### [Examples] Add example on how to use kinematics derivatives in Python

`C++ example is coming soon.`
parent ce6e8ec7
 import pinocchio as pin import numpy as np # Create model and data model = pin.Model.BuildHumanoidSimple() data = model.createData() # Set bounds (by default they are undefinded) model.lowerPositionLimit = -np.matrix(np.ones((model.nq,1))) model.upperPositionLimit = np.matrix(np.ones((model.nq,1))) q = pin.randomConfiguration(model) # joint configuration v = np.matrix(np.random.rand(model.nv,1)) # joint velocity a = np.matrix(np.random.rand(model.nv,1)) # joint acceleration # Evaluate all the terms required by the kinematics derivatives pin.computeForwardKinematicsDerivatives(model,data,q,v,a) # Evaluate the derivatives for a precise joint (e.g. rleg6_joint) joint_name = "rleg6_joint" joint_id = model.getJointId(joint_name) # Derivatives of the spatial velocity with respect to the joint configuration and velocity vectors (dv_dq,dv_dv) = pin.getJointVelocityDerivatives(model,data,joint_id,pin.ReferenceFrame.WORLD) # or to get them in the LOCAL frame of the joint (dv_dq_local,dv_dv_local) = pin.getJointVelocityDerivatives(model,data,joint_id,pin.ReferenceFrame.LOCAL) # Derivatives of the spatial acceleration of the joint with respect to the joint configuration, velocity and acceleration vectors (dv_dq,da_dq,da_dv,da_da) = pin.getJointAccelerationDerivatives(model,data,joint_id,pin.ReferenceFrame.WORLD) # or to get them in the LOCAL frame of the joint (dv_dq_local,da_dq_local,da_dv_local,da_da_local) = pin.getJointAccelerationDerivatives(model,data,joint_id,pin.ReferenceFrame.LOCAL)
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