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Per a slack discussion with @hongkai-dai , we are missing some of the core constraints that we used to support @hongkai-dai and @avalenzu 's work on the ComDynamicsFullKinematicsPlanner (#12344)
- [x…
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All of the MBP by-name accessors have exceptions that say "there is no [thingy] named [mumble] in the model."
That's great and all but the only way for a user faced with this error to find out what…
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(h/t to @aykut-tri for bringing this to my attention)
iiwa14_polytope_collision.sdf https://github.com/RobotLocomotion/drake/blob/master/manipulation/models/iiwa_description/sdf/iiwa14_polytope_coll…
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Hello! Dear SimBody Team!
where is the constraint equation for MobilizedBody::Pin in the constraint classes source file?
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### Description
### Steps to Reproduce
Under MSL 4.0.0, forces and torque vector not shown on animation window. In addition, animation window transparecy for other items not work.
### Exp…
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### Description
Modelica.Mechanics.MultiBody.Examples.Loops.PlanarLoops_analytic worked in 1.19.0-beta.1. In the current 1.20.0-dev nightly, it breaks during C compilation with
```
PlanarLoops_…
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Related to #13683.
In the `rendering_multibody_plant` tutorial on Deepnote, the cell "## Render color and label images using matplotlib" crashes the deepnote interpreter with a corefile.
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### What happened?
Jupyter tests are failing on Jammy:
- `//bindings/pydrake/multibody:py/examples/jupyter_widgets_examples_test`
- `//bindings/pydrake/systems:py/jupyter_widgets_examples_test`
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`abort: Failure at multibody/plant/tamsi_solver.cc:217 in SolveQuadraticForTheSmallestPositiveRoot(): condition 'Delta > 0' failed`
I don't have any public code I can share to reproduce this, but i…
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1.
The step from eq(100) to eq(101), with eq(97) is not obvious to me, I am not familiar how to calculate terms like a.dot(b.cross(c)).
Am I overlooking something obvious? Otherwise maybe you could g…