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### What happened?
It should not be possible to write the loop
```
for (JointIndex joint_index(0); joint_index < plant.num_joints();
++joint_index)
```
as MultibodyPlant's joint indexes …
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When importing FMUs that contain MultiBody Library components scripting failures are raised.
The model (ControlledDrivetrain.mo) from which the FMUs come from is divided into three parts of which o…
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from IPython.display import HTML, SVG
from pydrake.geometry import MeshcatVisualizer, MeshcatVisualizerParams, Role, StartMeshcat
from pydrake.geometry.optimization import IrisInConfigurationSpace, …
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In #4081 variables were removed from the comparison signals. Hence, the [reference results](https://github.com/modelica/MAP-LIB_ReferenceResults/tree/v4.1.0/ModelicaTest/MultiBody/Forces/EngineGasForc…
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Consider the following lines from `multibody_plant.cc`:
https://github.com/RobotLocomotion/drake/blob/59de1fd0bb25b0628b598d4a89cddde99b3e6f53/multibody/plant/multibody_plant.cc#L208-L209
`M_PPo_P…
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## Reproduction
Ran into this into some subgraph protoype code here:
https://github.com/EricCousineau-TRI/repro/blob/b2d7f668ed1b5a757b984c54845b78a56e991d5b/drake_stuff/multibody_plant_prototypes/m…
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The variable used as tolerance margin to decide whether two `Real` values are equal is used to compare position and speed at the same time.
We could turn `tol` into a `constant` as we don't expect …
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I need at least an example on setting up the momentum balance to find pre and post velocities of a multibody system.
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Missing stuff:
- [ ] #465
- [ ] #466
- [ ] #469
- [ ] #444
- [ ] #438
- [ ] #467
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/cc @sherm1
We would like to capture some sort of baseline data from the cassie benchmark program to help guide development of performance optimizations. I have argued it should be stored out-of-tr…