With Multibodyplant, Why Do I Get `solvequadraticforthesmallestpositiveroot(): Condition 'delta > 0' Failed`?
(This is from a Drake Slack conversation.) I'm playing with an 'exploding IIWA' demo to prototype some workflows with MultibodyPlant and SceneGraph. Basically, I'm just adding a ro
Solution 1:
From Sherm's answer:
Do you have any massless or inertialess bodies in there? Those are OK as long as they are interior to a multibody tree, but not as terminal nodes. After you remove the joints all the bodies are terminal.
This ended up being the case. I just needed to make sure that I removed all massless bodies in this case, and everything worked:
What it looks like without doing the collision removal / velocity hacks (inertia + collisions look not so great, but it's a step in the right direction):
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