Jason K. Moore

I would like to for us to get this fixe merged so that #28010 is addressed and encourage other changes, like moving core routines to the polys module (or other...

Hi @RushabhMehta2005 it is going to be very important to test these in a numerical simulation to ensure they generate numerically valid and stable results. Maybe you can adopt the...

At the minimum you should have a unit test that tests the numerical codes work as expected. But if you take more time to make an example, it can also...

The key point is that you can implement these classes symbolically and follow the design we have in this one file, but if you are not testing them in their...

I just searched the docs and this page: https://docs.sympy.org/latest/explanation/modules/physics/biomechanics/biomechanics.html is the only place that uses a wrapping geometry. It only creates a symbolic spring-damper wrapped on cylinder. But it is...

Example 100 node solution: 

@Neville-N this may be helpful for you as an option to have elements in your equations that switch discontinuously (in alternative to making smoothened step functions). @Peter230655 I'm curious what...

> It says it converges, but Ffp, Ffn have unreasonable values initially. Yes, that happens with me often in this problem.

IPOPT requires that the objective function and the constraints for the NLP are continuous. As far as I can tell, this results in a continuous formulation of the NLP. There...

Also, note that this is the same formulation we used for solving the skateboard ollie, which is also solved by IPOPT.