Jason K. Moore
Jason K. Moore
@chrisdembia That is the same error you got with the bicycle example at some point. The mass matrix and forcing vector should not have any Derivatives left in the expressions...
Ok, this now works.
I've started merging all the rolling disc examples into one neat folder. I'll push it up soon.
@oliverlee Can you check the :"allow maintainers to merge"? I'm going to get this PR merged this summer so I can use it when I teach dynamics in the fall....
That would be a nice addition.
Closing, as this isn't necessary.
Actually, leaving open but just removing from the SciPy 2015 milestone.
Here is some code to get the initial dependent u's: ```python eval_nonholonomic = sm.lambdify((u3, u5, u8, u4, u6, u7, q4, q5, q7, d1, d2, d3, rf, rr), nonholonomic) def eval_nonholonomic_vector(u_dep,...
I'm not surprised. You can see more lengthy explorations of issues here: https://github.com/pydy/pydy/pull/122 (which you helped on years ago). I think we should get the idea in PR #462 working...
Also, the model gives the correct answers if Symengine is used to evaluate to arbitrary precision. So it is some kind of numerical rounding error. Edit: see this comment https://github.com/pydy/pydy/pull/122#issuecomment-718997674