<t>Yes, that's right.<br/> <br/> Jean-Olivier, I'm sure you know this already but just in case I want to remind you that inverse dynamics requires specifying desired *accelerations* -- positions and velocities aren't enough. Positions q allow you to calculate the mass matrix M(q), velocities allow f...

<t>Hi, Jean-Olivier.<br/> <br/> Sorry for the delayed response. I am just returning to Stanford next week after an extended absence. Adding direct support in Simbody for inverse dynamics will be one of my top priorities on return, so calcMa() will be there in the next release.<br/> <br/> There are a...

<t>Hi, Jordi. <br/> <br/> Simbody is based on technology originally developed for robotics (recursive multibody formulation similar to Featherstone's) so should be very well suited to robotics simulation. Robotics simulation tends to be simpler than the biomechanics applications for which Simbody is...

<t>Hi, Adam. Like SD/FAST, Simbody is a fully general multibody code. Unlike SD/FAST, it achieves that numerically rather than symbolically so there is no generated source code to look at, and therefore no compile step either. However, also unlike SD/FAST Simbody is open source so you can see all th...

This is just a test.

this is a test

<em>Please!</em> get the tags right.

You <e>know</e> what I'm talkin' about: the stk fwk mod lyr proto!