Go to the source code of this file.
Namespaces | |
| forward-dynamics-derivatives | |
Variables | |
| forward-dynamics-derivatives.data = model.createData() | |
| forward-dynamics-derivatives.ddq_dq = data.ddq_dq | |
| forward-dynamics-derivatives.ddq_dtau = data.Minv | |
| forward-dynamics-derivatives.ddq_dv = data.ddq_dv | |
| forward-dynamics-derivatives.lowerPositionLimit | |
| 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: More... | |
| forward-dynamics-derivatives.q = pin.randomConfiguration(model) | |
| forward-dynamics-derivatives.tau = np.random.rand(model.nv, 1) | |
| forward-dynamics-derivatives.upperPositionLimit | |
| forward-dynamics-derivatives.v = np.random.rand(model.nv, 1) | |