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I was trying to make a contrived long expression to demonstrate lambdify evaluation speeds and wrote:
```python
import sympy as sm
print(sm.__version__)
a, b, c, x, y, z = sm.symbols('a, b, c,…
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Dear Mr. Thomas Helfer,
I would like to integrate your MFrontGenericInterfaceSupport library into the general purpose multibody dynamics solver [MBDyn](https://www.mbdyn.org/). So far, the small st…
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The book is mostly devoid of the common historical references to the grand history of dynamics (which is found in most dynamics textbooks). I could add things like this, but I don't want it to distrac…
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Instead of rotation angles, beam elements based on ANCF use the slopes of the beam axis at the nodes to describe the kinematic configuration of the beam.
Advantages over the current approach (float…
stfnp updated
2 years ago
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Today I've run some tests on a classic rigid-contact simulator, without much hope to find anything interesting, but I was wrong.
I've implemented a simple simulator that uses the [pinocchio::forwa…
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WrenchConeResidual (as well as MultibodyWrenchConeResidual) has contact_id argument and it is not quite clear what it represents.
It is possible to specify arbitrarily large numbers as well as neg…
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In TRI's Anzu project, I have found a very large number of reimplementations of multibody plant IK of one model at a time; more interestingly, each implementation has had one or more bugs, so I think …
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We need a way to compute kinematics and dynamics quantities for a subset of bodies/coordinates in MultibodyPlant. Reproducing initial discussion from #12270:
> The prevalent pattern for dealing wit…
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_Edit: Original issue title was "parsing: Determine best semantics for resource URIs for tooling compatibility_.
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Follow-up from comment in #10156: https://reviewable.io/reviews/robotlocomoti…
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Why? Please merge the best of both of these into a single location.
Related to #5408 and #6619.