Go to the source code of this file.
Namespaces | |
| inverse-dynamics-derivatives | |
Variables | |
| inverse-dynamics-derivatives.a = np.random.rand(model.nv,1) | |
| inverse-dynamics-derivatives.data = model.createData() | |
| inverse-dynamics-derivatives.dtau_da = data.M | |
| inverse-dynamics-derivatives.dtau_dq = data.dtau_dq | |
| inverse-dynamics-derivatives.dtau_dv = data.dtau_dv | |
| inverse-dynamics-derivatives.lowerPositionLimit | |
| 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: More... | |
| inverse-dynamics-derivatives.q = pin.randomConfiguration(model) | |
| inverse-dynamics-derivatives.upperPositionLimit | |
| inverse-dynamics-derivatives.v = np.random.rand(model.nv,1) | |