There seems to be a DRAKE_DEMAND that doesn't match my understanding of what the num_contacts parameter means in lcs_factory_options (here). Right now, this checks if the number of ContactPairConfig objects in the parameter file is equal to the number of contacts, but if you have a single config object corresponding to multiple contacts (example below), then this DRAKE_DEMAND doesn't correctly count the number of contacts.
- body_A: "cube"
body_A_collision_geom_indices: [1, 2, 3, 4]
body_B: "plate"
body_B_collision_geom_indices: [0]
mu: 0.6
num_friction_directions: 2
I implemented a quick patch in this commit, although this branch has other stuff in it that I'm using specifically for my project
There seems to be a DRAKE_DEMAND that doesn't match my understanding of what the
num_contactsparameter means in lcs_factory_options (here). Right now, this checks if the number ofContactPairConfigobjects in the parameter file is equal to the number of contacts, but if you have a single config object corresponding to multiple contacts (example below), then this DRAKE_DEMAND doesn't correctly count the number of contacts.I implemented a quick patch in this commit, although this branch has other stuff in it that I'm using specifically for my project