Got marker in the right position by referencing btRigidBody in model constructor. Will refactor this after ICRA
Applying force with abstractMarker
first attempt at caterpillar
new attempt to connect with rigids, will do muscles later
Ramp function for force
Seperating control and stiffness of top strings
no longer using static segments, trial with equal and opposite forces 150646
Better force placement TCData09222014_152240
Merge branch 'caterpillar' into TetraSpineStatic, because I need code
Updated nodes and pairs for point masses
Better match to the geometry of the robot, worse tension values
Parameters for TCData09222014_184537, best run so far but still 20 N higher in IL and IR
Slightly different way of computing rod distances (better match to In Won's perspective, but only gets 2 out of 6 strings. Corresponds to TCData09232014_105408
Fixing mass of rear segment
Additional tuning and crazy ideas
Static analysis control code. Corresponds to TCData09242014_102721
Allow for full specification of the robots state (all 12 strings). Corresponds to TCData09242014_135158
New friction values, testing out new solver, data from 211512
Apply impulse solves friction problems
Merge branch 'master' of https://github.com/NASA-Tensegrity-Robotics-Toolkit/NTRTsim into TetraSpineStatic