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gazebosim / gazebo-classic

Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim
http://classic.gazebosim.org/
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DART does not detect closed loop automatically #913

Open osrf-migration opened 11 years ago

osrf-migration commented 11 years ago

Original report (archived issue) by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

Migrated from https://bitbucket.org/jlee02/gazebo_dart/issue/1/dart-does-not-detect-closed-loop

DART supports closed loop structure as an constraint which is solved by ContactDynamics. The closed loop constraint is not set automatically so the dart physics layer should add the constraint. This functionality is not implemted yet.

All pr2 tests are affected by this.

@jslee02 @karenliu

osrf-migration commented 11 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

For reference, here is simbody's approach: https://github.com/simbody/simbody/blob/004f35b6fd2f0147816d329421fda4ec3958a8cd/SimTKmath/src/MultibodyGraphMaker.cpp#L664

osrf-migration commented 8 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).