Michael Sherman

I'm sorry Thomas I don't understand enough about what you're trying to do to provide any useful advice. If there are some MbP services that would make your life easier...

> The question is whether the approach in IrisZoOptions::CreateWithMimicJointsParameterization is robust against all kinds of possible plant species, both today and as MbP evolves. The answer to that is certainly...

Makes sense. The algorithm in #22733 looks reasonable, though I can't say I follow it in detail (for example, it's unclear after staring at the code whether joint0 or joint1...

I don't think there is anything that would stop someone from forming a loop of coupler constraints -- that would be a special case of redundant (and possibly inconsistent) constraints....

Preliminary performance results for M-frame Inverse Dynamics. TL/DR: switching from W to M frame resulted in a 25% speedup for ID. Combined with previous changes ID is 2X faster than...

Since we're trying to match Pinocchio timings (we think about 2μs for Cassie-size ID), there are some further considerations to make an apples-to-apples comparison. We've been including position & velocity...

Minor update: After profiling, I've been experimenting with SIMD implementations for operations that stand out: - Symmetric 3x3 matrix times 3-vector - Cross product wXr - Double cross produce wXwXr...

This PR also contains the WIP on optimal F&M frames for revolute joints. With that mostly in and using the specialized axial rotation functions in #22814, just to see where...

For comparison (and apples-to-apples times vs published results), CassieBench Position Kinematics times for this PR on my laptop (Xeon W-11855M CPU @ 3.20GHz): | | Old Puget (gcc) | laptop...

There have been speedups now for both the existing W-frame algorithms and the new M-frame ones. Here are measurements taken with this branch on 2025-05-29 on my old Puget (Xeon...