forward-dynamics-derivatives Namespace Reference

Variables
	data = model.createData()
	ddq_dq = data.ddq_dq
	ddq_dtau = data.Minv
	ddq_dv = data.ddq_dv
	lowerPositionLimit
	model = pin.buildSampleModelHumanoidRandom()
	In this short script, we show how to compute the derivatives of the forward dynamics, using the algorithms explained in: More...
	q = pin.randomConfiguration(model)
	tau = np.random.rand(model.nv,1)
	upperPositionLimit
	v = np.random.rand(model.nv,1)

Variable Documentation

data

forward-dynamics-derivatives.data = model.createData()

Definition at line 14 of file forward-dynamics-derivatives.py.

ddq_dq

forward-dynamics-derivatives.ddq_dq = data.ddq_dq

Definition at line 31 of file forward-dynamics-derivatives.py.

ddq_dtau

forward-dynamics-derivatives.ddq_dtau = data.Minv

Definition at line 33 of file forward-dynamics-derivatives.py.

ddq_dv

forward-dynamics-derivatives.ddq_dv = data.ddq_dv

Definition at line 32 of file forward-dynamics-derivatives.py.

lowerPositionLimit

forward-dynamics-derivatives.lowerPositionLimit

Definition at line 18 of file forward-dynamics-derivatives.py.

model

forward-dynamics-derivatives.model = pin.buildSampleModelHumanoidRandom()

In this short script, we show how to compute the derivatives of the forward dynamics, using the algorithms explained in:

Analytical Derivatives of Rigid Body Dynamics Algorithms, Justin Carpentier and Nicolas Mansard, Robotics: Science and Systems, 2018

Definition at line 13 of file forward-dynamics-derivatives.py.

q

forward-dynamics-derivatives.q = pin.randomConfiguration(model)

Definition at line 21 of file forward-dynamics-derivatives.py.

tau

forward-dynamics-derivatives.tau = np.random.rand(model.nv,1)

Definition at line 23 of file forward-dynamics-derivatives.py.

upperPositionLimit

forward-dynamics-derivatives.upperPositionLimit

Definition at line 19 of file forward-dynamics-derivatives.py.

v

forward-dynamics-derivatives.v = np.random.rand(model.nv,1)

Definition at line 22 of file forward-dynamics-derivatives.py.