Timo Stienstra

Yes. Though I should note that there are still states, where the equations of motion are numerically unstable.

> "From loads it is known that we generally say that they do not depend on accelerations.", but I'm not sure that we should assume this. I agree, with that...

> I think that having two methods, which do the same but use the transpose, only makes it more confusing. The main problem is that it is not directly clear...

Here is some simplified code showing the solve that is done. The size of the system is chosen below to be the same as the example in the notebook I...

I have experimented now for some time and here are some interim conclusions. The expected proposal will probably be introducing one or two new key word arguments `constraint_solver` and possibly...

> @TJStienstra Should we make the same docstring for `orient_explicit` and `orient_from_dcm`? See [this comment](https://github.com/sympy/sympy/issues/24764#issuecomment-1445953996).

Thank you @moorepants for the information. Here are my findings so far: 1. Started studying the generated code how the dependent generalized speeds are computed. Here it is notable that...

> According to where on Wikipedia? [Second paragraph](https://en.wikipedia.org/wiki/Cramer%27s_rule). They cite [this paper](https://hal.science/hal-01500199/document), which discusses this in under `2. Revisiting Cramer’s rule` (still have to read it further). > numerical algorithms...

[As mentioned](https://github.com/sympy/sympy/issues/24780#issuecomment-1444230201) the matrix `B_dep` is invertible. However one should note that there is quite a chance that some of the entries of this matrix are 0 zero for some...

> @TJStienstra Can you help me understand why this pull request was not merged and what changes are still needed? Because I'm seeing changes requested in the PR. :) Reason...