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A checklist to keep track of the planned work on RBT this quarter. I'll keep updating as I move along.
- [ ] Template `RBT` on ``. PR first a templatization on a dummy scalar type `` and replace occu…
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# Problem Definition
`RigidBodyTree::computePositionNameToIndexMap()` returns a `std::map` where the key is a joint position's name and the value is its index within the `RigidBodyTree`'s output st…
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It is a big piece of the codebase, and seems to belong alongside automotive
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Right now all operations involving spatial algebra are carried out essentially by hand.
Examples of this can be seen:
- [transformSpatialInertia](https://github.com/RobotLocomotion/drake/blob/master/…
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An interesting conversation started in https://github.com/RobotLocomotion/drake/pull/2303#issuecomment-218277954 and moved to issue #2315.
What we are discussing is that the multibody dynamics engin…
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**Reported by otter on 20 May 2013 18:32 UTC**
I run a regression test of MSL trunk (MSL 3.2.1) with respect to MSL 3.2 with Dymola 2014. The first list "Differences that indicate errors" (about 20 mo…
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Simbody includes the following image that describes a joint, its frames, and their transforms.
https://github.com/simbody/simbody/blob/master/Simbody/doc/images/MobilizerTerminology.png
Using the v…
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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…
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In #1711. i'd like for the dynamics to match exactly, so that we can use this as another unit test. But right now, in addition to not matching the prius.sdf model actually goes unstable when used fo…
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It is not obvious how to calculate force extended to contract one of the C elegans muscles in the Sibernetic simulation. This is in part due to the fact that it is not clear what the mass and accelera…