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When performing a multibody analysis (BEM) in Capytaine, the output file does not include the center of mass for each body. Instead, it assumes the center of the body to be at the origin (0, 0, 0) for…
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Hello JAX-FEM,
I'm a deep modelling engineer myself and I've ran into an issue that the current time-dependant (multibody, ones that progress over time) open-source solvers don't have GPU support, on…
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Per discussion with @amcastro-tri, we would like to perform some major surgery on MultibodyTree to achieve these goals:
- Make it produce the same results as fast as possible, with 10X as a target (p…
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### Description of the bug
Where multibodies meet it doesn't treat the the top of the object as a top or the bottom of the other one as a bottom. That is to say the top and bottom of the bodies have …
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Hi, I was trying to implement what [this article](https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7573630/#:~:text=a%20small%20regularization%20term%20was%20added%20to%20enhance%20convergence%20by%20mini…
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MultibodyPlant has a list of ["free body" APIs](https://drake.mit.edu/doxygen_cxx/classdrake_1_1multibody_1_1_multibody_plant.html#mbp_working_with_free_bodies) that used to be the preferred way to in…
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Please consider the following N-pendulum model (adapted from https://github.com/OpenModelica/OpenModelica/pull/10471#issuecomment-1753193826):
```modelica
model NPendulum
constant Integer N = 1;
…
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### What happened?
* Do a debug build.
* Try to debug any unit test that has clarabel_solver in its dependency tree (almost anything now that geometry/proximity has the dependency).
* Notice that …
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### Description
When running `Modelica.Mechanics.MultiBody.Visualizers.Colors.scalarToColor` with `colorMap=Modelica.Mechanics.MultiBody.Visualizers.Colors.ColorMaps.jet(n_colors))` instead of `color…
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Articles may have multiple <body> tags. Sometimes those contents might be redundant?
If so, here is a potential fix, to take only the first body tag. If the first is a preview, then perhaps t…