1. Necessary software
The experiments use the following software versions:
a. Ravelin (master branch), commit hashtag 8d3299
b. Moby (new-qp branch), commit hashtag cc348a6
c. Pacer (fork)
2. Description of experiments
- multibody-CA: the "chain" experiment, with additional code for verifying
multibody conservative advancement
- rotating box: the "thrown die" experiment
3. Quadrupedal experiments
Quadrupedal experiments with Pacer have not been added to this repository:
significant modifications to Pacer were necessary to record changes to the
contact manifold, and significant modifications to the Links model were
necessary to replace the feet with spherical polyhedra.