Merge devel in main

.github/workflows/tests.yml

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+name: Adam
+
+on: [push]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: [3.8]
+
+    steps:
+      - uses: actions/checkout@v2
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v2
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install pytest
+          if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+          pip install idyntree
+          pip install .
+      - name: Test with pytest
+        run: |
+          pytest

.gitignore

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+**.pytest_cache
+**.vscode
+**.ipynb_checkpoints
+**__pycache__

README.md

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 # ADAM
-Automatic Differentiation for rigid body dynamics algorithMs
+
+**Automatic Differentiation for rigid-body-dynamics AlgorithMs**
+
+This library implements kinematics and dynamics algorithms for **floating-base** robots, in _mixed representation_ (see [Traversaro's A Unified View of the Equations of Motion used for Control Design of Humanoid Robots](https://www.researchgate.net/publication/312200239_A_Unified_View_of_the_Equations_of_Motion_used_for_Control_Design_of_Humanoid_Robots)).
+
+Adam employs [CasADi](https://web.casadi.org/), which embeds the computed kinematics and dynamics quantities in expression graphs and provides if needed, gradients, Jacobians, and Hessians. This approach enables the design of optimal control strategies in robotics. Using its `CodeGenerator`, CasADi enables also the generation of C-code - usable also in `Matlab` or `C++`.
+
+Adam is based on Roy Featherstone's Rigid Body Dynamics Algorithms.
+
+This work is still at an early stage and bugs could jump out!
+PRs are welcome! :rocket:
+
+## :hammer: Dependencies
+
+- `python3`
+
+Other requisites are:
+
+- `urdf_parser_py`
+- `casadi`
+
+They will be installed in the installation step!
+
+## :floppy_disk: Installation
+
+```
+git clone https://github.com/dic-iit/ADAM.git
+cd ADAM
+pip install .
+```
+
+preferably in a virtual environment.
+
+## :rocket: Usage
+
+```python
+from adam.Computations.KinDynComputations import KinDynComputations
+import numpy as np
+
+urdf_path = '../urdf/iCubGenova04/model.urdf'
+# The joint list
+joints_name_list = [
+    'torso_pitch', 'torso_roll', 'torso_yaw', 'l_shoulder_pitch',
+    'l_shoulder_roll', 'l_shoulder_yaw', 'l_elbow', 'r_shoulder_pitch',
+    'r_shoulder_roll', 'r_shoulder_yaw', 'r_elbow', 'l_hip_pitch', 'l_hip_roll',
+    'l_hip_yaw', 'l_knee', 'l_ankle_pitch', 'l_ankle_roll', 'r_hip_pitch',
+    'r_hip_roll', 'r_hip_yaw', 'r_knee', 'r_ankle_pitch', 'r_ankle_roll'
+]
+# Specify the root link
+root_link = 'root_link'
+kinDyn = KinDynComputations(urdf_path, joints_name_list, root_link)
+w_H_b = np.eye(4)
+joints = np.ones(len(joints_name_list))
+M = kinDyn.mass_matrix_fun()
+print(M(w_H_b, joints))
+```
+
+## Todo
+
+- [x] Center of Mass position
+- [x] Jacobians
+- [x] Forward kinematics
+- [x] Mass Matrix via CRBA
+- [x] Centroidal Momentum Matrix via CRBA
+- [ ] Recursive Newton-Euler algorithm
+- [ ] Articulated Body algorithm
+
+---
+
+The structure of the library is inspired by the module [urdf2casadi](https://github.com/mahaarbo/urdf2casadi/blob/master/README.md), which generates kinematic and dynamics quantities using CasADi. Please check their interesting work!