Fix computations

src/adam/casadi/computations.py

@@ -416,16 +416,14 @@ def forward_dynamics(
         self,
         base_transform: Union[cs.SX, cs.DM],
         joint_positions: Union[cs.SX, cs.DM],
-        base_velocity: Union[cs.SX, cs.DM],
         joint_velocities: Union[cs.SX, cs.DM],
         joint_torques: Union[cs.SX, cs.DM],
     ) -> Union[cs.SX, cs.DM]:
-        """Returns the base acceleration and joint accelerations
+        """Returns base and joints accelerations of the floating-base dynamics equation
 
         Args:
             base_transform (Union[cs.SX, cs.DM]): The homogenous transform from base to world frame
             joint_positions (Union[cs.SX, cs.DM]): The joints position
-            base_velocity (Union[cs.SX, cs.DM]): The base velocity in mixed representation
             joint_velocities (Union[cs.SX, cs.DM]): The joints velocity
             joint_torques (Union[cs.SX, cs.DM]): The joints torque
 
@@ -436,7 +434,6 @@ def forward_dynamics(
         return self.rbdalgos.aba(
             base_transform,
             joint_positions,
-            base_velocity,
             joint_velocities,
             joint_torques,
             self.g,

src/adam/jax/computations.py

@@ -244,16 +244,14 @@ def forward_dynamics(
         self,
         base_transform: jnp.array,
         joint_positions: jnp.array,
-        base_velocity: jnp.array,
         joint_velocities: jnp.array,
         joint_torques: jnp.array,
     ) -> jnp.array:
-        """Returns the forward dynamics equation
+        """Returns base and joints accelerations of the floating-base dynamics equation
 
         Args:
             base_transform (jnp.array): The homogenous transform from base to world frame
             joint_positions (jnp.array): The joints position
-            base_velocity (jnp.array): The base velocity in mixed representation
             joint_velocities (jnp.array): The joints velocity
             joint_torques (jnp.array): The joints torques
 
@@ -264,7 +262,6 @@ def forward_dynamics(
         return self.rbdalgos.aba(
             base_transform,
             joint_positions,
-            base_velocity,
             joint_velocities,
             joint_torques,
             self.g,

src/adam/numpy/computations.py

@@ -249,17 +249,14 @@ def forward_dynamics(
         self,
         base_transform: np.ndarray,
         joint_positions: np.ndarray,
-        base_velocity: np.ndarray,
         joint_velocities: np.ndarray,
         joint_torques: np.ndarray,
     ) -> np.ndarray:
-        """Returns the forward dynamics of the floating-base dynamics equation,
-        using a reduced RNEA (no acceleration and external forces)
+        """Returns base and joints accelerations of the floating-base dynamics equation
 
         Args:
             base_transform (np.ndarray): The homogenous transform from base to world frame
             joint_positions (np.ndarray): The joints position
-            base_velocity (np.ndarray): The base velocity in mixed representation
             joint_velocities (np.ndarray): The joint velocities
             joint_torques (np.ndarray): The joint torques
 
@@ -270,7 +267,6 @@ def forward_dynamics(
         return self.rbdalgos.aba(
             base_transform,
             joint_positions,
-            base_velocity.reshape(6, 1),
             joint_velocities,
             joint_torques,
             self.g,

src/adam/pytorch/computations.py

@@ -255,16 +255,14 @@ def forward_dynamic(
         self,
         base_transform: torch.Tensor,
         joint_positions: torch.Tensor,
-        base_velocity: torch.Tensor,
         joint_velocities: torch.Tensor,
         joint_torques: torch.Tensor,
     ) -> torch.Tensor:
-        """Returns the forward dynamics of the floating-base system
+        """Returns base and joints accelerations of the floating-base dynamics equation
 
         Args:
             base_transform (torch.tensor): The homogenous transform from base to world frame
             joint_positions (torch.tensor): The joints positions
-            base_velocity (torch.tensor): The base velocity in mixed representation
             joint_velocities (torch.tensor): The joints velocities
             joint_torques (torch.tensor): The joints torques
 
@@ -275,7 +273,6 @@ def forward_dynamic(
         return self.rbdalgos.aba(
             base_transform,
             joint_positions,
-            base_velocity.reshape(6, 1),
             joint_velocities,
             joint_torques,
             self.g,