def compute_x_dot(x,u):

    p, theta, p_dot, theta_dot, q, q_dot = unpack_state(x)
    H, C, G, B                           = compute_manipulator_matrices(x)

    f1 = H.I*(C*q_dot--G)
    f2 = H.I*B
    
    q_dot_dot = f1 + f2*u

    x_dot = bmat([[q_dot],[q_dot_dot]])

    return x_dot
dataset/ETHPy150Open stanford-gfx/Horus/Code/flashlight/quadrotor2d.py/compute_x_dot/swapped operands of `-`