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Update rbd_algorithms.py

Open Giaco02 opened this issue 1 year ago • 4 comments

I incorporated joint acceleration into the reduced RNEA

📚 Documentation preview 📚: https://adam-docs--97.org.readthedocs.build/en/97/

Giaco02 avatar Sep 01 '24 17:09 Giaco02

Hi @Giaco02, thanks for the PR! The tests are failing since the variable q_dot_dot is never instantiated. Maybe some commits are missing!

Giulero avatar Sep 02 '24 09:09 Giulero

Hi @Giulero , you were right about the issues, and I’ve now made the necessary commit.

Giaco02 avatar Sep 02 '24 13:09 Giaco02

Hi @Giaco02! Thanks for fixing this and sorry for the late reply However there are some missing pieces :) For adapting rnea, we would also need the base acceleration in the formulation as input of the function apart from the joint one. Also, some tests against idyntree would be super useful! Thanks!

@traversaro how can we test rnea with system acceleration with idyntree?

Giulero avatar Sep 10 '24 12:09 Giulero

\n@traversaro how can we test rnea with system acceleration with idyntree?

Sure, you need to set acceleration with the appropriate method or pass acceleration to the inverseDinamics method.

traversaro avatar Sep 10 '24 14:09 traversaro