Hi, The end solution is quite simple. After realizing the topology, I just get the evolution of the state vector by means of the following function: std::vector<double> get_dynsys_evolution(std::vector<double>& state_vector) { // Set mobilizer Qs and Us // ... // Advance state sys.realize(state, Sta...

Hi, Thank you for the prompt response. I am devising a solution that simply consists in specifying the system configuration, realizing the state to the acceleration stage and reading (a subset of) UDot or QDotDot from the state, followed by the equilibrium search and the system linearization. I will...

Hello, First of all, I would like to thank you for developing and making this incredible simulation library available. I am trying to analyze the stability of some systems. Until now, the models were quite simple and I could find the EOM manually, but I am using Simbody for more complex models. I re...