Modeling

Warning

WIP

$$M(\mathbf{q}) \dot{\boldsymbol{\nu}} + C(\mathbf{q}, \boldsymbol{\nu}) \boldsymbol{\nu} + g(\mathbf{q}) = B \boldsymbol{\tau} + \sum_{L_i \in \mathcal{L}} J_{W,L_i}^\top(\mathbf{q}) \; \mathbf{f}_i$$