1 import pinocchio
as pin
13 model = pin.buildSampleModelHumanoidRandom()
14 data = model.createData()
18 model.lowerPositionLimit = -np.ones((model.nq,1))
19 model.upperPositionLimit = np.ones((model.nq,1))
21 q = pin.randomConfiguration(model)
22 v = np.random.rand(model.nv,1)
23 tau = np.random.rand(model.nv,1)
27 pin.computeABADerivatives(model,data,q,v,tau)