Hi, Nat. There is one ragdoll among the Simbody examples that I know of. It's called "Gazebo2Simbody" and is mostly about reading .sdf files. But the .sdf it reads by default is a ragdoll -- you can run it and see the ragdoll fall down.

Regards,
Sherm

Definitely possible since we don't currently build Simbody on arm64 Macs in CI. If you have access to one and are able to find the problem we would welcome a pull request so others can benefit!

Possible workaround: grab the latest Simbody source from GitHub and build it locally.

Agreed, there is no one-size-fits-all perfect solution. In Simbody I biased my choices to modeling some physical system at all times. That allows validation based on physical laws like f=ma, conservation of energy, etc. A comment on finding feasible solutions: Simbody has an Assembler study for find...

Another good question, thanks Kaiwen. I had to think about this one for a while since it has been a long time! This comes from Simbody's definition of the position constraint matrix P, based on the intended use in computation. You can see the definition in Doxygen here (scroll down to "Theory discus...

Thanks for this great question, Kaiwen. Here is our thinking behind this constraint: Simbody constraints always model some physically-possible system, always assuming that the position and velocity constraints can't be exactly satisfied (they never are in practice). It is easiest to think of this by...

Hi, Harshal. Simbody is not doing anything. The user applied an angular velocity to one body in the assembly of two bodies (a cylinder and a brick). Every point of both bodies that is not aligned with the angular velocity vector will have a translational velocity also (think of a spinning propeller ...

You're welcome!

3. From the example "ExampleMotorWithSpeedControl": MyTorqueLimitedMotor (const MobilizedBody& mobod, MobilizerUIndex whichU, Real gain, Real torqueLimit) What is the use of MobilizeUIndex. According to my understanding U stand for generalized speed, which contains 6 elements ( 3 angular and 3 linea...

In DzhanibekovEffect, you were surprised that changing the angular velocity from (10, 0, 1e-10) to (10, 10, 1e-10) caused translation to occur. That's because the angular velocity value you chose gave the system center of mass a non-zero translational velocity. You can see that by adding the followi...