Merge devel in main

.github/workflows/tests.yml

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+name: Adam
+
+on: [pull_request]
+
+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
+          pip install idyntree
+          pip install gym-ignition
+          pip install .
+      - name: Test with pytest
+        run: |
+          pytest

.gitignore

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+**.vscode
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/

README.md

@@ -1,2 +1,86 @@
 # 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`](https://wiki.python.org/moin/BeginnersGuide)
+
+Other requisites are:
+
+- `urdf_parser_py`
+- `casadi`
+
+They will be installed in the installation step!
+
+## :floppy_disk: Installation
+
+Install `python3`, if not installed (in **Ubuntu 20.04**):
+
+```bash
+sudo apt install python3.8
+```
+
+Clone the repo and install the library:
+
+```bash
+git clone https://github.com/dic-iit/ADAM.git
+cd ADAM
+pip install .
+```
+
+preferably in a [virtual environment](https://docs.python.org/3/library/venv.html#venv-def): for example:
+
+```bash
+pip install virtualenv
+python3 -m venv your_virtual_env
+```
+
+## :rocket: Usage
+
+```python
+from adam.core.computations import KinDynComputations
+import gym_ignition_models
+import numpy as np
+
+# if you want to use gym-ignition https://github.com/robotology/gym-ignition to retrieve the urdf
+model_path = gym_ignition_models.get_model_file("iCubGazeboV2_5")
+# 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!

adam/__init__.py

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+from . import core
+from . import geometry

adam/core/__init__.py

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+from . import computations