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I use $Y_k\dot{\bar{q}} + z_k - \bar{u}=0$ when introducing kinematic differential equations but then use the notation $\mathbf{M}_k \dot{\bar{q}} + \bar{g}_k = 0$ later. M_k is Y_k and g_k is zk-u, s…
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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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Hello, I’m currently doing an intership at the investigation center of my university and I’ve come across an issue related to the iDynTree library. The thing is that i don’t really understand how to e…
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I observed that I was getting surprisingly different LQR gains for a `MultibodyPlant` with time_step=0 vs time_step=small and spent some time investigating. I eventually winnowed it down to a minimal…
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The book is mostly devoid of the common historical references to the grand history of dynamics (which is found in most dynamics textbooks).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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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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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.