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In [physics.vector](https://docs.sympy.org/latest/modules/physics/vector/vectors.html#vector-calculus-in-physics-vector) documentation, error in the DCM matrix explanation:
_From the above document…
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Check the second comment.
In the documentation:
" Moreover, two control modes are implemented: position and velocity. The mode is automatically detected by checking the size of the position and ve…
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After updating bevy_rapier3d to version 0.24.0 (and especially after this PR [#579](https://github.com/dimforge/rapier/pull/579)), a project written in bevy stopped building on one of my computers
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This issue is initially raised in the DrakeDeveloper Slack: https://drakedevelopers.slack.com/archives/C0JNB2E3S/p1699888429416319
To facilitate description and discussion of the issue, I will defi…
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We've agreed to add this as a lesson in the 2023 course, so we need a chapter to go along with it. Probably should go after the DAE simulation chapter so that we can apply the DAE integrator to this s…
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See: https://github.com/moorepants/me41055-homework/issues/82
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When the origin of a body is not at the center of mass (including any attached objects), the kinematics of bodies are not correct.
As a somewhat extreme demonstration of this, we can set up two kin…
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The problem is that we have a lot of models decorated with point spheres (and no hydro specification at all). We know these models would simulate better with hydro.
The ycb objects, for instance, wou…
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In GitLab by @cmastalli on Sep 24, 2019, 15:25
The contact dynamics is solved using Cholesky decomposition as explained in the following [PDF](https://cmastalli.github.io/publications/crocoddyl20unpu…
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MultibodyPlant requires the ability to rapidly simulate contact with Coulomb friction as a continuous system (i.e., simulation through our initial value problem solvers, aka "integrators"). Whether th…