ami-iit / adam

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.
https://adam-docs.readthedocs.io/en/latest/
BSD 3-Clause "New" or "Revised" License
131 stars 20 forks source link

Add Forward Dynamics computation via `ABA` #51

Open flferretti opened 11 months ago

flferretti commented 11 months ago

This PR adds the computation of base and joints acceleration via the Articulated-Body Algorithm.