Nicholas Pfaff

I want to do some testing on my data, but I'm struggling to find a working input bounding box size. Does someone have hints on how to find the right...

Remove embreex dependency for mac M1

3

The [embreex](https://github.com/trimesh/embreex) dependency seems to prevent trimesh working on mac with arm chips. This has been discussed [here](https://github.com/mikedh/trimesh/issues/1601) to some extent. As `embree` seems to mainly be an intel raytracer,...

Mesh union results in identical vertex indices in the same face

2

I tried to take the mesh union of the attached meshes. When I use scad, I get the error "subprocess.CalledProcessError: Command '['/usr/bin/openscad', '/tmp/tmpzpy07m98', '-o', '/tmp/tmp5utetk_c.off']' returned non-zero exit status 1."....

[QUESTION] Scale-invariant feature descriptors

1

**Have you read the documentation?** - [x] Yes - [ ] No - then this issue will be closed. Does anyone know a good open-source scale-invariant feature descriptor for point...

Allow `InverseDynamics` with custom plant parameters

2

**Is your feature request related to a problem? Please describe.** I want to quickly test inverse dynamics control tracking with different plant parameters (e.g., mass). I can change these parameters...

`kIiwaLcmStatusPeriod` must be configurable

2

### What happened? [kIiwaLcmStatusPeriod](https://github.com/RobotLocomotion/drake/blob/master/manipulation/kuka_iiwa/iiwa_constants.cc#L27C14-L27C34) is currently a constant and is used by `BuildIiwaControl`, regardless of the iiwa control mode. However, the driver specifies different periods for different control modes. In...

get_iiwa_max_joint_velocities should marked internal and iiwa14-only

3

### What happened? This is my bad as I didn't notice the existence of [this function](https://github.com/RobotLocomotion/drake/blob/master/manipulation/kuka_iiwa/iiwa_constants.cc#L9C17-L9C46) when [updating the iiwa7 joint velocities](https://github.com/RobotLocomotion/drake/commit/e6384996ffc44f8d0866a5308c1da660f042237e). The values can be found in the tables...

Support real realsense cameras

1

Currently, `MakeHardwareStation` does not add cameras when `hardware=True` (see [here](https://github.com/RussTedrake/manipulation/blob/master/manipulation/station.py#L1305)). The goal of this issue is to support real realsense cameras using the `RobotLocomotion` LCM [driver](https://github.com/RobotLocomotion/realsense2-lcm-driver). This is blocked by...

ROS2 support

6

I would love a ROS2 version of this project. The possibility of this was mentioned [here](https://github.com/berndpfrommer/tagslam_root/issues/18#issuecomment-1400341301), but I wanted to create this issue to allow people to express their support.

`MeshcatVisualizer`: Setting opacity no longer persistent for GLTF models

1

### What happened? `meshcat.SetProperty(meshcat_path, "opacity", alpha)` is no longer persistent with the new GLTF models, i.e. the old opacity reappears after some simulation timesteps or after reloading the browser. This...