Russ Tedrake

bumping to high priority now that people are coming back online. I need this for the lbm sim.

+@jwnimmer-tri for feature review, please.

@joemasterjohn kindly offered to take over this one and push it across the finish line.

-@RussTedrake

`MakeHardwareStation` should simply be exporting the contact results output port; it doesn't make any changes. In case it's useful, I also have this [contact_inspector](https://github.com/RussTedrake/manipulation/blob/master/book/clutter/contact_inspector.ipynb) notebook; one could potentially add a...

Back in the matlab days of Drake, we had a [FunctionHandleTrajectory](https://github.com/RobotLocomotion/drake/blob/d7f3c011d37d471d7b9293ecf2066c98d88b2a05/drake/matlab/systems/trajectories/FunctionHandleTrajectory.m) class. We could bring that back easily enough. It would basically create a subclass of `Trajectory` that takes a...

The Trajectory class is templated. The autodiff variant, `Trajectory`, when it calls value(t) would pass an autodiff and expect an autodiff output. And yes, we should be able to make...

I thought you had moved on... I didn't realize you were using it. I can put it back on my queue to finish up.

That sounds fantastic. Please do open a PR. I think @bernhardpg might be particular interested in seeing it land.

I think we understand that the results are inconsistent across platforms, and are going to live with it.