jaxsim.rbda.crba#
- jaxsim.rbda.crba(model, *, joint_positions)[source]#
Compute the free-floating mass matrix using the Composite Rigid-Body Algorithm (CRBA).
- Parameters:
model (
JaxSimModel) – The model to consider.joint_positions (
Array) – The positions of the joints.
- Return type:
Array- Returns:
The free-floating mass matrix of the model in body-fixed representation.