├── 1. Optimize the effector of a manipulator robot.ipynb ├── 2. Derivative and differential kinematics.ipynb ├── 3. Dynamics and its derivatives.ipynb ├── LICENSE ├── README.md ├── arm3d.py ├── arm3dconstraint.py ├── arm3dconstraint_diff.py ├── arm6d.py ├── arm6dframe.py ├── bip6d.py ├── bip6d_diff.py ├── bip6fail.py ├── dcost.py ├── force.py ├── robots.py ├── solution_cid.py ├── solution_cid_check.py ├── solution_quaternion_constraint.py └── ws_pino.pdf /1. Optimize the effector of a manipulator robot.ipynb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/1. Optimize the effector of a manipulator robot.ipynb -------------------------------------------------------------------------------- /2. Derivative and differential kinematics.ipynb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/2. Derivative and differential kinematics.ipynb -------------------------------------------------------------------------------- /3. Dynamics and its derivatives.ipynb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/3. Dynamics and its derivatives.ipynb -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/README.md -------------------------------------------------------------------------------- /arm3d.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/arm3d.py -------------------------------------------------------------------------------- /arm3dconstraint.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/arm3dconstraint.py -------------------------------------------------------------------------------- /arm3dconstraint_diff.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/arm3dconstraint_diff.py -------------------------------------------------------------------------------- /arm6d.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/arm6d.py -------------------------------------------------------------------------------- /arm6dframe.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/arm6dframe.py -------------------------------------------------------------------------------- /bip6d.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/bip6d.py -------------------------------------------------------------------------------- /bip6d_diff.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/bip6d_diff.py -------------------------------------------------------------------------------- /bip6fail.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/bip6fail.py -------------------------------------------------------------------------------- /dcost.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/dcost.py -------------------------------------------------------------------------------- /force.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/force.py -------------------------------------------------------------------------------- /robots.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/robots.py -------------------------------------------------------------------------------- /solution_cid.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/solution_cid.py -------------------------------------------------------------------------------- /solution_cid_check.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/solution_cid_check.py -------------------------------------------------------------------------------- /solution_quaternion_constraint.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/solution_quaternion_constraint.py -------------------------------------------------------------------------------- /ws_pino.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/nmansard/wsmemmo_pinocchio/HEAD/ws_pino.pdf --------------------------------------------------------------------------------