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**Submitting author:** @Muhao-Chen (Muhao Chen)
**Repository:** https://github.com/Muhao-Chen/Tensegrity_Finite_Element_Method_TsgFEM
**Version:** v1.1
**Editor:** @diehlpk
**Reviewers:** @HaoZeke, @K…
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@mposa noticed that the autodiff computation in `RigidBodyTree` is a lot slower than that in `AcrobotPlant` (which writes the dynamics equation manually). I did a quick benchmark test on the three cla…
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(Resurrecting this discussion from #1714 since it has cropped up recently.) This is an FYI for people who have to deal with RigidBodyTree internals: the terms "joint" and "parent/child" are meaningful…
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At present, there are significant bits of the `MultibodyTree` API that are manually forwarded into the `MultibodyPlant` API as sugar. However, this introduces coupling and some confusion as to what *r…
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**Reported by massimo.ceraolo on 19 Oct 2018 06:50 UTC**
Consider
Modelica.Fluid.Examples.DrumBoiler.DrumBoiler diagram.
The user is shown a diagram seeming faulty: q_F and q_F_Tab output are si…
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Some of drake's source files take an excessive amount of time and memory to compile. `RigidBodyTree{,SDF,URDF}.cpp` are three particular offenders, requiring:
```
RigidBodyTree.cpp 104 sec, 4.1 G…
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## Initial description:
Many contemporary robotic applications need precise simulation and prognosing of system dynamics. Making a lightweight application that is tailored to analysis of vehicle dy…
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Since iWholeBodyStates should define the interface for a generic estimator it should provide users with the possibility to set priors on the estimated quantities.
After discussing with @iron76 and @t…
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In preparation for the existence of `GeometryWorld`, it makes sense to remove `DrakeVisualizer`'s dependence on `RigidBodyTree`.
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1. When to create BodyFrame(s) for all Bodies in the model?
- Can't rely on deserialization since Bodies can be added programmatically.
-> Should serialization call addBody so there's only on…