Simbody v3.1 Release Notes
Release Date: 2013-04-22 // about 11 years ago-
🚀 This is the Simbody release that shipped with OpenSim 3.1 and contains the initial 🚀 work done with Open Source Robotics Foundation for the Gazebo simulator. The source was managed on Subversion, although its code and history were transferred to GitHub. The source zip is available on the GitHub release page here.
- ➕ Added MobilityLinearStop for joint stops (for Gazebo)
- ➕ Added Simbody example for reading Gazebo sdf files
- ➕ Added MultibodyGraphMaker to map bodies and joints to mobilizers and constraints (for Gazebo)
- ➕ Added a variety of prototype implementations of unilateral contact as adhoc tests
- ➕ Added some pre-built mesh types to PolygonalMesh (for Gazebo)
- Modified Force::Gravity to allow excluded bodies (needed by Gazebo)
- ➕ Added DiscreteForces and MobilityDiscreteForces elements for Gazebo
- ➕ Added Measure::Delay for time-delay of input signal
- ➕ Added scissor-lift example to show behavior on highly constrained mechanisms
- ➕ Added RK2 integrator
- Modified Gimbal mobilizer to use Euler angle derivatives as generalized speeds
- ➕ Added Bushing (6 dof) mobilizer parameterized like Gimbal
- ➕ Added methods for calculating geodesics over smooth contact geometry
- ➕ Added infrastructure for fast cable wrapping and some prototypes
- 🐎 Many small performance improvements and bug fixes