miller_ocp.py
def _set_initial_momentum(self):
        """
        Set initial angular momentum and linear momentum.
        """
        q_init = self.x_bounds[0].min[: self.n_q, 0]
        qdot_init = self.x_bounds[0].min[self.n_q :, 0]

        m = brd.Model(self.biorbd_model_path)
        self.sigma0 = m.angularMomentum(q_init, qdot_init, True).to_array()
        self.p0 = m.mass() * m.CoMdot(q_init, qdot_init, True).to_array()

        Set initial angular momentum and linear momentum.
        
Set initial angular momentum and linear momentum.
Set initial angular momentum and linear momentum .
def _set_initial_momentum(self):
        q_init = self.x_bounds[0].min[: self.n_q, 0]
        qdot_init = self.x_bounds[0].min[self.n_q :, 0]
        m = brd.Model(self.biorbd_model_path)
        self.sigma0 = m.angularMomentum(q_init, qdot_init, True).to_array()
        self.p0 = m.mass() * m.CoMdot(q_init, qdot_init, True).to_array()
def _set_initial_momentum ( self ) : q_init = self . x_bounds [ 0 ] . min [ : self . n_q , 0 ] qdot_init = self . x_bounds [ 0 ] . min [ self . n_q : , 0 ] m = brd . Model ( self . biorbd_model_path ) self . sigma0 = m . angularMomentum ( q_init , qdot_init , True ) . to_array ( ) self . p0 = m . mass ( ) * m . CoMdot ( q_init , qdot_init , True ) . to_array ( )
Set initial angular momentum and linear momentum.
Set initial angular momentum and linear momentum .
"""
        Set initial angular momentum and linear momentum.
        """
self