support for custom external force managers. joints (list[tuple[int, int]]): Parent-child connectivity for each joint. types (list[str]): Joint types ('R', 'P', 'F ...

# put the body reference at its COM, 0.5 m below the hinge (so hinge is at world origin) location: [0, 0, 0.] # put the body reference at its COM, 0.5 m below the hinge (so hinge is at world origin) ...

Multibody system dynamics primarily investigate dynamic systems involving multiple joints and bodies with relative motion, offering a comprehensive abstraction and effective description of systems ...