Skip to content

Update rbd_algorithms.py #97

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Giaco02 wants to merge 2 commits into
base: main
Choose a base branch
from
Open

Update rbd_algorithms.py #97

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
c9556b4
Update rbd_algorithms.py
Giaco02 Sep 1, 2024
2d0d757
Update rbd_algorithms.py
Giaco02 Sep 2, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 6 additions & 1 deletion src/adam/core/rbd_algorithms.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -363,6 +363,7 @@ def rnea(
joint_positions: npt.ArrayLike,
base_velocity: npt.ArrayLike,
joint_velocities: npt.ArrayLike,
joint_accelerations: npt.ArrayLike,
g: npt.ArrayLike,
) -> npt.ArrayLike:
"""Implementation of reduced Recursive Newton-Euler algorithm
Expand All @@ -374,6 +375,7 @@ def rnea(
joint_positions (T): The joints position
base_velocity (T): The base velocity in mixed representation
joint_velocities (T): The joints velocity
joint_accelerations (T): The joints acceleration
g (T): The 6D gravity acceleration

Returns:
Expand Down Expand Up @@ -434,12 +436,15 @@ def rnea(
q_dot = (
joint_velocities[joint_i.idx] if joint_i.idx is not None else 0.0
)
q_dot_dot = (
joint_accelerations[joint_i.idx] if joint_i.idx is not None else 0.0
)
X_p[i] = joint_i.spatial_transform(q)
Phi[i] = joint_i.motion_subspace()
pi = self.model.tree.get_idx_from_name(link_pi.name)
# pi = self.tree.links.index(link_pi)
v[i] = X_p[i] @ v[pi] + Phi[i] * q_dot
a[i] = X_p[i] @ a[pi] + self.math.spatial_skew(v[i]) @ Phi[i] * q_dot
a[i] = X_p[i] @ a[pi] + self.math.spatial_skew(v[i]) @ Phi[i] * q_dot + Phi[i]* q_dot_dot

f[i] = Ic[i] @ a[i] + self.math.spatial_skew_star(v[i]) @ Ic[i] @ v[i]

Expand Down