Update rbd_algorithms.py

[Giaco02]

I incorporated joint acceleration into the reduced RNEA

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📚 Documentation preview 📚: https://adam-docs--97.org.readthedocs.build/en/97/

[Giulero]

Hi @Giaco02, thanks for the PR!
The tests are failing since the variable q_dot_dot is never instantiated. Maybe some commits are missing!

[Giaco02]

Hi @Giulero , you were right about the issues, and I’ve now made the necessary commit.

[Giulero]

Hi @Giaco02! Thanks for fixing this and sorry for the late reply
However there are some missing pieces :)
For adapting rnea, we would also need the base acceleration in the formulation as input of the function apart from the joint one.
Also, some tests against idyntree would be super useful!
Thanks!

@traversaro how can we test rnea with system acceleration with idyntree?

[traversaro]

\n@traversaro how can we test rnea with system acceleration with idyntree?

Sure, you need to set acceleration with the appropriate method or pass acceleration to the inverseDinamics method.