Michael Sherman
Michael Sherman
I agree that would be a nice improvement! Any interest in submitting a PR? Overloading `operator*()` does seem appropriate in this case.
cc @sherm1
cc @sherm1
I'm not sure where these should go -- assigning to @SeanCurtis-TRI for disposition.
CI is running now
No worries Adam!
Just waiting on CI now.
Re-running CI
I'm working on a PR that will fix MbP internals so that floating bodies can have rpy joints. (The new topology code has global and per-model instance options to use...
The C++ API for this is now in Drake master: [SetBaseBodyJointType()](https://drake.mit.edu/doxygen_cxx/classdrake_1_1multibody_1_1_multibody_plant.html#a7c9672b405425259b192131304f14f9c). Python, MbP config, and parsing access remain to be done.