Documenting the problem variables

In [2]: ids.problem
Out[2]: <opty.direct_collocation.Problem at 0x7756659e0830>

In [3]: ids.problem.collocator.state_symbols
Out[3]: 
(q1(t),
 q2(t),
 q3(t),
 q4(t),
 q6(t),
 q7(t),
 q8(t),
 torsojoint_q(t),
 q5(t),
 u4(t),
 u6(t),
 u7(t),
 torsojoint_u(t),
 u1(t),
 u2(t),
 u3(t),
 u5(t),
 u8(t),
 a_x(t),
 a_y(t),
 a_z(t),
 omega_x(t),
 omega_y(t),
 omega_z(t))

In [4]: ids.problem.collocator.unknown_input_trajectories
Out[4]: (T_ext_roll(t), T_ped(t), T_tor(t))

In [5]: ids.problem.collocator.unknown_parameters
Out[5]: ()

In [7]: ids.problem.collocator.input_trajectories
Out[7]: (T_ext_roll(t), T_ped(t), T_tor(t))

In [8]: ids.problem.collocator.known_parameters
Out[8]: 
(rear_frame_body_mass,
 rear_frame_l_bbx,
 rear_frame_l_bbz,
 rear_frame_ixx,
 rear_frame_iyy,
 rear_frame_izz,
 rear_frame_izx,
 rear_frame_d1,
 rear_frame_l1,
 rear_frame_l2,
 rear_frame_d4,
 rear_frame_d5,
 front_frame_body_mass,
 front_frame_ixx,
 front_frame_iyy,
 front_frame_izz,
 front_frame_izx,
 front_frame_d2,
 front_frame_d3,
 front_frame_l3,
 front_frame_l4,
 front_frame_d6,
 front_frame_d7,
 front_frame_d8,
 rear_wheel_mass,
 rear_wheel_ixx,
 rear_wheel_iyy,
 rear_wheel_r,
 front_wheel_mass,
 front_wheel_ixx,
 front_wheel_iyy,
 front_wheel_r,
 pelvis_mass,
 pelvis_ixx,
 pelvis_iyy,
 pelvis_izz,
 pelvis_ixy,
 pelvis_iyz,
 pelvis_izx,
 pelvis_com_height,
 pelvis_hip_width,
 pelvis_thorax_height,
 torso_mass,
 torso_ixx,
 torso_iyy,
 torso_izz,
 torso_ixy,
 torso_iyz,
 torso_izx,
 torso_shoulder_height,
 torso_shoulder_width,
 torso_torsojoint_shoulder_length,
 torso_shoulder_neck_length,
 head_mass,
 head_ixx,
 head_iyy,
 head_izz,
 head_ixy,
 head_iyz,
 head_izx,
 head_head_neck_height,
 head_head_width,
 head_head_top_point,
 torsojoint_d_p_t,
 torsojoint_th_h_p,
 g,
 seat_yaw,
 seat_pitch,
 seat_roll,
 torsojoint_theta,
 k,
 c,
 q_ref,
 neck_yaw,
 neck_pitch,
 neck_roll,
 alpha)

In [9]: ids.problem.collocator.parameters
Out[9]: 
(rear_frame_body_mass,
 rear_frame_l_bbx,
 rear_frame_l_bbz,
 rear_frame_ixx,
 rear_frame_iyy,
 rear_frame_izz,
 rear_frame_izx,
 rear_frame_d1,
 rear_frame_l1,
 rear_frame_l2,
 rear_frame_d4,
 rear_frame_d5,
 front_frame_body_mass,
 front_frame_ixx,
 front_frame_iyy,
 front_frame_izz,
 front_frame_izx,
 front_frame_d2,
 front_frame_d3,
 front_frame_l3,
 front_frame_l4,
 front_frame_d6,
 front_frame_d7,
 front_frame_d8,
 rear_wheel_mass,
 rear_wheel_ixx,
 rear_wheel_iyy,
 rear_wheel_r,
 front_wheel_mass,
 front_wheel_ixx,
 front_wheel_iyy,
 front_wheel_r,
 pelvis_mass,
 pelvis_ixx,
 pelvis_iyy,
 pelvis_izz,
 pelvis_ixy,
 pelvis_iyz,
 pelvis_izx,
 pelvis_com_height,
 pelvis_hip_width,
 pelvis_thorax_height,
 torso_mass,
 torso_ixx,
 torso_iyy,
 torso_izz,
 torso_ixy,
 torso_iyz,
 torso_izx,
 torso_shoulder_height,
 torso_shoulder_width,
 torso_torsojoint_shoulder_length,
 torso_shoulder_neck_length,
 head_mass,
 head_ixx,
 head_iyy,
 head_izz,
 head_ixy,
 head_iyz,
 head_izx,
 head_head_neck_height,
 head_head_width,
 head_head_top_point,
 torsojoint_d_p_t,
 torsojoint_th_h_p,
 g,
 seat_yaw,
 seat_pitch,
 seat_roll,
 torsojoint_theta,
 k,
 c,
 q_ref,
 neck_yaw,
 neck_pitch,
 neck_roll,
 alpha)

In [10]: ids.problem.collocator.state_derivative_symbols
Out[10]: 
(Derivative(q1(t), t),
 Derivative(q2(t), t),
 Derivative(q3(t), t),
 Derivative(q4(t), t),
 Derivative(q6(t), t),
 Derivative(q7(t), t),
 Derivative(q8(t), t),
 Derivative(torsojoint_q(t), t),
 Derivative(q5(t), t),
 Derivative(u4(t), t),
 Derivative(u6(t), t),
 Derivative(u7(t), t),
 Derivative(torsojoint_u(t), t),
 Derivative(u1(t), t),
 Derivative(u2(t), t),
 Derivative(u3(t), t),
 Derivative(u5(t), t),
 Derivative(u8(t), t),
 Derivative(a_x(t), t),
 Derivative(a_y(t), t),
 Derivative(a_z(t), t),
 Derivative(omega_x(t), t),
 Derivative(omega_y(t), t),
 Derivative(omega_z(t), t))

Start by locating the documentation or examples that expose ids.problem.collocator and its variable collections. Use the listed state symbols, input trajectories, parameters, and state derivatives to determine what needs documenting; done means these problem variables are explained in an appropriate project location.