adam.core.rbd_algorithms ======================== .. py:module:: adam.core.rbd_algorithms Classes ------- .. autoapisummary:: adam.core.rbd_algorithms.RBDAlgorithms Module Contents --------------- .. py:class:: RBDAlgorithms(model: adam.model.Model, math: adam.core.spatial_math.SpatialMath) This is a small class that implements Rigid body algorithms retrieving robot quantities, for Floating Base systems - as humanoid robots. .. py:attribute:: model .. py:attribute:: NDoF .. py:attribute:: root_link .. py:attribute:: math .. py:attribute:: frame_velocity_representation .. py:attribute:: _root_spatial_transform .. py:attribute:: _root_motion_subspace .. py:method:: set_frame_velocity_representation(representation: adam.core.constants.Representations) Sets the frame velocity representation :param representation: The representation of the frame velocity :type representation: str .. py:method:: crba(base_transform: numpy.typing.ArrayLike, joint_positions: numpy.typing.ArrayLike) Batched Composite Rigid Body Algorithm (CRBA) + Orin's Centroidal Momentum Matrix. :param base_transform: The homogenous transform from base to world frame :type base_transform: npt.ArrayLike :param joint_positions: The joints position :type joint_positions: npt.ArrayLike :returns: The mass matrix and the centroidal momentum matrix :rtype: M, Jcm (npt.ArrayLike, npt.ArrayLike) .. py:method:: forward_kinematics(frame, base_transform: numpy.typing.ArrayLike, joint_positions: numpy.typing.ArrayLike) -> numpy.typing.ArrayLike Computes the forward kinematics relative to the specified `frame`. :param frame: The frame to which the fk will be computed :type frame: str :param base_transform: The homogenous transform from base to world frame :type base_transform: npt.ArrayLike :param joint_positions: The joints position :type joint_positions: npt.ArrayLike :returns: The fk represented as Homogenous transformation matrix :rtype: I_H_L (npt.ArrayLike) .. py:method:: joints_jacobian(frame: str, joint_positions: numpy.typing.ArrayLike) -> numpy.typing.ArrayLike Returns the Jacobian relative to the specified `frame`. :param frame: The frame to which the jacobian will be computed :type frame: str :param base_transform: The homogenous transform from base to world frame :type base_transform: npt.ArrayLike :param joint_positions: The joints position :type joint_positions: npt.ArrayLike :returns: The Joints Jacobian relative to the frame :rtype: J (npt.ArrayLike) .. py:method:: jacobian(frame: str, base_transform: numpy.typing.ArrayLike, joint_positions: numpy.typing.ArrayLike) -> numpy.typing.ArrayLike Returns the Jacobian for `frame`. :param frame: The frame to which the jacobian will be computed :type frame: str :param base_transform: The homogenous transform from base to world frame :type base_transform: npt.ArrayLike :param joint_positions: The joints position :type joint_positions: npt.ArrayLike :returns: The Jacobian for the specified frame :rtype: npt.ArrayLike .. py:method:: relative_jacobian(frame: str, joint_positions: numpy.typing.ArrayLike) -> numpy.typing.ArrayLike Returns the Jacobian between the root link and a specified `frame`. :param frame: The tip of the chain :type frame: str :param joint_positions: The joints position :type joint_positions: npt.ArrayLike :returns: The 6 x NDoF Jacobian between the root and the `frame` :rtype: J (npt.ArrayLike) .. py:method:: jacobian_dot(frame: str, base_transform: numpy.typing.ArrayLike, joint_positions: numpy.typing.ArrayLike, base_velocity: numpy.typing.ArrayLike, joint_velocities: numpy.typing.ArrayLike) -> numpy.typing.ArrayLike Returns the Jacobian time derivative for `frame`. :param frame: The frame to which the jacobian will be computed :type frame: str :param base_transform: The homogenous transform from base to world frame :type base_transform: npt.ArrayLike :param joint_positions: The joints position :type joint_positions: npt.ArrayLike :param base_velocity: The spatial velocity of the base :type base_velocity: npt.ArrayLike :param joint_velocities: The joints velocities :type joint_velocities: npt.ArrayLike :returns: The Jacobian derivative relative to the frame :rtype: J_dot (npt.ArrayLike) .. py:method:: CoM_position(base_transform: numpy.typing.ArrayLike, joint_positions: numpy.typing.ArrayLike) -> numpy.typing.ArrayLike Returns the CoM position :param base_transform: The homogenous transform from base to world frame :type base_transform: npt.ArrayLike :param joint_positions: The joints position :type joint_positions: npt.ArrayLike :returns: The CoM position :rtype: com (npt.ArrayLike) .. py:method:: CoM_jacobian(base_transform: numpy.typing.ArrayLike, joint_positions: numpy.typing.ArrayLike) -> numpy.typing.ArrayLike Returns the center of mass (CoM) Jacobian using the centroidal momentum matrix. :param base_transform: The homogenous transform from base to world frame :type base_transform: npt.ArrayLike :param joint_positions: The joints position :type joint_positions: npt.ArrayLike :returns: The CoM Jacobian :rtype: J_com (npt.ArrayLike) .. py:method:: get_total_mass() Returns the total mass of the robot :returns: The total mass :rtype: mass .. py:method:: rnea(base_transform: numpy.typing.ArrayLike, joint_positions: numpy.typing.ArrayLike, base_velocity: numpy.typing.ArrayLike, joint_velocities: numpy.typing.ArrayLike, g: numpy.typing.ArrayLike) -> numpy.typing.ArrayLike Batched Recursive Newton-Euler (reduced: no joint/base accelerations, no external forces). :param base_transform: The homogenous transform from base to world frame :type base_transform: npt.ArrayLike :param joint_positions: The joints position :type joint_positions: npt.ArrayLike :param base_velocity: The base spatial velocity :type base_velocity: npt.ArrayLike :param joint_velocities: The joints velocities :type joint_velocities: npt.ArrayLike :param g: The gravity vector :type g: npt.ArrayLike :returns: The vector of generalized forces :rtype: tau (npt.ArrayLike) .. py:method:: aba(base_transform: numpy.typing.ArrayLike, joint_positions: numpy.typing.ArrayLike, base_velocity: numpy.typing.ArrayLike, joint_velocities: numpy.typing.ArrayLike, joint_torques: numpy.typing.ArrayLike, g: numpy.typing.ArrayLike, external_wrenches: dict[str, numpy.typing.ArrayLike] | None = None) -> numpy.typing.ArrayLike Featherstone Articulated Body Algorithm for floating-base forward dynamics. :param base_transform: The homogenous transform from base to world frame :type base_transform: npt.ArrayLike :param joint_positions: The joints position :type joint_positions: npt.ArrayLike :param base_velocity: The spatial velocity of the base :type base_velocity: npt.ArrayLike :param joint_velocities: The joints velocities :type joint_velocities: npt.ArrayLike :param joint_torques: The joints torques/forces :type joint_torques: npt.ArrayLike :param g: The gravity vector :type g: npt.ArrayLike | None, optional :param external_wrenches: A dictionary of external wrenches applied to specific links. Keys are link names, and values are 6D wrench vectors. Defaults to None. :type external_wrenches: dict[str, npt.ArrayLike] | None, optional :returns: The spatial acceleration of the base and joints accelerations :rtype: accelerations (npt.ArrayLike) .. py:method:: _convert_to_arraylike(*args) Convert inputs to ArrayLike if they are not already. :param \*args: Input arguments to be converted. :returns: Converted arguments as ArrayLike. .. py:method:: _prepare_tree_cache() -> None Pre-compute static tree data so the dynamic algorithms avoid repeated Python work.