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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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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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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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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…
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The current docs for using the jupyter-sphinx [download roles](https://jupyter-sphinx.readthedocs.io/en/latest/#downloading-the-code-as-a-script) are outdated. I eventually tracked down the correct sy…
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## CZI EOSS Grant & Biomechanics
One stated outcome from the CZI work is the development of performance-critical musculoskeletal models using SymPy. Creation of musculoskeletal models requires the …
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Hello and thank you for a great tool! It works perfectly for control of a classic rigid robot.
Right now I'm wondering what it will take to use the TSID to control a robot with an a-la biarticular …