Jason K. Moore
Jason K. Moore
There is also gravity, which will make things move.
I'm closing this, as it doesn't seem to be an issue with PyDy, but more about model design and integrator choice and settings.
I think the issue is that you have derivatives in your forcing vector: ``` In [11]: me.find_dynamicsymbols(KM.forcing) Out[11]: {Derivative(phi(t), t), Derivative(theta(t), t), p(t), phi(t), q(t), r(t), theta(t), u(t), v(t), w(t)}...
These lines fix it for me: ``` Bcm.set_acc(N, msubs(Bcm.acc(N), solve(kd, (xd, yd, zd, phid, thetad, psid)))) B.set_ang_vel(N, msubs(B.ang_vel_in(N), solve(kd, (xd, yd, zd, phid, thetad, psid)))) ```
Also here is a drone example that may be of interest: https://opty.readthedocs.io/latest/examples/plot_drone.html#sphx-glr-examples-plot-drone-py
The derivatives will not show up in `KanesMethod.forcing` if you use SymPy >= 1.13 (not yet released).
Is this any different than what I have in #250?
> No idea why it failed all these tests. You have to click the failures and inspect the error messages.
The failures are coming from a new version of scotch that was released on conda forge yesterday: ``` libscotch 7.0.5 hab7c3ca_0 conda-forge ```
If you scroll up you see the relevant error: ``` E ImportError: dlopen(/Users/runner/miniconda3/envs/test/lib/python3.9/site-packages/ipopt_wrapper.cpython-39-darwin.so, 0x0002): symbol not found in flat namespace '_SCOTCH_errorPrint' ```