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\[ \mathbf{\dot{v}} = \mathbf{f}(\mathbf{q}, \mathbf{v}, \boldsymbol{\tau}) \]
where \( xout = \mathbf{\dot{v}} \) and represents the acceleration of the system. Note that Jacobians Fx and Fu in the DifferentialActionDataAbstract are in \( \mathbb{R}^{nv\times ndx} \) and \( \mathbb{R}^{nv\times nu} \), respectively