Task 1.2 d) and a little criticism
I can find PD and PD with gravity compensation but where can I find "full inverse dynamics" on the lecture slides?
The same for "second-order Euler integration".
It is nowhere defined on the lecture slides and google doesn't help much.
I only know Euler, Heun (2. Order) and classical RK4 (explicit/implicit).
In future excercises, I ask the excercise organization team to be more precisely with the use of terminology.
Some things may be obvious for you but not for me.