-
######input parameter in line 8
using WaterLily,StaticArrays
using ParametricBodies # New package
using DelimitedFiles
function make_sim(;L=48,Re=1e3,St=0.3,αₘ=-π/18,U=1,T=Float32,mem=Array)
…
-
**Is your feature request related to a problem? Please describe.**
When working with a MbP and a parallel jaw gripper for control purposes, it would be useful to know when a joint is able to be actua…
-
LDC
- [ ] a flared 3.125m> 3.75m fairing (also usable for Delta IV widebody fairing)
Delta IV
- [x] Composite fairing
Atlas
- [x] MSD fairing (1.25m?)
- [x] POPPY/Strawman
Peacekeeper/Ath…
-
Working with Jacobians in a MBP that has multiple instances is a pain -- it's up the user to pull out the elements of the jacobian that they actually need. ([here is an example](https://colab.researc…
-
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
…
-
Missing stuff:
- [ ] #465
- [ ] #466
- [ ] #469
- [ ] #444
- [ ] #438
- [ ] #467
-
I observed that I was getting surprisingly different LQR gains for a `MultibodyPlant` with time_step=0 vs time_step=small and spent some time investigating. I eventually winnowed it down to a minimal…
-
### What happened?
It should not be possible to write the loop
```
for (JointIndex joint_index(0); joint_index < plant.num_joints();
++joint_index)
```
as MultibodyPlant's joint indexes …
-
In `MultiBody.ipynb` t
```
# draw the robot
from graph.multibody import MultiBodyViz
# add visualization of the of the b4 and b5 body that don't have any successors
X_b4_ef = sva.PTransformd(s…
-
We had a long discussion in #16992. It turns out that pretty much every error discussed in that issue stems from the same source: someone added a zero inertia (mass and/or rotational inertia) body to …