jaxsim.rbda.aba

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jaxsim.rbda.aba#

jaxsim.rbda.aba(model, *, base_position, base_quaternion, joint_positions, base_linear_velocity, base_angular_velocity, joint_velocities, joint_forces=None, link_forces=None, standard_gravity=9.81)[source]#

Compute forward dynamics using the Articulated Body Algorithm (ABA).

Parameters:

  • model (JaxSimModel) – The model to consider.

  • base_position (Union[Array, ndarray, bool, number, bool, int, float, complex, tuple]) – The position of the base link.

  • base_quaternion (Union[Array, ndarray, bool, number, bool, int, float, complex, tuple]) – The quaternion of the base link.

  • joint_positions (Union[Array, ndarray, bool, number, bool, int, float, complex, tuple]) – The positions of the joints.

  • base_linear_velocity (Union[Array, ndarray, bool, number, bool, int, float, complex, tuple]) – The linear velocity of the base link in inertial-fixed representation.

  • base_angular_velocity (Union[Array, ndarray, bool, number, bool, int, float, complex, tuple]) – The angular velocity of the base link in inertial-fixed representation.

  • joint_velocities (Union[Array, ndarray, bool, number, bool, int, float, complex, tuple]) – The velocities of the joints.

  • joint_forces (Union[Array, ndarray, bool, number, bool, int, float, complex, tuple, None]) – The forces applied to the joints.

  • link_forces (Union[Array, ndarray, bool, number, bool, int, float, complex, tuple, None]) – The forces applied to the links expressed in the world frame.

  • standard_gravity (Union[float, Array, ndarray, bool, number, bool, int, complex]) – The standard gravity constant.

Return type:

tuple[Array, Array]

Returns:

A tuple containing the base acceleration in inertial-fixed representation and the joint accelerations that result from the applications of the given joint and link forces.

Note

The algorithm expects a quaternion with unit norm.

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