Index

_

__add__() (adam.casadi.casadi_like.CasadiLike method) (adam.casadi.CasadiLike method) (adam.core.array_api_math.ArrayAPILike method) (adam.core.ArrayAPILike method) (adam.core.spatial_math.ArrayLike method) __getitem__() (adam.casadi.casadi_like.CasadiLike method) (adam.casadi.CasadiLike method) (adam.core.array_api_math.ArrayAPILike method) (adam.core.ArrayAPILike method) (adam.core.spatial_math.ArrayLike method) (adam.model.Tree method) (adam.model.tree.Tree method) __hash__() (adam.model.Node method) (adam.model.tree.Node method) __iter__() (adam.model.Tree method) (adam.model.tree.Tree method) __len__() (adam.core.spatial_math.ArrayLike method) (adam.model.Tree method) (adam.model.tree.Tree method) __matmul__() (adam.casadi.casadi_like.CasadiLike method) (adam.casadi.CasadiLike method) (adam.core.array_api_math.ArrayAPILike method) (adam.core.ArrayAPILike method) (adam.core.spatial_math.ArrayLike method) __mul__() (adam.casadi.casadi_like.CasadiLike method) (adam.casadi.CasadiLike method) (adam.core.array_api_math.ArrayAPILike method) (adam.core.ArrayAPILike method) (adam.core.spatial_math.ArrayLike method) __neg__() (adam.casadi.casadi_like.CasadiLike method) (adam.casadi.CasadiLike method) (adam.core.array_api_math.ArrayAPILike method) (adam.core.ArrayAPILike method) (adam.core.spatial_math.ArrayLike method) __post_init__() (adam.model.Tree method) (adam.model.tree.Tree method) __radd__() (adam.casadi.casadi_like.CasadiLike method) (adam.casadi.CasadiLike method) (adam.core.array_api_math.ArrayAPILike method) (adam.core.ArrayAPILike method) (adam.core.spatial_math.ArrayLike method) __repr__() (adam.core.spatial_math.ArrayLike method) __reversed__() (adam.model.Tree method) (adam.model.tree.Tree method) __rmatmul__() (adam.casadi.casadi_like.CasadiLike method) (adam.casadi.CasadiLike method) (adam.core.array_api_math.ArrayAPILike method) (adam.core.ArrayAPILike method) (adam.core.spatial_math.ArrayLike method) __rmul__() (adam.casadi.casadi_like.CasadiLike method) (adam.casadi.CasadiLike method) (adam.core.array_api_math.ArrayAPILike method) (adam.core.ArrayAPILike method) (adam.core.spatial_math.ArrayLike method) __rsub__() (adam.casadi.casadi_like.CasadiLike method) (adam.casadi.CasadiLike method) (adam.core.array_api_math.ArrayAPILike method) (adam.core.ArrayAPILike method) (adam.core.spatial_math.ArrayLike method) __sub__() (adam.casadi.casadi_like.CasadiLike method) (adam.casadi.CasadiLike method) (adam.core.array_api_math.ArrayAPILike method) (adam.core.ArrayAPILike method) (adam.core.spatial_math.ArrayLike method) __truediv__() (adam.casadi.casadi_like.CasadiLike method) (adam.casadi.CasadiLike method) (adam.core.array_api_math.ArrayAPILike method) (adam.core.ArrayAPILike method) (adam.core.spatial_math.ArrayLike method) _body_name() (adam.model.mj_factory.mujoco_model.MujocoModelFactory method) (adam.model.MujocoModelFactory method) _build_child_map() (adam.model.mj_factory.mujoco_model.MujocoModelFactory method) (adam.model.MujocoModelFactory method) _build_joint() (adam.model.mj_factory.mujoco_model.MujocoModelFactory method) (adam.model.MujocoModelFactory method)

_build_joints() (adam.model.mj_factory.mujoco_model.MujocoModelFactory method) (adam.model.MujocoModelFactory method) _build_limits() (adam.model.mj_factory.mujoco_model.MujocoModelFactory method) (adam.model.MujocoModelFactory method) _build_links() (adam.model.mj_factory.mujoco_model.MujocoModelFactory method) (adam.model.MujocoModelFactory method) _cached_sol (adam.casadi.inverse_kinematics.InverseKinematics attribute) _check_target_type() (adam.casadi.inverse_kinematics.InverseKinematics method) _child_map (adam.model.mj_factory.mujoco_model.MujocoModelFactory attribute) (adam.model.MujocoModelFactory attribute) _convert_to_arraylike() (adam.core.rbd_algorithms.RBDAlgorithms method) (adam.core.RBDAlgorithms method) _device (adam.core.array_api_math.ArrayAPIFactory attribute) (adam.core.ArrayAPIFactory attribute) _dtype (adam.core.array_api_math.ArrayAPIFactory attribute) (adam.core.ArrayAPIFactory attribute) _ensure_graph_modifiable() (adam.casadi.inverse_kinematics.InverseKinematics method) _factory (adam.core.spatial_math.SpatialMath attribute) (adam.core.SpatialMath attribute) _finalize_problem() (adam.casadi.inverse_kinematics.InverseKinematics method) _has_non_fixed_joint() (adam.model.mj_factory.mujoco_model.MujocoModelFactory method) (adam.model.MujocoModelFactory method) _import_mujoco() (adam.model.mj_factory.mujoco_model.MujocoModelFactory method) (adam.model.MujocoModelFactory method) _is_mujoco_model() (in module adam.model.factory) _is_urdf() (in module adam.model.factory) _joint_name() (adam.model.mj_factory.mujoco_model.MujocoModelFactory method) (adam.model.MujocoModelFactory method) _joint_origin() (adam.model.mj_factory.mujoco_model.MujocoModelFactory method) (adam.model.MujocoModelFactory method) _joint_type() (adam.model.mj_factory.mujoco_model.MujocoModelFactory method) (adam.model.MujocoModelFactory method) _joints (adam.model.mj_factory.mujoco_model.MujocoModelFactory attribute) (adam.model.MujocoModelFactory attribute) _like (adam.core.array_api_math.ArrayAPIFactory attribute) (adam.core.ArrayAPIFactory attribute) _link_inertial() (adam.model.mj_factory.mujoco_model.MujocoModelFactory method) (adam.model.MujocoModelFactory method) _links (adam.model.mj_factory.mujoco_model.MujocoModelFactory attribute) (adam.model.MujocoModelFactory attribute) _model_exists() (adam.model.mj_factory.mujoco_model.MujocoModelFactory method) (adam.model.MujocoModelFactory method) _normalize_quaternion() (in module adam.model.mj_factory.mujoco_model) _prepare_tree_cache() (adam.core.rbd_algorithms.RBDAlgorithms method) (adam.core.RBDAlgorithms method) _problem_built (adam.casadi.inverse_kinematics.InverseKinematics attribute) _root_motion_subspace (adam.core.rbd_algorithms.RBDAlgorithms attribute) (adam.core.RBDAlgorithms attribute) _root_spatial_transform (adam.core.rbd_algorithms.RBDAlgorithms attribute) (adam.core.RBDAlgorithms attribute) _rotate_vector() (in module adam.model.mj_factory.mujoco_model) _set_axis() (adam.model.std_factories.std_joint.StdJoint method) (adam.model.StdJoint method) (adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint method) (adam.parametric.model.ParametricJoint method) _set_inertia() (adam.model.std_factories.std_link.StdLink method) (adam.model.StdLink method) _set_limits() (adam.model.std_factories.std_joint.StdJoint method) (adam.model.StdJoint method) (adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint method) (adam.parametric.model.ParametricJoint method) _set_origin() (adam.model.std_factories.std_joint.StdJoint method) (adam.model.StdJoint method) (adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint method) (adam.parametric.model.ParametricJoint method) _to_scalar() (in module adam.model.conversions.idyntree) _to_sequence() (in module adam.model.conversions.idyntree) _X_from_H() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) _xp (adam.casadi.casadi_like.CasadiLikeFactory attribute) (adam.core.array_api_math.ArrayAPIFactory attribute) (adam.core.ArrayAPIFactory attribute) _xp() (adam.core.array_api_math.ArrayAPISpatialMath method) (adam.core.ArrayAPISpatialMath method) _xp_getter (adam.core.array_api_math.ArrayAPISpatialMath attribute) (adam.core.ArrayAPISpatialMath attribute)

A

aba() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.core.rbd_algorithms.RBDAlgorithms method) (adam.core.RBDAlgorithms method) (adam.jax.computations.KinDynComputations method), [1] (adam.jax.KinDynComputations method) (adam.numpy.computations.KinDynComputations method), [1] (adam.numpy.KinDynComputations method) (adam.pytorch.computation_batch.KinDynComputationsBatch method), [1] (adam.pytorch.computations.KinDynComputations method), [1] (adam.pytorch.KinDynComputations method) (adam.pytorch.KinDynComputationsBatch method) aba_fun() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) actuated_joints (adam.model.Model attribute) (adam.model.model.Model attribute), [1] adam module adam.casadi module adam.casadi.casadi_like module adam.casadi.computations module, [1] adam.casadi.inverse_kinematics module adam.core module adam.core.array_api_math module adam.core.constants module adam.core.rbd_algorithms module adam.core.spatial_math module adam.jax module adam.jax.computations module, [1] adam.jax.jax_like module adam.model module, [1] adam.model.abc_factories module adam.model.conversions module adam.model.conversions.idyntree module, [1] adam.model.factory module adam.model.kindyn_mixin module adam.model.mj_factory module adam.model.mj_factory.mujoco_model module adam.model.model module, [1] adam.model.std_factories module adam.model.std_factories.std_joint module, [1] adam.model.std_factories.std_link module, [1] adam.model.std_factories.std_model module, [1] adam.model.tree module, [1] adam.numpy module adam.numpy.computations module, [1] adam.numpy.numpy_like module adam.parametric module, [1] adam.parametric.casadi module adam.parametric.casadi.computations_parametric module, [1] adam.parametric.jax module adam.parametric.jax.computations_parametric module, [1]

adam.parametric.model module adam.parametric.model.parametric_factories module adam.parametric.model.parametric_factories.parametric_joint module, [1] adam.parametric.model.parametric_factories.parametric_link module, [1] adam.parametric.model.parametric_factories.parametric_model module, [1] adam.parametric.numpy module adam.parametric.numpy.computations_parametric module, [1] adam.parametric.pytorch module adam.parametric.pytorch.computations_parametric module, [1] adam.pytorch module adam.pytorch.computation_batch module, [1] adam.pytorch.computations module, [1] adam.pytorch.torch_like module add_ball_constraint() (adam.casadi.inverse_kinematics.InverseKinematics method) add_cost() (adam.casadi.inverse_kinematics.InverseKinematics method) add_fixed_constraint() (adam.casadi.inverse_kinematics.InverseKinematics method) add_frames_constraint() (adam.casadi.inverse_kinematics.InverseKinematics method) add_min_distance_constraint() (adam.casadi.inverse_kinematics.InverseKinematics method) add_target() (adam.casadi.inverse_kinematics.InverseKinematics method) add_target_orientation() (adam.casadi.inverse_kinematics.InverseKinematics method) add_target_pose() (adam.casadi.inverse_kinematics.InverseKinematics method) add_target_position() (adam.casadi.inverse_kinematics.InverseKinematics method) adjoint() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) adjoint_derivative() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) adjoint_inverse() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) adjoint_inverse_derivative() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) adjoint_mixed() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) adjoint_mixed_derivative() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) adjoint_mixed_inverse() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) adjoint_mixed_inverse_derivative() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) arcs (adam.model.Node attribute) (adam.model.tree.Node attribute), [1] array (adam.casadi.casadi_like.CasadiLike attribute) (adam.casadi.CasadiLike attribute) (adam.core.array_api_math.ArrayAPILike attribute) (adam.core.ArrayAPILike attribute) (adam.jax.jax_like.JaxLike attribute) (adam.jax.JaxLike attribute) (adam.numpy.numpy_like.NumpyLike attribute) (adam.numpy.NumpyLike attribute) (adam.pytorch.torch_like.TorchLike attribute) (adam.pytorch.TorchLike attribute) ArrayAPIFactory (class in adam.core) (class in adam.core.array_api_math) ArrayAPILike (class in adam.core) (class in adam.core.array_api_math) ArrayAPISpatialMath (class in adam.core) (class in adam.core.array_api_math) ArrayLike (class in adam.core.spatial_math) ArrayLikeFactory (class in adam.core.spatial_math) ArraySpec (class in adam.core.array_api_math) as_list() (adam.core.spatial_math.ArrayLike method) as_soft_constraint (adam.casadi.inverse_kinematics.Target attribute) asarray() (adam.casadi.casadi_like.CasadiLikeFactory method) (adam.core.array_api_math.ArrayAPIFactory method) (adam.core.ArrayAPIFactory method) (adam.core.spatial_math.ArrayLikeFactory method) (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) axis (adam.model.abc_factories.Joint attribute) (adam.model.Joint attribute) (adam.model.mj_factory.mujoco_model.MujocoJoint attribute) (adam.model.std_factories.std_joint.StdJoint attribute) (adam.model.StdJoint attribute) (adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint attribute) (adam.parametric.model.ParametricJoint attribute)

B

BALL (adam.casadi.inverse_kinematics.FramesConstraint attribute) base_homogeneous (adam.casadi.inverse_kinematics.InverseKinematics attribute) base_pos (adam.casadi.inverse_kinematics.InverseKinematics attribute) base_quat (adam.casadi.inverse_kinematics.InverseKinematics attribute) base_transform() (adam.casadi.inverse_kinematics.InverseKinematics method) bias_force() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.jax.computations.KinDynComputations method), [1] (adam.jax.KinDynComputations method) (adam.numpy.computations.KinDynComputations method), [1] (adam.numpy.KinDynComputations method) (adam.parametric.jax.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.jax.KinDynComputationsParametric method) (adam.parametric.numpy.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.numpy.KinDynComputationsParametric method) (adam.parametric.pytorch.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.pytorch.KinDynComputationsParametric method) (adam.pytorch.computation_batch.KinDynComputationsBatch method), [1] (adam.pytorch.computations.KinDynComputations method), [1] (adam.pytorch.KinDynComputations method) (adam.pytorch.KinDynComputationsBatch method) bias_force_fun() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.casadi.KinDynComputationsParametric method) BODY_FIXED_REPRESENTATION (adam.core.constants.Representations attribute) (adam.core.Representations attribute) (adam.Representations attribute)

BOX (adam.parametric.model.parametric_factories.parametric_link.Geometry attribute), [1] build() (adam.model.abc_factories.Inertia static method) (adam.model.abc_factories.Pose static method) (adam.model.Inertia static method) (adam.model.Model static method) (adam.model.model.Model static method), [1] (adam.model.Pose static method) build_joint() (adam.model.abc_factories.ModelFactory method) (adam.model.mj_factory.mujoco_model.MujocoModelFactory method) (adam.model.ModelFactory method) (adam.model.MujocoModelFactory method) (adam.model.std_factories.std_model.URDFModelFactory method), [1] (adam.model.URDFModelFactory method) (adam.parametric.model.parametric_factories.parametric_model.URDFParametricModelFactory method), [1] (adam.parametric.model.URDFParametricModelFactory method) build_link() (adam.model.abc_factories.ModelFactory method) (adam.model.mj_factory.mujoco_model.MujocoModelFactory method) (adam.model.ModelFactory method) (adam.model.MujocoModelFactory method) (adam.model.std_factories.std_model.URDFModelFactory method), [1] (adam.model.URDFModelFactory method) (adam.parametric.model.parametric_factories.parametric_model.URDFParametricModelFactory method), [1] (adam.parametric.model.URDFParametricModelFactory method) build_model_factory() (in module adam.model) (in module adam.model.factory) build_tree() (adam.model.Tree static method) (adam.model.tree.Tree static method), [1]

C

CasadiLike (class in adam.casadi) (class in adam.casadi.casadi_like) CasadiLikeFactory (class in adam.casadi.casadi_like) centroidal_momentum_matrix() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.jax.computations.KinDynComputations method), [1] (adam.jax.KinDynComputations method) (adam.numpy.computations.KinDynComputations method), [1] (adam.numpy.KinDynComputations method) (adam.parametric.jax.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.jax.KinDynComputationsParametric method) (adam.parametric.numpy.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.numpy.KinDynComputationsParametric method) (adam.parametric.pytorch.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.pytorch.KinDynComputationsParametric method) (adam.pytorch.computation_batch.KinDynComputationsBatch method), [1] (adam.pytorch.computations.KinDynComputations method), [1] (adam.pytorch.KinDynComputations method) (adam.pytorch.KinDynComputationsBatch method) centroidal_momentum_matrix_fun() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.casadi.KinDynComputationsParametric method) child (adam.model.abc_factories.Joint attribute) (adam.model.Joint attribute) (adam.model.mj_factory.mujoco_model.MujocoJoint attribute) (adam.model.std_factories.std_joint.StdJoint attribute) (adam.model.StdJoint attribute) (adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint attribute) (adam.parametric.model.ParametricJoint attribute) children (adam.model.Node attribute) (adam.model.tree.Node attribute), [1] collisions (adam.model.abc_factories.Link attribute) (adam.model.Link attribute) (adam.model.mj_factory.mujoco_model.MujocoLink attribute) (adam.model.std_factories.std_link.StdLink attribute) (adam.model.StdLink attribute) CoM_jacobian() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.core.rbd_algorithms.RBDAlgorithms method) (adam.core.RBDAlgorithms method) (adam.jax.computations.KinDynComputations method), [1] (adam.jax.KinDynComputations method) (adam.numpy.computations.KinDynComputations method), [1] (adam.numpy.KinDynComputations method) (adam.pytorch.computation_batch.KinDynComputationsBatch method), [1] (adam.pytorch.computations.KinDynComputations method), [1] (adam.pytorch.KinDynComputations method) (adam.pytorch.KinDynComputationsBatch method) CoM_jacobian_fun() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) CoM_position() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.core.rbd_algorithms.RBDAlgorithms method) (adam.core.RBDAlgorithms method) (adam.jax.computations.KinDynComputations method), [1] (adam.jax.KinDynComputations method) (adam.numpy.computations.KinDynComputations method), [1] (adam.numpy.KinDynComputations method) (adam.parametric.jax.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.jax.KinDynComputationsParametric method) (adam.parametric.numpy.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.numpy.KinDynComputationsParametric method) (adam.parametric.pytorch.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.pytorch.KinDynComputationsParametric method) (adam.pytorch.computation_batch.KinDynComputationsBatch method), [1] (adam.pytorch.computations.KinDynComputations method), [1] (adam.pytorch.KinDynComputations method) (adam.pytorch.KinDynComputationsBatch method)

CoM_position_fun() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.casadi.KinDynComputationsParametric method) compute_inertia_parametric() (adam.parametric.model.parametric_factories.parametric_link.ParametricLink method), [1] (adam.parametric.model.ParametricLink method) compute_joint_offset() (adam.parametric.model.parametric_factories.parametric_link.ParametricLink method), [1] (adam.parametric.model.ParametricLink method) compute_mass() (adam.parametric.model.parametric_factories.parametric_link.ParametricLink method), [1] (adam.parametric.model.ParametricLink method) compute_offset() (adam.parametric.model.parametric_factories.parametric_link.ParametricLink method), [1] (adam.parametric.model.ParametricLink method) compute_volume() (adam.parametric.model.parametric_factories.parametric_link.ParametricLink method), [1] (adam.parametric.model.ParametricLink method) concatenate() (adam.casadi.casadi_like.SpatialMath static method) (adam.core.array_api_math.ArrayAPISpatialMath method) (adam.core.ArrayAPISpatialMath method) (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) coriolis_term() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.jax.computations.KinDynComputations method), [1] (adam.jax.KinDynComputations method) (adam.numpy.computations.KinDynComputations method), [1] (adam.numpy.KinDynComputations method) (adam.parametric.jax.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.jax.KinDynComputationsParametric method) (adam.parametric.numpy.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.numpy.KinDynComputationsParametric method) (adam.parametric.pytorch.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.pytorch.KinDynComputationsParametric method) (adam.pytorch.computation_batch.KinDynComputationsBatch method), [1] (adam.pytorch.computations.KinDynComputations method), [1] (adam.pytorch.KinDynComputations method) (adam.pytorch.KinDynComputationsBatch method) coriolis_term_fun() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.casadi.KinDynComputationsParametric method) cos() (adam.casadi.casadi_like.SpatialMath static method) (adam.core.array_api_math.ArrayAPISpatialMath method) (adam.core.ArrayAPISpatialMath method) (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) cost_terms (adam.casadi.inverse_kinematics.InverseKinematics attribute) crba() (adam.core.rbd_algorithms.RBDAlgorithms method) (adam.core.RBDAlgorithms method) CYLINDER (adam.parametric.model.parametric_factories.parametric_link.Geometry attribute), [1]

D

densities (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.casadi.KinDynComputationsParametric attribute) (adam.parametric.model.parametric_factories.parametric_link.ParametricLink attribute) (adam.parametric.model.parametric_factories.parametric_model.URDFParametricModelFactory attribute) (adam.parametric.model.ParametricLink attribute) (adam.parametric.model.URDFParametricModelFactory attribute)

DEPTH (adam.parametric.model.parametric_factories.parametric_link.Side attribute), [1] device (adam.core.array_api_math.ArraySpec attribute) dtype (adam.core.array_api_math.ArraySpec attribute)

E

effort (adam.model.abc_factories.Limits attribute) (adam.model.Limits attribute) expand_dims() (adam.casadi.casadi_like.SpatialMath static method) (adam.core.array_api_math.ArrayAPISpatialMath method) (adam.core.ArrayAPISpatialMath method)

eye() (adam.casadi.casadi_like.CasadiLikeFactory method) (adam.core.array_api_math.ArrayAPIFactory method) (adam.core.ArrayAPIFactory method) (adam.core.spatial_math.ArrayLikeFactory method) (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method)

F

f_opts (adam.casadi.computations.KinDynComputations attribute) (adam.casadi.KinDynComputations attribute) (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.casadi.KinDynComputationsParametric attribute) factory (adam.core.spatial_math.SpatialMath property) (adam.core.SpatialMath property) FIXED (adam.casadi.inverse_kinematics.FramesConstraint attribute) forward_kinematics() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.core.rbd_algorithms.RBDAlgorithms method) (adam.core.RBDAlgorithms method) (adam.jax.computations.KinDynComputations method), [1] (adam.jax.KinDynComputations method) (adam.numpy.computations.KinDynComputations method), [1] (adam.numpy.KinDynComputations method) (adam.parametric.jax.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.jax.KinDynComputationsParametric method) (adam.parametric.numpy.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.numpy.KinDynComputationsParametric method) (adam.parametric.pytorch.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.pytorch.KinDynComputationsParametric method) (adam.pytorch.computation_batch.KinDynComputationsBatch method), [1] (adam.pytorch.computations.KinDynComputations method), [1] (adam.pytorch.KinDynComputations method) (adam.pytorch.KinDynComputationsBatch method)

forward_kinematics_fun() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.casadi.KinDynComputationsParametric method) (adam.parametric.jax.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.jax.KinDynComputationsParametric method) forward_kinematics_function (adam.casadi.inverse_kinematics.Target attribute) frame (adam.casadi.inverse_kinematics.Target attribute) frame_velocity_representation (adam.core.rbd_algorithms.RBDAlgorithms attribute) (adam.core.RBDAlgorithms attribute) frames (adam.model.Model attribute) (adam.model.model.Model attribute), [1] FramesConstraint (class in adam.casadi.inverse_kinematics) from_mujoco_model() (adam.model.kindyn_mixin.KinDynFactoryMixin class method) from_urdf() (adam.model.kindyn_mixin.KinDynFactoryMixin class method) funcs (adam.pytorch.computation_batch.KinDynComputationsBatch attribute) (adam.pytorch.KinDynComputationsBatch attribute)

G

g (adam.casadi.computations.KinDynComputations attribute) (adam.casadi.KinDynComputations attribute) (adam.jax.computations.KinDynComputations attribute) (adam.jax.KinDynComputations attribute) (adam.numpy.computations.KinDynComputations attribute) (adam.numpy.KinDynComputations attribute) (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.casadi.KinDynComputationsParametric attribute) (adam.parametric.jax.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.jax.KinDynComputationsParametric attribute) (adam.parametric.numpy.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.numpy.KinDynComputationsParametric attribute) (adam.parametric.pytorch.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.pytorch.KinDynComputationsParametric attribute) (adam.pytorch.computation_batch.KinDynComputationsBatch attribute) (adam.pytorch.computations.KinDynComputations attribute) (adam.pytorch.KinDynComputations attribute) (adam.pytorch.KinDynComputationsBatch attribute) Geometry (class in adam.parametric.model.parametric_factories.parametric_link), [1] get_children() (adam.model.Tree class method) (adam.model.tree.Tree class method), [1] get_element_by_name() (adam.parametric.model.parametric_factories.parametric_model.URDFParametricModelFactory method), [1] (adam.parametric.model.URDFParametricModelFactory method) get_elements() (adam.model.Node method) (adam.model.tree.Node method), [1] get_frames() (adam.model.abc_factories.ModelFactory method) (adam.model.mj_factory.mujoco_model.MujocoModelFactory method) (adam.model.ModelFactory method) (adam.model.MujocoModelFactory method) (adam.model.std_factories.std_model.URDFModelFactory method), [1] (adam.model.URDFModelFactory method) (adam.parametric.model.parametric_factories.parametric_model.URDFParametricModelFactory method), [1] (adam.parametric.model.URDFParametricModelFactory method) get_geometry() (adam.parametric.model.parametric_factories.parametric_link.ParametricLink static method), [1] (adam.parametric.model.ParametricLink static method) get_idx_from_name() (adam.model.Tree method) (adam.model.tree.Tree method), [1] get_joints() (adam.model.abc_factories.ModelFactory method) (adam.model.mj_factory.mujoco_model.MujocoModelFactory method) (adam.model.ModelFactory method) (adam.model.MujocoModelFactory method) (adam.model.std_factories.std_model.URDFModelFactory method), [1] (adam.model.URDFModelFactory method) (adam.parametric.model.parametric_factories.parametric_model.URDFParametricModelFactory method), [1] (adam.parametric.model.URDFParametricModelFactory method) get_joints_chain() (adam.model.Model method) (adam.model.model.Model method), [1] get_kin_dyn_computations() (adam.casadi.inverse_kinematics.InverseKinematics method) get_links() (adam.model.abc_factories.ModelFactory method) (adam.model.mj_factory.mujoco_model.MujocoModelFactory method) (adam.model.ModelFactory method) (adam.model.MujocoModelFactory method) (adam.model.std_factories.std_model.URDFModelFactory method), [1] (adam.model.URDFModelFactory method) (adam.parametric.model.parametric_factories.parametric_model.URDFParametricModelFactory method), [1] (adam.parametric.model.URDFParametricModelFactory method) get_matrix() (adam.model.abc_factories.Inertia method) (adam.model.Inertia method) get_name_from_idx() (adam.model.Tree method) (adam.model.tree.Tree method), [1] get_node_from_name() (adam.model.Tree method) (adam.model.tree.Tree method), [1] get_opti() (adam.casadi.inverse_kinematics.InverseKinematics method) get_opti_variables() (adam.casadi.inverse_kinematics.InverseKinematics method)

get_ordered_nodes_list() (adam.model.Tree method) (adam.model.tree.Tree method), [1] get_original_densities() (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.casadi.KinDynComputationsParametric method) (adam.parametric.jax.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.jax.KinDynComputationsParametric method) (adam.parametric.numpy.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.numpy.KinDynComputationsParametric method) (adam.parametric.pytorch.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.pytorch.KinDynComputationsParametric method) get_principal_length() (adam.parametric.model.parametric_factories.parametric_link.ParametricLink method), [1] (adam.parametric.model.ParametricLink method) get_principal_length_parametric() (adam.parametric.model.parametric_factories.parametric_link.ParametricLink method), [1] (adam.parametric.model.ParametricLink method) get_rpy() (adam.model.abc_factories.Pose method) (adam.model.Pose method) get_solution() (adam.casadi.inverse_kinematics.InverseKinematics method) get_total_mass() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.core.rbd_algorithms.RBDAlgorithms method) (adam.core.RBDAlgorithms method) (adam.jax.computations.KinDynComputations method), [1] (adam.jax.KinDynComputations method) (adam.model.Model method) (adam.model.model.Model method), [1] (adam.numpy.computations.KinDynComputations method), [1] (adam.numpy.KinDynComputations method) (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.casadi.KinDynComputationsParametric method) (adam.parametric.jax.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.jax.KinDynComputationsParametric method) (adam.parametric.numpy.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.numpy.KinDynComputationsParametric method) (adam.parametric.pytorch.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.pytorch.KinDynComputationsParametric method) (adam.pytorch.computation_batch.KinDynComputationsBatch method), [1] (adam.pytorch.computations.KinDynComputations method), [1] (adam.pytorch.KinDynComputations method) (adam.pytorch.KinDynComputationsBatch method) get_xml_string() (in module adam.model.std_factories.std_model), [1] get_xyz() (adam.model.abc_factories.Pose method) (adam.model.Pose method) graph (adam.model.Tree attribute) (adam.model.tree.Tree attribute), [1] gravity_term() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.jax.computations.KinDynComputations method), [1] (adam.jax.KinDynComputations method) (adam.numpy.computations.KinDynComputations method), [1] (adam.numpy.KinDynComputations method) (adam.parametric.jax.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.jax.KinDynComputationsParametric method) (adam.parametric.numpy.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.numpy.KinDynComputationsParametric method) (adam.parametric.pytorch.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.pytorch.KinDynComputationsParametric method) (adam.pytorch.computation_batch.KinDynComputationsBatch method), [1] (adam.pytorch.computations.KinDynComputations method), [1] (adam.pytorch.KinDynComputations method) (adam.pytorch.KinDynComputationsBatch method) gravity_term_fun() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.casadi.KinDynComputationsParametric method)

H

H_from_Pos_RPY() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) H_prismatic_joint() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) H_revolute_joint() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) HEIGHT (adam.parametric.model.parametric_factories.parametric_link.Side attribute), [1] homogeneous() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) (adam.model.abc_factories.Joint method) (adam.model.abc_factories.Link method) (adam.model.Joint method) (adam.model.Link method) (adam.model.std_factories.std_joint.StdJoint method), [1] (adam.model.std_factories.std_link.StdLink method), [1] (adam.model.StdJoint method) (adam.model.StdLink method) (adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint method), [1] (adam.parametric.model.parametric_factories.parametric_link.ParametricLink method), [1] (adam.parametric.model.ParametricJoint method) (adam.parametric.model.ParametricLink method)

homogeneous_inverse() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) horzcat() (adam.casadi.casadi_like.SpatialMath static method) (adam.core.array_api_math.ArrayAPISpatialMath method) (adam.core.ArrayAPISpatialMath method) (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method)

I

idx (adam.model.abc_factories.Joint attribute) (adam.model.Joint attribute) (adam.model.std_factories.std_joint.StdJoint attribute) (adam.model.StdJoint attribute) (adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint attribute) (adam.parametric.model.ParametricJoint attribute) inertia (adam.model.abc_factories.Inertial attribute) (adam.model.Inertial attribute) (adam.model.mj_factory.mujoco_model.MujocoInertial attribute) Inertia (class in adam.model) (class in adam.model.abc_factories) inertial (adam.model.abc_factories.Link attribute) (adam.model.Link attribute) (adam.model.mj_factory.mujoco_model.MujocoLink attribute) (adam.model.std_factories.std_link.StdLink attribute) (adam.model.StdLink attribute) (adam.parametric.model.parametric_factories.parametric_link.ParametricLink attribute) (adam.parametric.model.ParametricLink attribute) Inertial (class in adam.model) (class in adam.model.abc_factories) INERTIAL_FIXED_REPRESENTATION (adam.core.constants.Representations attribute) (adam.core.Representations attribute) (adam.Representations attribute)

inv() (adam.casadi.casadi_like.SpatialMath static method) (adam.core.array_api_math.ArrayAPISpatialMath method) (adam.core.ArrayAPISpatialMath method) (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) InverseKinematics (class in adam.casadi.inverse_kinematics) ixx (adam.model.abc_factories.Inertia attribute) (adam.model.Inertia attribute) (adam.model.mj_factory.mujoco_model.MujocoInertia attribute) ixy (adam.model.abc_factories.Inertia attribute) (adam.model.Inertia attribute) (adam.model.mj_factory.mujoco_model.MujocoInertia attribute) ixz (adam.model.abc_factories.Inertia attribute) (adam.model.Inertia attribute) (adam.model.mj_factory.mujoco_model.MujocoInertia attribute) iyy (adam.model.abc_factories.Inertia attribute) (adam.model.Inertia attribute) (adam.model.mj_factory.mujoco_model.MujocoInertia attribute) iyz (adam.model.abc_factories.Inertia attribute) (adam.model.Inertia attribute) (adam.model.mj_factory.mujoco_model.MujocoInertia attribute) izz (adam.model.abc_factories.Inertia attribute) (adam.model.Inertia attribute) (adam.model.mj_factory.mujoco_model.MujocoInertia attribute)

J

jacobian() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.core.rbd_algorithms.RBDAlgorithms method) (adam.core.RBDAlgorithms method) (adam.jax.computations.KinDynComputations method), [1] (adam.jax.KinDynComputations method) (adam.numpy.computations.KinDynComputations method), [1] (adam.numpy.KinDynComputations method) (adam.parametric.jax.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.jax.KinDynComputationsParametric method) (adam.parametric.numpy.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.numpy.KinDynComputationsParametric method) (adam.parametric.pytorch.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.pytorch.KinDynComputationsParametric method) (adam.pytorch.computation_batch.KinDynComputationsBatch method), [1] (adam.pytorch.computations.KinDynComputations method), [1] (adam.pytorch.KinDynComputations method) (adam.pytorch.KinDynComputationsBatch method) jacobian_dot() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.core.rbd_algorithms.RBDAlgorithms method) (adam.core.RBDAlgorithms method) (adam.jax.computations.KinDynComputations method), [1] (adam.jax.KinDynComputations method) (adam.numpy.computations.KinDynComputations method), [1] (adam.numpy.KinDynComputations method) (adam.parametric.jax.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.jax.KinDynComputationsParametric method) (adam.parametric.numpy.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.numpy.KinDynComputationsParametric method) (adam.parametric.pytorch.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.pytorch.KinDynComputationsParametric method) (adam.pytorch.computation_batch.KinDynComputationsBatch method), [1] (adam.pytorch.computations.KinDynComputations method), [1] (adam.pytorch.KinDynComputations method) (adam.pytorch.KinDynComputationsBatch method)

jacobian_dot_fun() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.casadi.KinDynComputationsParametric method) jacobian_fun() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.casadi.KinDynComputationsParametric method) JaxLike (class in adam.jax) (class in adam.jax.jax_like) JaxLikeFactory (class in adam.jax.jax_like) joint (adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint attribute) (adam.parametric.model.ParametricJoint attribute) Joint (class in adam.model) (class in adam.model.abc_factories) joint_limits_active (adam.casadi.inverse_kinematics.InverseKinematics attribute) joint_pos (adam.casadi.inverse_kinematics.InverseKinematics attribute) joint_type (adam.model.mj_factory.mujoco_model.MujocoJoint attribute) joints (adam.model.Model attribute) (adam.model.model.Model attribute), [1] joints_jacobian() (adam.core.rbd_algorithms.RBDAlgorithms method) (adam.core.RBDAlgorithms method) joints_list (adam.casadi.inverse_kinematics.InverseKinematics attribute) joints_name_list (adam.parametric.jax.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.jax.KinDynComputationsParametric attribute) (adam.parametric.numpy.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.numpy.KinDynComputationsParametric attribute) (adam.parametric.pytorch.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.pytorch.KinDynComputationsParametric attribute)

K

kd (adam.casadi.inverse_kinematics.InverseKinematics attribute) KinDynComputations (class in adam.casadi) (class in adam.casadi.computations), [1] (class in adam.jax) (class in adam.jax.computations), [1] (class in adam.numpy) (class in adam.numpy.computations), [1] (class in adam.pytorch) (class in adam.pytorch.computations), [1] KinDynComputationsBatch (class in adam.pytorch) (class in adam.pytorch.computation_batch), [1]

KinDynComputationsParametric (class in adam.parametric.casadi) (class in adam.parametric.casadi.computations_parametric), [1] (class in adam.parametric.jax) (class in adam.parametric.jax.computations_parametric), [1] (class in adam.parametric.numpy) (class in adam.parametric.numpy.computations_parametric), [1] (class in adam.parametric.pytorch) (class in adam.parametric.pytorch.computations_parametric), [1] KinDynFactoryMixin (class in adam.model.kindyn_mixin)

L

length_multiplier (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.casadi.KinDynComputationsParametric attribute) (adam.parametric.model.parametric_factories.parametric_link.ParametricLink attribute) (adam.parametric.model.parametric_factories.parametric_model.URDFParametricModelFactory attribute) (adam.parametric.model.ParametricLink attribute) (adam.parametric.model.URDFParametricModelFactory attribute) limit (adam.model.abc_factories.Joint attribute) (adam.model.Joint attribute) (adam.model.mj_factory.mujoco_model.MujocoJoint attribute) (adam.model.std_factories.std_joint.StdJoint attribute) (adam.model.StdJoint attribute) (adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint attribute) (adam.parametric.model.ParametricJoint attribute) Limits (class in adam.model) (class in adam.model.abc_factories) link (adam.model.Node attribute) (adam.model.tree.Node attribute), [1]

Link (class in adam.model) (class in adam.model.abc_factories) link_offset (adam.parametric.model.parametric_factories.parametric_link.ParametricLink attribute) (adam.parametric.model.ParametricLink attribute) links (adam.model.Model attribute) (adam.model.model.Model attribute), [1] links_name_list (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.casadi.KinDynComputationsParametric attribute) (adam.parametric.jax.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.jax.KinDynComputationsParametric attribute) (adam.parametric.model.parametric_factories.parametric_model.URDFParametricModelFactory attribute) (adam.parametric.model.URDFParametricModelFactory attribute) (adam.parametric.numpy.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.numpy.KinDynComputationsParametric attribute) (adam.parametric.pytorch.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.pytorch.KinDynComputationsParametric attribute) lower (adam.model.abc_factories.Limits attribute) (adam.model.Limits attribute)

M

mass (adam.model.abc_factories.Inertial attribute) (adam.model.Inertial attribute) (adam.model.mj_factory.mujoco_model.MujocoInertial attribute) (adam.parametric.model.parametric_factories.parametric_link.ParametricLink attribute) (adam.parametric.model.ParametricLink attribute) mass_matrix() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.jax.computations.KinDynComputations method), [1] (adam.jax.KinDynComputations method) (adam.numpy.computations.KinDynComputations method), [1] (adam.numpy.KinDynComputations method) (adam.parametric.jax.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.jax.KinDynComputationsParametric method) (adam.parametric.numpy.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.numpy.KinDynComputationsParametric method) (adam.parametric.pytorch.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.pytorch.KinDynComputationsParametric method) (adam.pytorch.computation_batch.KinDynComputationsBatch method), [1] (adam.pytorch.computations.KinDynComputations method), [1] (adam.pytorch.KinDynComputations method) (adam.pytorch.KinDynComputationsBatch method) mass_matrix_fun() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.casadi.KinDynComputationsParametric method) math (adam.core.rbd_algorithms.RBDAlgorithms attribute) (adam.core.RBDAlgorithms attribute) (adam.model.abc_factories.Joint attribute) (adam.model.abc_factories.Link attribute) (adam.model.abc_factories.ModelFactory attribute) (adam.model.Joint attribute) (adam.model.Link attribute) (adam.model.mj_factory.mujoco_model.MujocoModelFactory attribute) (adam.model.ModelFactory attribute) (adam.model.MujocoModelFactory attribute) (adam.model.std_factories.std_joint.StdJoint attribute) (adam.model.std_factories.std_link.StdLink attribute) (adam.model.std_factories.std_model.URDFModelFactory attribute) (adam.model.StdJoint attribute) (adam.model.StdLink attribute) (adam.model.URDFModelFactory attribute) (adam.parametric.jax.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.jax.KinDynComputationsParametric attribute) (adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint attribute) (adam.parametric.model.parametric_factories.parametric_link.ParametricLink attribute) (adam.parametric.model.parametric_factories.parametric_model.URDFParametricModelFactory attribute) (adam.parametric.model.ParametricJoint attribute) (adam.parametric.model.ParametricLink attribute) (adam.parametric.model.URDFParametricModelFactory attribute) (adam.parametric.numpy.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.numpy.KinDynComputationsParametric attribute) (adam.parametric.pytorch.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.pytorch.KinDynComputationsParametric attribute) matrix (adam.model.abc_factories.Inertia attribute) (adam.model.Inertia attribute) MIXED_REPRESENTATION (adam.core.constants.Representations attribute) (adam.core.Representations attribute) (adam.Representations attribute) mj_model (adam.model.mj_factory.mujoco_model.MujocoModelFactory attribute) (adam.model.MujocoModelFactory attribute) model (adam.core.rbd_algorithms.RBDAlgorithms attribute) (adam.core.RBDAlgorithms attribute) Model (class in adam.model) (class in adam.model.model), [1] ModelFactory (class in adam.model) (class in adam.model.abc_factories) modify() (adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint method), [1] (adam.parametric.model.ParametricJoint method) modify_origin() (adam.parametric.model.parametric_factories.parametric_link.ParametricLink method), [1] (adam.parametric.model.ParametricLink method) module adam adam.casadi adam.casadi.casadi_like adam.casadi.computations, [1] adam.casadi.inverse_kinematics adam.core adam.core.array_api_math adam.core.constants adam.core.rbd_algorithms adam.core.spatial_math adam.jax adam.jax.computations, [1] adam.jax.jax_like adam.model, [1] adam.model.abc_factories adam.model.conversions adam.model.conversions.idyntree, [1] adam.model.factory adam.model.kindyn_mixin adam.model.mj_factory adam.model.mj_factory.mujoco_model adam.model.model, [1] adam.model.std_factories adam.model.std_factories.std_joint, [1] adam.model.std_factories.std_link, [1] adam.model.std_factories.std_model, [1] adam.model.tree, [1] adam.numpy adam.numpy.computations, [1] adam.numpy.numpy_like adam.parametric, [1] adam.parametric.casadi adam.parametric.casadi.computations_parametric, [1] adam.parametric.jax adam.parametric.jax.computations_parametric, [1] adam.parametric.model adam.parametric.model.parametric_factories adam.parametric.model.parametric_factories.parametric_joint, [1] adam.parametric.model.parametric_factories.parametric_link, [1] adam.parametric.model.parametric_factories.parametric_model, [1] adam.parametric.numpy adam.parametric.numpy.computations_parametric, [1] adam.parametric.pytorch adam.parametric.pytorch.computations_parametric, [1] adam.pytorch adam.pytorch.computation_batch, [1] adam.pytorch.computations, [1] adam.pytorch.torch_like

motion_subspace() (adam.model.abc_factories.Joint method) (adam.model.Joint method) (adam.model.std_factories.std_joint.StdJoint method), [1] (adam.model.StdJoint method) (adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint method), [1] (adam.parametric.model.ParametricJoint method) mtimes() (adam.casadi.casadi_like.SpatialMath static method) (adam.core.array_api_math.ArrayAPISpatialMath method) (adam.core.ArrayAPISpatialMath method) (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) mujoco (adam.model.mj_factory.mujoco_model.MujocoModelFactory attribute) (adam.model.MujocoModelFactory attribute) MujocoInertia (class in adam.model.mj_factory.mujoco_model) MujocoInertial (class in adam.model.mj_factory.mujoco_model) MujocoJoint (class in adam.model.mj_factory.mujoco_model) MujocoLink (class in adam.model.mj_factory.mujoco_model) MujocoModelFactory (class in adam.model) (class in adam.model.mj_factory.mujoco_model) MujocoOrigin (class in adam.model.mj_factory.mujoco_model) mxv() (adam.casadi.casadi_like.SpatialMath static method) (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method)

N

N (adam.model.Model property) (adam.model.model.Model property), [1] name (adam.model.abc_factories.Joint attribute) (adam.model.abc_factories.Link attribute) (adam.model.abc_factories.ModelFactory attribute) (adam.model.Joint attribute) (adam.model.Link attribute) (adam.model.mj_factory.mujoco_model.MujocoJoint attribute) (adam.model.mj_factory.mujoco_model.MujocoLink attribute) (adam.model.mj_factory.mujoco_model.MujocoModelFactory attribute) (adam.model.Model attribute) (adam.model.model.Model attribute), [1] (adam.model.ModelFactory attribute) (adam.model.MujocoModelFactory attribute) (adam.model.Node attribute) (adam.model.std_factories.std_joint.StdJoint attribute) (adam.model.std_factories.std_link.StdLink attribute) (adam.model.std_factories.std_model.URDFModelFactory attribute) (adam.model.StdJoint attribute) (adam.model.StdLink attribute) (adam.model.tree.Node attribute), [1] (adam.model.URDFModelFactory attribute) (adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint attribute) (adam.parametric.model.parametric_factories.parametric_link.ParametricLink attribute) (adam.parametric.model.parametric_factories.parametric_model.URDFParametricModelFactory attribute) (adam.parametric.model.ParametricJoint attribute) (adam.parametric.model.ParametricLink attribute) (adam.parametric.model.URDFParametricModelFactory attribute)

ndim (adam.casadi.casadi_like.CasadiLike property) (adam.casadi.CasadiLike property) (adam.core.array_api_math.ArrayAPILike property) (adam.core.ArrayAPILike property) NDoF (adam.casadi.computations.KinDynComputations attribute) ndof (adam.casadi.inverse_kinematics.InverseKinematics attribute) NDoF (adam.casadi.KinDynComputations attribute) (adam.core.rbd_algorithms.RBDAlgorithms attribute) (adam.core.RBDAlgorithms attribute) (adam.jax.computations.KinDynComputations attribute) (adam.jax.KinDynComputations attribute) (adam.model.Model attribute) (adam.model.model.Model attribute), [1] (adam.numpy.computations.KinDynComputations attribute) (adam.numpy.KinDynComputations attribute) (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.casadi.KinDynComputationsParametric attribute) (adam.pytorch.computation_batch.KinDynComputationsBatch attribute) (adam.pytorch.computations.KinDynComputations attribute) (adam.pytorch.KinDynComputations attribute) (adam.pytorch.KinDynComputationsBatch attribute) Node (class in adam.model) (class in adam.model.tree), [1] NumpyLike (class in adam.numpy) (class in adam.numpy.numpy_like) NumpyLikeFactory (class in adam.numpy.numpy_like)

O

offset (adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint attribute) (adam.parametric.model.ParametricJoint attribute) ones_like() (adam.casadi.casadi_like.CasadiLikeFactory method) (adam.core.array_api_math.ArrayAPIFactory method) (adam.core.ArrayAPIFactory method) (adam.core.spatial_math.ArrayLikeFactory method) (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) opti (adam.casadi.inverse_kinematics.InverseKinematics attribute) origin (adam.model.abc_factories.Inertial attribute) (adam.model.abc_factories.Joint attribute) (adam.model.Inertial attribute) (adam.model.Joint attribute) (adam.model.mj_factory.mujoco_model.MujocoInertial attribute) (adam.model.mj_factory.mujoco_model.MujocoJoint attribute) (adam.model.std_factories.std_joint.StdJoint attribute) (adam.model.StdJoint attribute) (adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint attribute) (adam.parametric.model.ParametricJoint attribute)

original_density (adam.parametric.model.parametric_factories.parametric_link.ParametricLink attribute) (adam.parametric.model.ParametricLink attribute) original_visual (adam.parametric.model.parametric_factories.parametric_link.ParametricLink attribute) (adam.parametric.model.ParametricLink attribute) outer() (adam.casadi.casadi_like.SpatialMath static method) (adam.core.array_api_math.ArrayAPISpatialMath method) (adam.core.ArrayAPISpatialMath method)

P

param_pos (adam.casadi.inverse_kinematics.Target attribute) param_rot (adam.casadi.inverse_kinematics.Target attribute) ParametricJoint (class in adam.parametric.model) (class in adam.parametric.model.parametric_factories.parametric_joint), [1] ParametricLink (class in adam.parametric.model) (class in adam.parametric.model.parametric_factories.parametric_link), [1] parent (adam.model.abc_factories.Joint attribute) (adam.model.Joint attribute) (adam.model.mj_factory.mujoco_model.MujocoJoint attribute) (adam.model.Node attribute) (adam.model.std_factories.std_joint.StdJoint attribute) (adam.model.StdJoint attribute) (adam.model.tree.Node attribute), [1] (adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint attribute) (adam.parametric.model.ParametricJoint attribute)

parent_arc (adam.model.Node attribute) (adam.model.tree.Node attribute), [1] parent_parametric (adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint attribute) (adam.parametric.model.ParametricJoint attribute) POSE (adam.casadi.inverse_kinematics.TargetType attribute) Pose (class in adam.model) (class in adam.model.abc_factories) POSITION (adam.casadi.inverse_kinematics.TargetType attribute) print() (adam.model.Tree method) (adam.model.tree.Tree method), [1] print_table() (adam.model.Model method) (adam.model.model.Model method), [1]

R

R_from_axis_angle() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) R_from_RPY() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) RBDAlgorithms (class in adam.core) (class in adam.core.rbd_algorithms) rbdalgos (adam.casadi.computations.KinDynComputations attribute) (adam.casadi.KinDynComputations attribute) (adam.jax.computations.KinDynComputations attribute) (adam.jax.KinDynComputations attribute) (adam.numpy.computations.KinDynComputations attribute) (adam.numpy.KinDynComputations attribute) (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.casadi.KinDynComputationsParametric attribute) (adam.pytorch.computation_batch.KinDynComputationsBatch attribute) (adam.pytorch.computations.KinDynComputations attribute) (adam.pytorch.KinDynComputations attribute) (adam.pytorch.KinDynComputationsBatch attribute) relative_jacobian() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.core.rbd_algorithms.RBDAlgorithms method) (adam.core.RBDAlgorithms method) (adam.jax.computations.KinDynComputations method), [1] (adam.jax.KinDynComputations method) (adam.numpy.computations.KinDynComputations method), [1] (adam.numpy.KinDynComputations method) (adam.parametric.jax.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.jax.KinDynComputationsParametric method) (adam.parametric.numpy.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.numpy.KinDynComputationsParametric method) (adam.parametric.pytorch.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.pytorch.KinDynComputationsParametric method) (adam.pytorch.computation_batch.KinDynComputationsBatch method), [1] (adam.pytorch.computations.KinDynComputations method), [1] (adam.pytorch.KinDynComputations method) (adam.pytorch.KinDynComputationsBatch method)

relative_jacobian_fun() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.casadi.KinDynComputationsParametric method) representation (adam.parametric.jax.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.jax.KinDynComputationsParametric attribute) (adam.parametric.numpy.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.numpy.KinDynComputationsParametric attribute) (adam.parametric.pytorch.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.pytorch.KinDynComputationsParametric attribute) Representations (class in adam) (class in adam.core) (class in adam.core.constants) reshape() (adam.core.array_api_math.ArrayAPILike method) (adam.core.ArrayAPILike method) rnea() (adam.core.rbd_algorithms.RBDAlgorithms method) (adam.core.RBDAlgorithms method) root (adam.model.Tree attribute) (adam.model.tree.Tree attribute), [1] root_link (adam.core.rbd_algorithms.RBDAlgorithms attribute) (adam.core.RBDAlgorithms attribute) ROTATION (adam.casadi.inverse_kinematics.TargetType attribute) rpy (adam.model.abc_factories.Pose attribute) (adam.model.mj_factory.mujoco_model.MujocoOrigin attribute) (adam.model.Pose attribute) Rx() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) Ry() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) Rz() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method)

S

set_default_joint_limit_constraints() (adam.casadi.inverse_kinematics.InverseKinematics method) set_frame_velocity_representation() (adam.casadi.computations.KinDynComputations method), [1] (adam.casadi.KinDynComputations method) (adam.core.rbd_algorithms.RBDAlgorithms method) (adam.core.RBDAlgorithms method) (adam.jax.computations.KinDynComputations method), [1] (adam.jax.KinDynComputations method) (adam.numpy.computations.KinDynComputations method), [1] (adam.numpy.KinDynComputations method) (adam.parametric.casadi.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.casadi.KinDynComputationsParametric method) (adam.parametric.jax.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.jax.KinDynComputationsParametric method) (adam.parametric.numpy.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.numpy.KinDynComputationsParametric method) (adam.parametric.pytorch.computations_parametric.KinDynComputationsParametric method), [1] (adam.parametric.pytorch.KinDynComputationsParametric method) (adam.pytorch.computation_batch.KinDynComputationsBatch method), [1] (adam.pytorch.computations.KinDynComputations method), [1] (adam.pytorch.KinDynComputations method) (adam.pytorch.KinDynComputationsBatch method) set_inertia() (adam.model.abc_factories.Inertial method) (adam.model.Inertial method) set_initial_guess() (adam.casadi.inverse_kinematics.InverseKinematics method) set_joint_limits() (adam.casadi.inverse_kinematics.InverseKinematics method) set_mass() (adam.model.abc_factories.Inertial method) (adam.model.Inertial method) set_origin() (adam.model.abc_factories.Inertial method) (adam.model.Inertial method) set_solver() (adam.casadi.inverse_kinematics.InverseKinematics method) shape (adam.casadi.casadi_like.CasadiLike property) (adam.casadi.CasadiLike property) (adam.core.array_api_math.ArrayAPILike property) (adam.core.ArrayAPILike property) Side (class in adam.parametric.model.parametric_factories.parametric_link), [1] sin() (adam.casadi.casadi_like.SpatialMath static method) (adam.core.array_api_math.ArrayAPISpatialMath method) (adam.core.ArrayAPISpatialMath method) (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) skew() (adam.casadi.casadi_like.SpatialMath static method) (adam.core.array_api_math.ArrayAPISpatialMath method) (adam.core.ArrayAPISpatialMath method) (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) solve() (adam.casadi.casadi_like.SpatialMath static method) (adam.casadi.inverse_kinematics.InverseKinematics method) (adam.core.array_api_math.ArrayAPISpatialMath method) (adam.core.ArrayAPISpatialMath method) (adam.jax.jax_like.SpatialMath method) (adam.pytorch.torch_like.SpatialMath method)

spatial_inertia() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) (adam.model.abc_factories.Link method) (adam.model.Link method) (adam.model.std_factories.std_link.StdLink method), [1] (adam.model.StdLink method) (adam.parametric.model.parametric_factories.parametric_link.ParametricLink method), [1] (adam.parametric.model.ParametricLink method) spatial_inertia_with_parameters() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) spatial_skew() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) spatial_skew_star() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) spatial_transform() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) (adam.model.abc_factories.Joint method) (adam.model.Joint method) (adam.model.std_factories.std_joint.StdJoint method), [1] (adam.model.StdJoint method) (adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint method), [1] (adam.parametric.model.ParametricJoint method) SpatialMath (class in adam.casadi.casadi_like) (class in adam.core) (class in adam.core.spatial_math) (class in adam.jax.jax_like) (class in adam.numpy.numpy_like) (class in adam.pytorch.torch_like) spec_from_reference() (in module adam.core.array_api_math) SPHERE (adam.parametric.model.parametric_factories.parametric_link.Geometry attribute), [1] stack() (adam.casadi.casadi_like.SpatialMath static method) (adam.core.array_api_math.ArrayAPISpatialMath method) (adam.core.ArrayAPISpatialMath method) (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) StdJoint (class in adam.model) (class in adam.model.std_factories.std_joint), [1] StdLink (class in adam.model) (class in adam.model.std_factories.std_link), [1] swapaxes() (adam.casadi.casadi_like.SpatialMath static method) (adam.core.array_api_math.ArrayAPISpatialMath method) (adam.core.ArrayAPISpatialMath method) sxm() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method)

T

T (adam.casadi.casadi_like.CasadiLike property) (adam.casadi.CasadiLike property) (adam.core.array_api_math.ArrayAPILike property) (adam.core.ArrayAPILike property) (adam.core.spatial_math.ArrayLike property) Target (class in adam.casadi.inverse_kinematics) target_type (adam.casadi.inverse_kinematics.Target attribute) targets (adam.casadi.inverse_kinematics.InverseKinematics attribute) TargetType (class in adam.casadi.inverse_kinematics) tile() (adam.casadi.casadi_like.CasadiLikeFactory method) (adam.casadi.casadi_like.SpatialMath method) (adam.core.array_api_math.ArrayAPIFactory method) (adam.core.ArrayAPIFactory method) (adam.core.spatial_math.ArrayLikeFactory method) (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) to_idyntree_joint() (in module adam.model.conversions.idyntree), [1] to_idyntree_link() (in module adam.model.conversions.idyntree), [1] to_idyntree_model() (in module adam.model.conversions) (in module adam.model.conversions.idyntree), [1]

to_idyntree_solid_shape() (in module adam.model.conversions.idyntree), [1] TorchLike (class in adam.pytorch) (class in adam.pytorch.torch_like) TorchLikeFactory (class in adam.pytorch.torch_like) transpose() (adam.casadi.casadi_like.SpatialMath method) (adam.core.array_api_math.ArrayAPISpatialMath method) (adam.core.ArrayAPISpatialMath method) (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) tree (adam.model.Model attribute) (adam.model.model.Model attribute), [1] Tree (class in adam.model) (class in adam.model.tree), [1] type (adam.model.abc_factories.Joint attribute) (adam.model.Joint attribute) (adam.model.std_factories.std_joint.StdJoint attribute) (adam.model.StdJoint attribute) (adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint attribute) (adam.parametric.model.ParametricJoint attribute)

U

update_target() (adam.casadi.inverse_kinematics.InverseKinematics method) update_target_orientation() (adam.casadi.inverse_kinematics.InverseKinematics method) update_target_pose() (adam.casadi.inverse_kinematics.InverseKinematics method) update_target_position() (adam.casadi.inverse_kinematics.InverseKinematics method) update_visuals() (adam.parametric.model.parametric_factories.parametric_link.ParametricLink method), [1] (adam.parametric.model.ParametricLink method) upper (adam.model.abc_factories.Limits attribute) (adam.model.Limits attribute) urdf_desc (adam.model.std_factories.std_model.URDFModelFactory attribute) (adam.model.URDFModelFactory attribute) (adam.parametric.model.parametric_factories.parametric_model.URDFParametricModelFactory attribute) (adam.parametric.model.URDFParametricModelFactory attribute)

urdf_remove_sensors_tags() (in module adam.model.std_factories.std_model), [1] URDFModelFactory (class in adam.model) (class in adam.model.std_factories.std_model), [1] URDFParametricModelFactory (class in adam.parametric.model) (class in adam.parametric.model.parametric_factories.parametric_model), [1] urdfstring (adam.parametric.jax.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.jax.KinDynComputationsParametric attribute) (adam.parametric.numpy.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.numpy.KinDynComputationsParametric attribute) (adam.parametric.pytorch.computations_parametric.KinDynComputationsParametric attribute) (adam.parametric.pytorch.KinDynComputationsParametric attribute)

V

velocity (adam.model.abc_factories.Limits attribute) (adam.model.Limits attribute) vertcat() (adam.casadi.casadi_like.SpatialMath static method) (adam.core.array_api_math.ArrayAPISpatialMath method) (adam.core.ArrayAPISpatialMath method) (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) visuals (adam.model.abc_factories.Link attribute) (adam.model.Link attribute) (adam.model.mj_factory.mujoco_model.MujocoLink attribute) (adam.model.std_factories.std_link.StdLink attribute) (adam.model.StdLink attribute) (adam.parametric.model.parametric_factories.parametric_link.ParametricLink attribute) (adam.parametric.model.ParametricLink attribute)

vxs() (adam.casadi.casadi_like.SpatialMath static method) (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method)

W

weight (adam.casadi.inverse_kinematics.Target attribute)

WIDTH (adam.parametric.model.parametric_factories.parametric_link.Side attribute), [1]

X

X_fixed_joint() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) X_prismatic_joint() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method) X_revolute_joint() (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method)

xp (adam.core.array_api_math.ArraySpec attribute) (adam.pytorch.torch_like.TorchLikeFactory attribute) xp_getter() (in module adam.core.array_api_math) xyz (adam.model.abc_factories.Pose attribute) (adam.model.mj_factory.mujoco_model.MujocoOrigin attribute) (adam.model.Pose attribute)

Z

zero() (adam.model.abc_factories.Inertia static method) (adam.model.abc_factories.Inertial static method) (adam.model.abc_factories.Pose static method) (adam.model.Inertia static method) (adam.model.Inertial static method) (adam.model.Pose static method) zeros() (adam.casadi.casadi_like.CasadiLikeFactory method) (adam.core.array_api_math.ArrayAPIFactory method) (adam.core.ArrayAPIFactory method) (adam.core.spatial_math.ArrayLikeFactory method) (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method)

zeros_like() (adam.casadi.casadi_like.CasadiLikeFactory method) (adam.core.array_api_math.ArrayAPIFactory method) (adam.core.ArrayAPIFactory method) (adam.core.spatial_math.ArrayLikeFactory method) (adam.core.spatial_math.SpatialMath method) (adam.core.SpatialMath method)