From c9556b40f4515c41d6753b6f246f6e2ee1fb052f Mon Sep 17 00:00:00 2001 From: Giaco02 <167908830+Giaco02@users.noreply.github.com> Date: Sun, 1 Sep 2024 18:58:42 +0200 Subject: [PATCH] Update rbd_algorithms.py I incorporated joint acceleration into the reduced RNEA --- src/adam/core/rbd_algorithms.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/adam/core/rbd_algorithms.py b/src/adam/core/rbd_algorithms.py index ba68391f..0632870c 100644 --- a/src/adam/core/rbd_algorithms.py +++ b/src/adam/core/rbd_algorithms.py @@ -439,7 +439,7 @@ def rnea( 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]