Fix joint_position -> joint_positions in pytorch KinDynComputations

Author: Giulero

src/adam/pytorch/computations.py

@@ -50,7 +50,7 @@ def set_frame_velocity_representation(
         self.rbdalgos.set_frame_velocity_representation(representation)
 
     def mass_matrix(
-        self, base_transform: torch.Tensor, joint_position: torch.Tensor
+        self, base_transform: torch.Tensor, joint_positions: torch.Tensor
     ) -> torch.Tensor:
         """Returns the Mass Matrix functions computed the CRBA
 
@@ -61,11 +61,11 @@ def mass_matrix(
         Returns:
             M (torch.tensor): Mass Matrix
         """
-        [M, _] = self.rbdalgos.crba(base_transform, joint_position)
+        [M, _] = self.rbdalgos.crba(base_transform, joint_positions)
         return M.array
 
     def centroidal_momentum_matrix(
-        self, base_transform: torch.Tensor, joint_position: torch.Tensor
+        self, base_transform: torch.Tensor, joint_positions: torch.Tensor
     ) -> torch.Tensor:
         """Returns the Centroidal Momentum Matrix functions computed the CRBA
 
@@ -76,11 +76,11 @@ def centroidal_momentum_matrix(
         Returns:
             Jcc (torch.tensor): Centroidal Momentum matrix
         """
-        [_, Jcm] = self.rbdalgos.crba(base_transform, joint_position)
+        [_, Jcm] = self.rbdalgos.crba(base_transform, joint_positions)
         return Jcm.array
 
     def forward_kinematics(
-        self, frame, base_transform: torch.Tensor, joint_position: torch.Tensor
+        self, frame, base_transform: torch.Tensor, joint_positions: torch.Tensor
     ) -> torch.Tensor:
         """Computes the forward kinematics relative to the specified frame
 
@@ -96,7 +96,7 @@ def forward_kinematics(
             self.rbdalgos.forward_kinematics(
                 frame,
                 base_transform,
-                joint_position,
+                joint_positions,
             )
         ).array
 
@@ -177,7 +177,7 @@ def bias_force(
         base_velocity: torch.Tensor,
         joint_velocities: torch.Tensor,
     ) -> torch.Tensor:
-        """Returns the bias force of the floating-base dynamics ejoint_positionsuation,
+        """Returns the bias force of the floating-base dynamics equation,
         using a reduced RNEA (no acceleration and external forces)
 
         Args:
@@ -204,7 +204,7 @@ def coriolis_term(
         base_velocity: torch.Tensor,
         joint_velocities: torch.Tensor,
     ) -> torch.Tensor:
-        """Returns the coriolis term of the floating-base dynamics ejoint_positionsuation,
+        """Returns the coriolis term of the floating-base dynamics equation,
         using a reduced RNEA (no acceleration and external forces)
 
         Args:
@@ -228,7 +228,7 @@ def coriolis_term(
     def gravity_term(
         self, base_transform: torch.Tensor, joint_positions: torch.Tensor
     ) -> torch.Tensor:
-        """Returns the gravity term of the floating-base dynamics ejoint_positionsuation,
+        """Returns the gravity term of the floating-base dynamics equation,
         using a reduced RNEA (no acceleration and external forces)
 
         Args: