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Hello,
I'm trying to create a matrix from the standard C++ matrix.
I'm reading the AmgX API reference and `AMGX_create_matrix` is only for existing matrices with handles (but where do we create the …
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See the comment here https://github.com/moorepants/learn-multibody-dynamics/pull/171#issuecomment-1962958217
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Hi, I was trying to implement what [this article](https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7573630/#:~:text=a%20small%20regularization%20term%20was%20added%20to%20enhance%20convergence%20by%20mini…
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Currently, we are decorating every method and function inside the `jaxsim.api` with `jax.jit`. Yet, this introduces an overhead as the inner functions get compiled multiple times:
Single JIT
Multip…
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This is an issue to track Drake::MBP vs alternatives (currently Pinocchio). This example is on a Cassie URDF. Some comments on the plant:
- Does not include loop closure
- Does not include contact…
mposa updated
2 years ago
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**Is your feature request related to a problem? Please describe.**
Relates #6527
Per f2f w/ Ale, we most likely don't support joint-level dry friction, aside from damping (viscous friction). Seems…
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# Description of feature
I am wondering if there are any plans to extend RAFT to multiple hydrodynamic bodies, and if not how easy it would be for me to do this myself? This would be useful for simul…
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Hello there :wave: I'm writing regarding the following admonition in the docs :)
I am solving optimal-…
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We are now at n=2 cases where someone has wanted to do joint locking/unlocking based on the current state of a simulation:
* https://drakedevelopers.slack.com/archives/C2WBPQDB7/p1697058667553179
…
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The joints in a typical URDF (e.g., panda arm) will have stanzas something like this:
```xml
...
transmission_interface/SimpleTransmission
…