diff --git a/src/adam/jax/computations.py b/src/adam/jax/computations.py index 2f68d09..df5d9e4 100644 --- a/src/adam/jax/computations.py +++ b/src/adam/jax/computations.py @@ -12,9 +12,7 @@ class KinDynComputations: - """This is a small class that retrieves robot quantities using Jax - in mixed representation, for Floating Base systems - as humanoid robots. - """ + """This is a small class that retrieves robot quantities using Jax for Floating Base systems.""" def __init__( self, @@ -100,7 +98,7 @@ def jacobian_dot( frame (str): The frame to which the jacobian will be computed 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 + base_velocity (jnp.array): The base velocity joint_velocities (jnp.array): The joint velocities Returns: @@ -158,7 +156,7 @@ def bias_force( 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 + base_velocity (jnp.array): The base velocity joint_velocities (jnp.array): The joints velocity Returns: @@ -181,7 +179,7 @@ def coriolis_term( 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 + base_velocity (jnp.array): The base velocity joint_velocities (jnp.array): The joints velocity Returns: diff --git a/src/adam/numpy/computations.py b/src/adam/numpy/computations.py index ad531f0..d7cc009 100644 --- a/src/adam/numpy/computations.py +++ b/src/adam/numpy/computations.py @@ -11,9 +11,7 @@ class KinDynComputations: - """This is a small class that retrieves robot quantities using NumPy - in mixed representation, for Floating Base systems - as humanoid robots. - """ + """This is a small class that retrieves robot quantities using NumPy for Floating Base systems.""" def __init__( self, @@ -135,7 +133,7 @@ def jacobian_dot( frame (str): The frame to which the jacobian will be computed 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 + base_velocity (np.ndarray): The base velocity joint_velocities (np.ndarray): The joint velocities Returns: @@ -174,7 +172,7 @@ def bias_force( 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 + base_velocity (np.ndarray): The base velocity joint_velocities (np.ndarray): The joint velocities Returns: @@ -201,7 +199,7 @@ def coriolis_term( 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 + base_velocity (np.ndarray): The base velocity joint_velocities (np.ndarray): The joint velocities Returns: diff --git a/src/adam/parametric/casadi/computations_parametric.py b/src/adam/parametric/casadi/computations_parametric.py index 1247d2c..0830629 100644 --- a/src/adam/parametric/casadi/computations_parametric.py +++ b/src/adam/parametric/casadi/computations_parametric.py @@ -14,8 +14,8 @@ class KinDynComputationsParametric: - """This is a small class that retrieves robot quantities represented in a symbolic fashion using CasADi - in mixed representation, for Floating Base systems - as humanoid robots. This is parametric w.r.t the link length and denisties + """This is a small class that retrieves robot quantities represented in a symbolic fashion using CasADi for Floating Base systems. + This is parametric w.r.t the link length and densities. """ def __init__( diff --git a/src/adam/parametric/jax/computations_parametric.py b/src/adam/parametric/jax/computations_parametric.py index 42865f0..688d3cb 100644 --- a/src/adam/parametric/jax/computations_parametric.py +++ b/src/adam/parametric/jax/computations_parametric.py @@ -16,8 +16,8 @@ class KinDynComputationsParametric: - """This is a small class that retrieves robot quantities using Jax - in mixed representation, for Floating Base systems - as humanoid robots. This is parametric w.r.t the link length and denisties + """This is a small class that retrieves robot quantities using Jax for Floating Base systems. + This is parametric w.r.t the link length and densities. """ def __init__( @@ -166,7 +166,7 @@ def jacobian_dot( frame (str): The frame to which the jacobian will be computed 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 + base_velocity (jnp.array): The base velocity joint_velocities (jnp.array): The joint velocities length_multiplier (jnp.array): The length multiplier of the parametrized links densities (jnp.array): The densities of the parametrized links @@ -283,7 +283,7 @@ def bias_force( 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 + base_velocity (jnp.array): The base velocity s_dot (jnp.array): The joints velocity length_multiplier (jnp.array): The length multiplier of the parametrized links densities (jnp.array): The densities of the parametrized links @@ -323,7 +323,7 @@ def coriolis_term( 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 + base_velocity (jnp.array): The base velocity s_dot (jnp.array): The joints velocity length_multiplier (jnp.array): The length multiplier of the parametrized links densities (jnp.array): The densities of the parametrized links diff --git a/src/adam/parametric/numpy/computations_parametric.py b/src/adam/parametric/numpy/computations_parametric.py index 66c5be9..f29c814 100644 --- a/src/adam/parametric/numpy/computations_parametric.py +++ b/src/adam/parametric/numpy/computations_parametric.py @@ -13,8 +13,8 @@ class KinDynComputationsParametric: - """This is a small class that retrieves robot quantities using NumPy - in mixed representation, for Floating Base systems - as humanoid robots. This is parametric w.r.t the link length and denisties + """This is a small class that retrieves robot quantities using NumPy for Floating Base systems. + This is parametric w.r.t the link length and densities. """ def __init__( @@ -235,7 +235,7 @@ def jacobian_dot( frame (str): The frame to which the jacobian will be computed 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 + base_velocity (np.ndarray): The base velocity joint_velocities (np.ndarray): The joint velocities length_multiplier (np.ndarray): The length multiplier of the parametrized links densities (np.ndarray): The densities of the parametrized links @@ -307,7 +307,7 @@ def bias_force( 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 + base_velocity (np.ndarray): The base velocity joint_velocities (np.ndarray): The joint velocities length_multiplier (np.ndarray): The length multiplier of the parametrized links densities (np.ndarray): The densities of the parametrized links @@ -350,7 +350,7 @@ def coriolis_term( 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 + base_velocity (np.ndarray): The base velocity joint_velocities (np.ndarray): The joint velocities length_multiplier (np.ndarray): The length multiplier of the parametrized links densities (np.ndarray): The densities of the parametrized links diff --git a/src/adam/parametric/pytorch/computations_parametric.py b/src/adam/parametric/pytorch/computations_parametric.py index 03c2f80..679f81f 100644 --- a/src/adam/parametric/pytorch/computations_parametric.py +++ b/src/adam/parametric/pytorch/computations_parametric.py @@ -14,8 +14,8 @@ class KinDynComputationsParametric: - """This is a small class that retrieves robot quantities using Pytorch - in mixed representation, for Floating Base systems - as humanoid robots. This is parametric w.r.t the link length and denisties + """This is a small class that retrieves robot quantities using Pytorch for Floating Base systems. + This is parametric w.r.t the link length and densities. """ def __init__( @@ -240,7 +240,7 @@ def jacobian_dot( frame (str): The frame to which the jacobian will be computed base_transform (torch.Tensor): The homogenous transform from base to world frame joint_positions (torch.Tensor): The joints position - base_velocity (torch.Tensor): The base velocity in mixed representation + base_velocity (torch.Tensor): The base velocity joint_velocities (torch.Tensor): The joint velocities length_multiplier (torch.tensor): The length multiplier of the parametrized links densities (torch.tensor): The densities of the parametrized links @@ -312,7 +312,7 @@ def bias_force( Args: base_transform (torch.tensor): The homogenous transform from base to world frame s (torch.tensor): The joints position - base_velocity (torch.tensor): The base velocity in mixed representation + base_velocity (torch.tensor): The base velocity joint_velocities (torch.tensor): The joints velocity length_multiplier (torch.tensor): The length multiplier of the parametrized links densities (torch.tensor): The densities of the parametrized links @@ -355,7 +355,7 @@ def coriolis_term( Args: base_transform (torch.tensor): The homogenous transform from base to world frame joint_positions (torch.tensor): The joints position - base_velocity (torch.tensor): The base velocity in mixed representation + base_velocity (torch.tensor): The base velocity joint_velocities (torch.tensor): The joints velocity length_multiplier (torch.tensor): The length multiplier of the parametrized links densities (torch.tensor): The densities of the parametrized links diff --git a/src/adam/pytorch/computations.py b/src/adam/pytorch/computations.py index e81c48b..32cb84a 100644 --- a/src/adam/pytorch/computations.py +++ b/src/adam/pytorch/computations.py @@ -12,9 +12,7 @@ class KinDynComputations: - """This is a small class that retrieves robot quantities using Pytorch - in mixed representation, for Floating Base systems - as humanoid robots. - """ + """This is a small class that retrieves robot quantities using Pytorch for Floating Base systems.""" def __init__( self, @@ -143,7 +141,7 @@ def jacobian_dot( frame (str): The frame to which the jacobian will be computed base_transform (torch.Tensor): The homogenous transform from base to world frame joint_positions (torch.Tensor): The joints position - base_velocity (torch.Tensor): The base velocity in mixed representation + base_velocity (torch.Tensor): The base velocity joint_velocities (torch.Tensor): The joint velocities Returns: @@ -182,7 +180,7 @@ def bias_force( Args: base_transform (torch.tensor): The homogenous transform from base to world frame joint_positions (torch.tensor): The joints position - base_velocity (torch.tensor): The base velocity in mixed representation + base_velocity (torch.tensor): The base velocity joint_velocities (torch.tensor): The joints velocity Returns: @@ -209,7 +207,7 @@ def coriolis_term( Args: base_transform (torch.tensor): The homogenous transform from base to world frame joint_positions (torch.tensor): The joints position - base_velocity (torch.tensor): The base velocity in mixed representation + base_velocity (torch.tensor): The base velocity joint_velocities (torch.tensor): The joints velocity Returns: