Forward Dynamics Second-Order Derivatives

[shubhamsingh91]

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

[AjSat]

Hello @shubhamsingh91, second-derivatives for forward-dynamics and eventually constrained/contact dynamics is indeed a very useful feature! Thanks a lot for your interest in making these contributions to Pinocchio. I am motivated to support this effort from our end.

We can discuss the specifics offline. Please reach out to me at: ajay.sathya@inria.fr