Allocation-Tracking): ```julia...