Michael Sherman

We should still pybind ResetStatistics() but likely calling Initialize() is sufficient in most cases. Probably the best fix would be real time monitoring that is limited to a recent time...

Hi, Evghenii. Some documentation that might help is the [file doxygen](https://simbody.github.io/3.7.0/CompositeNumericalTypes_8h.html#details) for CompositeNumericalTypes.h. NTraits is used to provide missing information for the numerical types, you could add an additional specialization...

Assigned to Hongkai for disposition.

My first thought would be treat this the same way we do a rotational or prismatic joint. Do we rotate the F and M frames for those? That seems reasonable...

Paul @mitiguy can you take a look at this?

Hmmm. This is much trickier than it sounds. `CalcDiscreteVariableUpdates()` is mostly useless at this point because it generates "Forced Event" triggers and then invokes the discrete variable event dispatcher. Unless...

@edrumwri and I currently favor the following solution to the problem of advancing a discrete system outside of Simulator (by force-triggering its event handlers): - whenever a System declares an...

(Note: @edrumwri, if we implement this I think we should not generate multiple forced events for the same handler.)

`CalcDiscreteVariableUpdates()` would work as before. We can also add `EvalDiscreteVariableUpdates()` (which would return a reference to a cached version of the usual output from `CalcDiscreteVariableUpdates()`), although that's a separate issue....

@avalenzu, I'm not sure I see the parallelism yet (except for the names). Possibly I'm not understanding the intended use. Let me see if I can formulate my confusion: -...