From c178248fd958a8f4282e5a8cb9b840f740d6075c Mon Sep 17 00:00:00 2001 From: "Jeongseok (JS) Lee" Date: Sat, 7 Jan 2023 17:13:53 -0800 Subject: [PATCH] Update index.md --- index.md | 12 ------------ 1 file changed, 12 deletions(-) diff --git a/index.md b/index.md index 4137a05..60c0dce 100755 --- a/index.md +++ b/index.md @@ -53,18 +53,6 @@ In summary, DART has applications in robotics and computer animation as it featu ### Dynamics -* Achieve high performance for articulated dynamic systems using Lie Group representation and Featherstone hybrid algorithms. -* Enforce joints between body nodes exactly using generalized coordinates. -* Provide comprehensive API for dynamic quantities and their derivatives, such as mass matrix, Coriolis force, gravitational force, other external and internal forces. -* Support both rigid and soft body nodes. -* Model viscoelastic joint dynamics with joint friction and hard joint limits. -* Support various types of actuators. -* Handle contacts and collisions using an implicit LCP to guarantee non-penetration, directional friction, and approximated Coulomb friction cone conditions. -* Support ”Island” technique to subdivide constraint handling for efficient performance. -* Support various Cartesian constraints and provide extensible API for user-defined constraints. -* Provide multiple constraint solvers: Lemke method, Dantzig method, and PSG method. -* Support dynamic systems with closed-loop structures. - * High performance for articulated dynamic systems using Lie Group representation and Featherstone hybrid algorithms. * Exact enforcement of joints between body nodes using generalized coordinates. * Comprehensive API for dynamic quantities and their derivatives, such as the mass matrix, Coriolis force, gravitational force, and other external and internal forces.