Michael Sherman comments

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                                            Michael Sherman

MbP actuation/state (non-)ordering makes correct code unlikely

Could this be addressed by just good examples & tutorials? Or is the current feature set just too awful?

[multibody] MultibodyTree performance improvement epic

[Capturing a 1:1 discussion w/Alejandro] Thoughts on how to present multibody modeling elegantly 1. User defines Plant structure via Links and Joints, producing a directed (parent->child) graph, plus some disconnected...

MakeSemidefiniteRelaxation: additional tightening constraints for convex quadratics

Assigned to Russ for disposition

[planning] Revise CollisionChecker parallel edge checks

This PR still needs a feature reviewer assigned.

[framework] Publish events at (tₛ, x⁺(tₛ)) instead of (tₑ, x⁻(tₑ))

Maybe "PublishTiming" instead of "HybridPublish" for the enum?

[framework] Publish events at (tₛ, x⁺(tₛ)) instead of (tₑ, x⁻(tₑ))

Per f2f discussion, a minor correction to the spec above: The current behavior looks like this: time t -> unrestricted update(t) -> discrete update(t) -> advance time -> publish(t +...

[framework] Publish events at (tₛ, x⁺(tₛ)) instead of (tₑ, x⁻(tₑ))

Implementation note: Looking at the AdvanceTo code, the (maybe non-intuitive) modification we want to make is to modify the behavior here: ```c++ // At this point merged_events_ has any publish...

[framework] Publish events at (tₛ, x⁺(tₛ)) instead of (tₑ, x⁻(tₑ))

Terminology suggestion: PublishTiming: BeginningOfStep, EndOfStep I think that would be easier for users to understand than pre- and post-publish.

Enable computing the inverse dynamics in the lumped inertial parameters that the manipulator equations are linear in

cc @mitiguy

Cholesky/LLT Factorization in `SimTKmath`

Would be great to get a PR for this!