CONTRIBUTING
Hi, the work is in progress, and any contributions to the project are welcome. See the following guidelines for areas where help is needed:
[ ] Complete the development of the Trajectory Engine generation.
[ ] Fix the friction Lugre model base class.
[ ] Add more friction and/or rigid body contact models in the viscoelastic engine.
[ ] Add exception handlers for zero division and/or NaN/Inf value assertions in friction scripts.
[ ] Complete the N4SID integration method.
[ ] Implement a reduced mechanical model.
[ ] Adjust for GPU support (CUDA).
[ ] Fix the differentiation problem (finite difference method is error-prone). Consider using automatic differentiation with Autodiff or other tools.
[ ] Change function and class naming to align with Python coding standards.
[ ] Fix the inertial matrix symmetry issue (add a custom verification function or similar).
[ ] Add more test scripts in the
/testfolder to detect software bugs.
Useful Materials
For system identification, refer to the following resources: