pinocchio  2.4.0-dirty
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
doc/b-examples/k-qp.md
1 # QP (normal forces) unilateral contact dynamics (if we can write it concise enough)
2 
3 ## Python
4 \include qp.py
5 
6 ## C++
7 \include qp.cpp