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Use something like the [Featherstone algorithm](https://en.wikipedia.org/wiki/Featherstone%27s_algorithm) to calculate joint state in reduced coordinates - one coordinate for each rotational/translati…
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**Original report ([archived issue](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/issues/872)) by Steve Peters (Bitbucket: [Steven Peters](https://bitbucket.org/%7B2ccfed09-18b8-4921…
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**Original report ([archived issue](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/issues/962)) by John Hsu (Bitbucket: [hsu](https://bitbucket.org/%7B0a186eae-abf0-4514-a951-23db5ecc…
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So i can not run the program using win 11 -> invalid directory (i will make a run for a crest xyz file= and the update do not work
in wsl2 the update clean my home directory with all installed prog…
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## Environment
* OS Version: Ubuntu 20.04
* Source or binary build? source build, gz-physics7 branch
## Description
In bullet-featherstone plugin, The frame data computation is done in the […
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Hi,
Is there any way to obtain the G matrix of the 8.8 Featherstone's? I didn't find anything in the code but maybe I am missing something. In other words, I see that I can get the implicit constra…
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The same goes for roty and rotz.
![image](https://github.com/rbdl/rbdl/assets/149664923/d1351f35-43da-468d-ad06-6c97493f6f54)
Why is the rotation matrix not in the following form? Isn’t counterclo…
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Real robots often have transmissions between joints, which may have properties like gearing ratios and backlash. There can also be mechanisms where multiple joints are coupled. A common example of thi…
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I've been using warp for a few weeks and it's definitely a very impressive, well executed project!
Currently, I am having trouble simulating a hinge joint using `warp.sim`.
I set the joint range t…
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DART use body fixed frame representation for dynamics algorithms since it is faster according to Featherstone's study. Through some accuracy test, however, we discovered that there are some cases that…