Michael Sherman
Michael Sherman
We could add a config flag on MbP to disable the check. But motion planners would have to set that explicitly if they care (the "preposterous inertia" error message could...
Paul's idea was to use that to deal with the specific use case you brought up: a giant terrain object. Wouldn't that always be expected to include a giant piece...
Assigned to Russ for disposition.
cc @erwincoumans
cc @hong-nvidia
Would be nice if MultibodyPlant could be made to use the "split" option always because of the huge number of ports, though I don't think that would be helpful for...
This is a trickier project than it first appears. It is a special case of the more general problem of solving for initial conditions to satisfy constraints. Here the constraint...
@sammy-tri please reassign if you're not the right person to look at this
Assigned to @RussTedrake for disposition.
Do you have a feature reviewer in mind for this, @cohnt ?