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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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Add possibility to add empty list of actuated joints #56

Closed Giulero closed 9 months ago

Giulero commented 9 months ago

With this PR I want to add the possibility of not passing a list of actuated joints to the model constructor. In this case, all the joints that are not fixed are considered actuated joints, e.g.

from adam.casadi import KinDynComputations
... 
comp = KinDynComputations(model_path)
...

I also added a check that verifies if all the joints passed as an argument of KinDynComputations are in the robot.

GiulioRomualdi commented 9 months ago

Nice! Green flag!

Giulero commented 9 months ago

Thanks @GiulioRomualdi !