Variables
inverse-dynamics-derivatives Namespace Reference

Variables

 a = np.random.rand(model.nv,1)
 
 data = model.createData()
 
 dtau_da = data.M
 
 dtau_dq = data.dtau_dq
 
 dtau_dv = data.dtau_dv
 
 lowerPositionLimit
 
 model = pin.buildSampleModelHumanoidRandom()
 In this short script, we show how to compute the derivatives of the inverse dynamics (RNEA), using the algorithms proposed in: More...
 
 q = pin.randomConfiguration(model)
 
 upperPositionLimit
 
 v = np.random.rand(model.nv,1)
 

Variable Documentation

◆ a

inverse-dynamics-derivatives.a = np.random.rand(model.nv,1)

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

◆ data

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

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

◆ dtau_da

inverse-dynamics-derivatives.dtau_da = data.M

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

◆ dtau_dq

inverse-dynamics-derivatives.dtau_dq = data.dtau_dq

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

◆ dtau_dv

inverse-dynamics-derivatives.dtau_dv = data.dtau_dv

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

◆ lowerPositionLimit

inverse-dynamics-derivatives.lowerPositionLimit

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

◆ model

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

In this short script, we show how to compute the derivatives of the inverse dynamics (RNEA), using the algorithms proposed in:

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

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

◆ q

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

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

◆ upperPositionLimit

inverse-dynamics-derivatives.upperPositionLimit

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

◆ v

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

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



pinocchio
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autogenerated on Fri Jun 23 2023 02:38:34