Dynamics# Dynamics solver Introduction Differences with the kinematics solver Getting started Creating the dynamics solver Defining tasks Enabling limits Updating the task Running the solver Specifying target velocity Tasks and constraints Tasks Constraints Removing tasks and constraints Joint, velocity and torque limits Torque limits Floating base Velocity limits Velocity vs torque inequalities Joint limits Regularization Torque regularization Pose regularization Solver status Dumping the status Accessing tasks errors Handling loop closures Understanding loop closures Loop closure in dynamics: checklist Breaking down planar 2DoF example Examples Tasks Position, orientation and frame tasks Position task Orientation task Frame task Relative position and orientation tasks Masking axises Example Joints task Task initialization Task update Example Torque task Task initialization Task update Example CoM task Task initialization Task update Example Gear task Creating the task Setting up the relations Example Contacts Contacts Fixed and planar contacts Fixing the floating base Fixed contact Planar (unilateral) contact Point contacts Fixed point contact Point (unilateral) contact Puppet contact External wrench contact Task contact Weighting, activation/deactivating contacts Weighting contact Activating/desactivating or removing contacts Examples Examples gallery
