Russ Tedrake
Russ Tedrake
I understand. The flip side is I felt that I cannot change the use cases which need this (adding the B matrix multiplication into inverse dynamics controller, etc) without convincing...
related to https://github.com/RobotLocomotion/drake/issues/17663
oops. updated now. thanks.
FWIW (since I didn't know until I stumbled on the code), https://github.com/RobotLocomotion/drake/pull/19780 introduced `` for URDF and SDF, which does *enable* authoring loop joints, though not in the way that...
I think this change to the `AddBallConstraint` API is strict improvement and it does resolve the immediate need. Let's do it. (I still worry that we will need to make...
I can open a new issue tomorrow. I already have the feature basically implemented in the mujoco parser (but I was unable to run the tests). I would not say...
#21970 implements the narrow solution of generalizing the AddBallConstraint API (and also implements the parsing which uses it). I believe @sherm1 was willing to move forward the idea that one...
Note that I could not implement the `world_body()` default argument ``` const RigidBody& body_B = world_body(), ``` in the method because `mkdoc.py` couldn't support it out of the box. I...
Oh. You're right. I linked to the urdf spec for mechanicalReduction, and assumed that the other tag was juxtaposed. Ok, I think leaving `drake:rotor_inertia` as the recommended workflow is correct....
@rpoyner-tri -- `` _is_ specified on the website. am I missing something?