Michael Sherman comments

Results 400 comments of


                                            Michael Sherman

MultibodyPlant can report if vs are the same as qdots

FWIW I think it would be fine to leave the CamelCase spelling as it is but document that it caches the result at Finalize() and is thus very fast. We're...

Compute the kinematics chain for MultibodyPlant

FYI this is easily supported in the new MbP topology code. Let me see if I understand the request: - we have arbitrary links R and S in a system...

rust dependencies spoil debug symbol loading in gdb

The NO_CLARABEL workaround doesn't seem to be working for me (on 22.04). The debugger says: > (No debugging symbols found in multibody/plant/multibody_plant_test) Command line and debug startup is below. (I...

Potential addition to class SimTK::Test

@fcanderson FYI I've been on vacation for a month -- just catching up on emails now.

Parse closed kinematic chains from SDF (and perhaps also URDF)

FYI I opened a related draft PR #18804 that can turn these into spanning tree + constraint models.

Parse closed kinematic chains from SDF (and perhaps also URDF)

There are definitely two different problems, greatly differing in difficulty: 1. Allow users _some_ way to construct tree+constraint models, or 2. Read unmodified sdf files containing only links and joints...

Parse closed kinematic chains from SDF (and perhaps also URDF)

BTW for the automated (option 2) all we need is Weld constraints. That's all users need too but they might expect a large collection of "loop joint" constraints instead. That...

Parse closed kinematic chains from SDF (and perhaps also URDF)

Sure -- do you mean the option 1 approach where we postulate the existence of a `` tag or something like that? The option 2 sdf file leaves all the...

Parse closed kinematic chains from SDF (and perhaps also URDF)

See #18829 for possible sdf descriptions

Parse closed kinematic chains from SDF (and perhaps also URDF)

FYI I'm working on the graph processing that can handle this as we speak. If the parser can get the links, joints, and constraints into MbP we'll be able to...