Issues

• Sampling C3 Double-Compensating End Effector Gravity

  DAIRLab/dairlib#413 · Filter by author cuie23 opened on Aug 20, 2026

• C3 performance issue (at least relevant to MIQP projection)

  DAIRLab/dairlib#408 · Filter by author ebianchi opened on Jun 9, 2026
  

• Adding the box and ball example to sampling_based_c3_public

  DAIRLab/dairlib#375 · Filter by author sharanyashastry opened on May 31, 2025
  

• Potential multiple DiscreteUpdates being called

  DAIRLab/dairlib#346 · Filter by author yangwill opened on Apr 6, 2023
  

• Support multiple floating base bodies in multibody_utils

  DAIRLab/dairlib#323 · Filter by author mposa opened on Oct 25, 2022

• Adding documentation to geom_geom_collider about potential future conflicts

  DAIRLab/dairlib#317 · Filter by author AlpAydinoglu opened on Sep 29, 2022

• Declare all internal states as drake State or CacheEntry

  DAIRLab/dairlib#311 · Filter by author Brian-Acosta opened on Jul 19, 2022
  1

  

• CalcForceElementsContribution includes Gravity

  DAIRLab/dairlib#298 · Filter by author mposa opened on Apr 12, 2022
  

• Multipose Visualizer

  DAIRLab/dairlib#276 · Filter by author mposa opened on Jan 26, 2022
  

• Our current version of LcmDrivenLoop might be getting old message

  DAIRLab/dairlib#229 · Filter by author yminchen opened on Feb 4, 2021

• dircon segfault adding post impact velocity constrain when no impact

  DAIRLab/dairlib#218 · Filter by author ShaneRozenLevy opened on Jan 4, 2021
  3

• MultibodyPlant vs Pinocchio Performance

  DAIRLab/dairlib#181 · Filter by author mposa opened on Jul 18, 2020
  7

• DIRCON rework

  DAIRLab/dairlib#158 · Filter by author mposa opened on Jun 3, 2020
  8

  

• Cassie procman scripts are out of date

  DAIRLab/dairlib#154 · Filter by author mposa opened on May 28, 2020
  1

• Missing prereqs for install script

  DAIRLab/dairlib#122 · Filter by author mposa opened on Dec 10, 2019

• Benchmarks for Dircon performance

  DAIRLab/dairlib#115 · Filter by author yminchen opened on Nov 18, 2019
  4

• Input Supervisor Output

  DAIRLab/dairlib#111 · Filter by author mposa opened on Nov 4, 2019
  

• Trajectory Optimization Performance

  DAIRLab/dairlib#106 · Filter by author mposa opened on Oct 9, 2019
  2

  

• Cassie MBP Simulation Testing

  DAIRLab/dairlib#105 · Filter by author mposa opened on Oct 9, 2019
  

• Data Visualization

  DAIRLab/dairlib#103 · Filter by author mposa opened on Oct 2, 2019
  3

  

• Generalize OSC Tracking Data

  DAIRLab/dairlib#92 · Filter by author mposa opened on Jul 29, 2019
  

• Time dispatcher, controller, and other Cassie systems

  DAIRLab/dairlib#45 · Filter by author mposa opened on Mar 5, 2019
  

• Refactor RobotInputReceiver/RobotCommandSender

  DAIRLab/dairlib#38 · Filter by author mposa opened on Feb 19, 2019
  

• Investigate differences between Cassie models, and select one

  DAIRLab/dairlib#17 · Filter by author mposa opened on Jul 18, 2018
  1

  

• Bring Existing dairlib code up to Google Style Guide Standards

  enhancement
  DAIRLab/dairlib#14 · Filter by author mshalm opened on Jul 9, 2018