gbionics/adam

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

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7 open issues indexed

Migrate away from urdf_parser_py? Open

gbionics/adam#36 · 16 comments · 1 reaction · 0 assignees · Indexed Sep 16, 2026
Question: Differentiability w.r.t what exactly? Open

gbionics/adam#58 · 2 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
jacobian of manipulator with fixed base Open

gbionics/adam#96 · 1 comment · 0 reactions · 0 assignees · Indexed Sep 16, 2026
root_link is not set in Open

gbionics/adam#112 · 5 comments · 1 reaction · 0 assignees · Indexed Sep 16, 2026
Request about adam and modifying urdf Open

gbionics/adam#123 · 2 comments · 0 reactions · 0 assignees · Indexed Sep 16, 2026
Adding rotor inertia to joints with motor/transmission mechanism Open

gbionics/adam#139 · 1 comment · 1 reaction · 0 assignees · Indexed Sep 16, 2026
[Question] adam v0.4.0 PyTorch interface M, C, G calculation super slow? Open

gbionics/adam#142 · 5 comments · 2 reactions · 0 assignees · Indexed Sep 16, 2026

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