adam
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ami-iit
adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.
I tried an example from the library, but I didn't understand why the mass matrix has dimensions of 12x12. I'm confused about the significance of rows 7 through 12 The...
The action running the conda-forge dependency test is failing when testing macos-lates: https://github.com/ami-iit/adam/actions/runs/9026258191/job/24803267789
Hi , I'm using your library but I don't understand why I got only a Nan value in the Mass matrix and the bias https://github.com/21spike21/Casadi
Made the necessary changes to allow batch computations with **pytorch** (did not test other modalities) for the jacobian, forward kinematics, and all the functions used by those.
This PR adds the possibility to load the `urdf` both from string or from path. As discussed with @S-Dafarra, I decided not to declare any new method (e.g. `LoadFromXMLPath`,`LoadFromXMLstring`)but to...
This PR adds the computation of base and joints acceleration via the Articulated-Body Algorithm.
Dear ADAM developers, I just stumbled across your package and it looks amazing! However, there's a question I couldn't find an answer to in your examples and the README: If...
The Jax pip installation only comes with the CPU version of Jax. Is this intended? ```pip install adam-robotics[jax]```
`urdf_parser_py` is a bit of a problematic dependency: * On PyPI, a really old version of it is packaged (0.0.4, while the latest is 1.2.0) : https://pypi.org/project/urdf-parser-py/#files vs https://github.com/ros/urdf_parser_py/releases/tag/1.2.0 *...
For example, see this output of two tests runs on the same commit: * https://github.com/ami-iit/ADAM/actions/runs/4977875545/jobs/8907456613?pr=41 * https://github.com/ami-iit/ADAM/actions/runs/4977875540/jobs/8907456632?pr=41 The reason for this is that we call `np.random`, but we do not...