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CONTRIBUTING.md

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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 /test folder to detect software bugs.

Useful Materials

For system identification, refer to the following resources: