TODO

If you’d like DisMech to support a new feature, feel free create an issue and we’ll add it to the list here.

High priority

  • [ ] Add per-limb friction coefficient logic. PR #5

  • [ ] Add active entanglement example code.

  • [ ] Add limb self-contact option.

  • [ ] Add contact logic for joints.

  • [ ] Add URDF functionality for instantiating robot.

Low priority

  • [ ] Possibly replace floor contact force (currently uses IMC) with modified mass method.

  • [ ] Add detailed documentation for all examples.

  • [ ] Add more code examples for initializing limbs and joints.

  • [ ] Add time varying boundary condition logic.

  • [ ] Add more controller types.

  • [ ] Add shell functionality.

COMPLETED

  • [x] Add forward Euler integration scheme.

  • [x] Add contact logic for limbs.