adam

Contents

adam#

Automatic Differentiation for rigid-body-dynamics AlgorithMs

adam implements a collection of algorithms for calculating rigid-body dynamics for floating-base robots, in mixed and body fixed representations using:

adam employs the automatic differentiation capabilities of these frameworks to compute, if needed, gradients, Jacobian, Hessians of rigid-body dynamics quantities. This approach enables the design of optimal control and reinforcement learning strategies in robotics.

adam is based on Roy Featherstone’s Rigid Body Dynamics Algorithms.

Examples#

Have a look at the examples folder in the repository!