Hi @jcarpent and Pinocchio Team
Last year we published all our results on both the Second-Order Inverse and Forward Dynamics derivatives in the following paper.
https://ieeexplore.ieee.org/abstract/document/10449483
I contributed the Inverse-dynamics to Pinocchio (thanks to @jcarpent for the improvements in the algorithm), but I am wondering if there is interest in contributing the Forward-Dynamics derivatives too. This should be quick and easy since I had an implementation of this on my fork. I see a growing interest in the constrained derivatives too, which is a natural next step after this.
Let me know your thoughts and I can work towards opening a PR for the second-order Forward-Dyn derivatives.
Shubham
Hi @jcarpent and Pinocchio Team
Last year we published all our results on both the Second-Order Inverse and Forward Dynamics derivatives in the following paper.
https://ieeexplore.ieee.org/abstract/document/10449483
I contributed the Inverse-dynamics to Pinocchio (thanks to @jcarpent for the improvements in the algorithm), but I am wondering if there is interest in contributing the Forward-Dynamics derivatives too. This should be quick and easy since I had an implementation of this on my fork. I see a growing interest in the constrained derivatives too, which is a natural next step after this.
Let me know your thoughts and I can work towards opening a PR for the second-order Forward-Dyn derivatives.
Shubham