Allow getting the default densities in the parametric model

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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Allow getting the default densities in the parametric model #70

Closed S-Dafarra closed 5 months ago

S-Dafarra commented 6 months ago

In some applications, it may be useful to retrieve the densities that can be computed directly from the imported URDF, before applying any modification.

cc @CarlottaSartore

S-Dafarra commented 6 months ago

Done in https://github.com/ami-iit/adam/pull/72/commits/bfb9ffc95cd825f8b5d004f8c106abb7fa537327 (included in https://github.com/ami-iit/adam/pull/72)