Add Forward Dynamics computation via `ABA`

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

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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.