This document contains the details of this release of the ModelSpace framework.

Updates

The following updates are included in this release of ModelSpace:

  • Update the simulation scheduler to zero step at run start for initialization and logging

  • Add precision to CSV logging to prevent quantization error on large data fields

  • Update documentation to include more extensive tutorials and explanations

  • Refactor ModelSpace and Clockwerk modules to organize simulation into embedded/simulation code more effectively

Limitations

Visuals

  • 3D visuals are not supported for SWIG-wrapped languages

Frames and Dynamics

  • Frames and dynamics only support single, fixed-mass bodies

  • The only dynamic joints supported are fully free and fully fixed (partial DOF)

  • Acceleration-based methods are not available for nodes and frames — they apply forces and translate them through the frame tree

SWIG Wrapping and Python

  • Python is the only SWIG-wrapped language supported