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I've got a strange mismatch (see image below) between linear position and velocity when comparing results of the SPART FD and an identical model in Simulink. I'm trying to verify that the mass and Cor…
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# Description
Many early prominent mutlibody dynamics codes use computer algebra systems (CAS) to symbolically derive long form analytic expressions for the equations of motion of the system. Most …
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Hi,
My team and I are working on a new `MocoGoal` that minimizes the jerk (that is, the time-derivative of the acceleration). Minimizing higher-order time derivatives generally helps solver converg…
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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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In [this](https://robotology.github.io/idyntree/master/classiDynTree_1_1KinDynComputations.html) page of the documentation at some point it is written that:
_This class supports three possible conv…
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As mentioned in [#24889 (comment)](https://github.com/sympy/sympy/pull/24889#discussion_r1137473864), it would be good if there was a printer for the `Inertia` object (and `Force` and `Torque`). This …
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It is common in parameter identification problem (or even dual parameter id + trajectories) to find solutions that give unstable systems, even when the measurement data comes from a stable system. If …
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The following graph shows example joint isolated gains identified from artificial data. I select the marker trajectories and ground reaction loads for a single gait cycle, fit a Fourier series to each…
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If you call `init_printing` or `init_session` in a Jupyter notebook, by default it generates both mathjax and png output. For example, this notebook
generates this JSON:
```json
{
"cells…
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Per @EricCousineau-TRI's Slack comment:
> On the topic of `internal`, the only acute pain point of entirely scrubbing this is that I will lose access to the `Mobilizer` documentation; I **really** …