{"action":"created","issue":{"url":"https://api.github.com/repos/dartsim/dart/issues/1028","repository_url":"https://api.github.com/repos/dartsim/dart","labels_url":"https://api.github.com/repos/dartsim/dart/issues/1028/labels{/name}","comments_url":"https://api.github.com/repos/dartsim/dart/issues/1028/comments","events_url":"https://api.github.com/repos/dartsim/dart/issues/1028/events","html_url":"https://github.com/dartsim/dart/issues/1028","id":304158627,"number":1028,"title":"Dynamic simulation of manipulator/The force control of manipulator ","user":{"login":"WeiJunQ","id":24955545,"avatar_url":"https://avatars1.githubusercontent.com/u/24955545?v=4","gravatar_id":"","url":"https://api.github.com/users/WeiJunQ","html_url":"https://github.com/WeiJunQ","followers_url":"https://api.github.com/users/WeiJunQ/followers","following_url":"https://api.github.com/users/WeiJunQ/following{/other_user}","gists_url":"https://api.github.com/users/WeiJunQ/gists{/gist_id}","starred_url":"https://api.github.com/users/WeiJunQ/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/WeiJunQ/subscriptions","organizations_url":"https://api.github.com/users/WeiJunQ/orgs","repos_url":"https://api.github.com/users/WeiJunQ/repos","events_url":"https://api.github.com/users/WeiJunQ/events{/privacy}","received_events_url":"https://api.github.com/users/WeiJunQ/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":4,"created_at":"2018-03-11T13:32:02Z","updated_at":"2018-03-13T07:20:06Z","closed_at":null,"author_association":"NONE","body":"Hello, I'm a beginner for DART, and I find that DART have a good result on robot dynamics simulation. I'm taking over a project about the force control using a six DOF industrial robot arm(This problem involves the dynamics of robot) recently, I want to find some relevant examples from this repository but I can't find something useful, The most examples only talk about human or humanoid robots and have few instance that involve dynamics control of the manipulator(Maybe I didn't find). \r\n\r\nI really don't know what to do. Could you give me some useful help or suggestions about this matter？\r\nThanks!\r\n"},"comment":{"url":"https://api.github.com/repos/dartsim/dart/issues/comments/372569874","html_url":"https://github.com/dartsim/dart/issues/1028#issuecomment-372569874","issue_url":"https://api.github.com/repos/dartsim/dart/issues/1028","id":372569874,"user":{"login":"WeiJunQ","id":24955545,"avatar_url":"https://avatars1.githubusercontent.com/u/24955545?v=4","gravatar_id":"","url":"https://api.github.com/users/WeiJunQ","html_url":"https://github.com/WeiJunQ","followers_url":"https://api.github.com/users/WeiJunQ/followers","following_url":"https://api.github.com/users/WeiJunQ/following{/other_user}","gists_url":"https://api.github.com/users/WeiJunQ/gists{/gist_id}","starred_url":"https://api.github.com/users/WeiJunQ/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/WeiJunQ/subscriptions","organizations_url":"https://api.github.com/users/WeiJunQ/orgs","repos_url":"https://api.github.com/users/WeiJunQ/repos","events_url":"https://api.github.com/users/WeiJunQ/events{/privacy}","received_events_url":"https://api.github.com/users/WeiJunQ/received_events","type":"User","site_admin":false},"created_at":"2018-03-13T07:20:06Z","updated_at":"2018-03-13T07:20:06Z","author_association":"NONE","body":"Hello, I can't find some relevant definitions about `mRI` in the head file `MyWindow.hpp`. The detailed code is as follows:\r\n> \r\n```\r\nvoid MyWindow::drawWorld() const\r\n{\r\n  // Draw the target position\r\n  if (mRI)\r\n  {\r\n    mRI->setPenColor(Eigen::Vector3d(0.8, 0.2, 0.2));\r\n    mRI->pushMatrix();\r\n    mRI->translate(mTargetPosition);\r\n    mRI->drawEllipsoid(Eigen::Vector3d(0.05, 0.05, 0.05));\r\n    mRI->popMatrix();\r\n  }\r\n  \r\n  // Draw world\r\n  SimWindow::drawWorld();\r\n}\r\n```\r\nWhat role does each function play in the construction, just like `pushMatrix` and `popMatrix` and so on？ I find haven't detailed explanations about this Class and function in the API document."}}
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