Twan Koolen
Twan Koolen
Sorry about the response time. I'll get to this on Sunday.
So one thing you can do already is create a `Mechanism` with just a root body (fixed world), and then `attach!` various different mechanisms (perhaps each loaded from a URDF)...
Yep, that'd be a nice addition. It's not that hard to implement currently, through the use of the `external_wrenches` argument of `dynamics!` in combination with the `Wrench` constructor that takes...
Right now I unfortunately don't have the time to develop that. However, it's not that difficult to define your own joint type (see e.g. https://github.com/JuliaRobotics/RigidBodyDynamics.jl/blob/master/src/joint_types/prismatic.jl; should be reasonably easy to...
> The motion subspace must be constant in relation to the frame before or after the joint? After the joint. > And are there any plans to remove this restriction?...
By bias acceleration I mean the `\dot{S}_i \dot{q}_i` term in from Featherstone's book. I'll take a look at your work.
Do you have a reference for the notation you use in that PDF?
Opened a new issue for this. Damping coefficients are not stored in RigidBodyDynamics `Joint`s; in general the `dynamics` tag for a joint is ignored. The motivation for that is that...
Reconsidering this partly due to use cases where the gravitational acceleration changes over time.
I can take a closer look at this after Wednesday.