Fix RBDA to work on all representations (inertial, body, mixed)

[diegoferigo]

JAXsim provides a complete implementation of RBDA using inertial-fixed representation¹ (also known as right-trivialized) of velocities, accelerations, and forces.

There are some combination of algorithms and representation that do not return the correct value, this issue tracks the bugged implementation and the progress to address it.

• RNEA does not work in Mixed representation for floating-base models when the angular base velocity is not 0.
• ABA does not work in Body and Mixed representations. If needed, you can temporarily use the CRB variant that exploits RNEA under-the-hood (and, therefore, it inherits its problematic configuration, that luckily is less restrictive).

Footnotes

1. https://research.tue.nl/en/publications/multibody-dynamics-notation-version-2 ↩