Initial doc files

README.rst

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+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_ (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)) using:
+
+- [Jax](https://github.com/google/jax)
+- [CasADi](https://web.casadi.org/)
+- [PyTorch](https://github.com/pytorch/pytorch)
+- [NumPy](https://numpy.org/)

docs/source/conf.py

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+# Configuration file for the Sphinx documentation builder.
+#
+
+# For the full list of built-in configuration values, see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Project information -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
+
+
+# get release version from the git tag
+import subprocess
+
+project = "adam"
+copyright = "2024, Artificial and Mechanical Intelligence Lab"
+author = "Artificial and Mechanical Intelligence Lab"
+release = subprocess.check_output(["git", "describe", "--tags"]).strip().decode("utf-8")
+
+# -- General configuration ---------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
+
+extensions = [
+    "sphinx.ext.duration",
+    "sphinx.ext.doctest",
+    "sphinx.ext.autodoc",
+    "sphinx.ext.autosummary",
+    "sphinx.ext.intersphinx",
+    "sphinx.ext.napoleon",
+]
+
+intersphinx_mapping = {
+    "python": ("https://docs.python.org/3/", None),
+    "sphinx": ("https://www.sphinx-doc.org/en/master/", None),
+}
+intersphinx_disabled_domains = ["std"]
+
+templates_path = ["_templates"]
+
+# -- Options for HTML output -------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
+
+language = "en"
+
+html_theme = "sphinx_book_theme"
+
+# -- Options for EPUB output
+epub_show_urls = "footnote"

docs/source/index.rst

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+.. adam documentation master file, created by
+   sphinx-quickstart on Thu Jun 27 18:50:44 2024.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+adam
+================================
+
+A library for rigid-body dynamics in robotics.
+
+**adam** implements a collection of algorithms for calculating rigid-body dynamics for **floating-base** robots, in _mixed_ and _body fixed representations_ (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)) using:
+
+- [Jax](https://github.com/google/jax)
+- [CasADi](https://web.casadi.org/)
+- [PyTorch](https://github.com/pytorch/pytorch)
+- [NumPy](https://numpy.org/)
+
+**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.
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents:
+
+Indices and tables
+==================
+
+- :ref:`genindex`
+- :ref:`modindex`
+- :ref:`search`

readthedocs.yaml

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+version: "2"
+
+build:
+  os: "ubuntu-22.04"
+  tools:
+    python: "3.10"
+
+python:
+  install:
+    - requirements: docs/requirements.txt
+
+sphinx:
+  configuration: docs/source/conf.py