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dartsim / dart

DART: Dynamic Animation and Robotics Toolkit
http://dartsim.github.io/
BSD 2-Clause "Simplified" License
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Improve correction of positional constraint violation in dynamics simulation #593

Open jslee02 opened 8 years ago

jslee02 commented 8 years ago

Currently, DART corrects positional violation using artificial velocity with ERP. High ERP may correct the violation fast, but it can make the system unstable by adding too much artificial energy. On the other hand, low ERP may not correct the violation sufficiently fast. This makes DART requires more error tolerance than other physics engines in the gazebo unit tests including this joint limit test.

DART probably need to correct the positional constraint violation directly by solving LCP twice for both of positional and velocity constraint violations as ODE does (it will sacrifice the performance). Or, we should consider using better constraint handling method if possible.

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stale[bot] commented 6 years ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed in 7 days if no further activity occurs. Thank you for your contributions.