Add rsts

docs/source/_templates/custom-class-template.rst

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+{{ fullname | escape | underline}}
+
+.. currentmodule:: {{ module }}
+
+.. autoclass:: {{ objname }}
+   :members:
+   :show-inheritance:
+   :private-members:
+   :undoc-members:
+
+   {% block methods %}
+   .. automethod:: __init__
+
+   {% if methods %}
+   .. rubric:: {{ _('Methods') }}
+
+   .. autosummary::
+   {% for item in methods %}
+      ~{{ name }}.{{ item }}
+   {%- endfor %}
+   {% endif %}
+   {% endblock %}
+
+   {% block attributes %}
+   {% if attributes %}
+   .. rubric:: {{ _('Attributes') }}
+
+   .. autosummary::
+   {% for item in attributes %}
+      ~{{ name }}.{{ item }}
+   {%- endfor %}
+   {% endif %}
+   {% endblock %}

docs/source/_templates/custom-module-template.rst

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+{{ fullname | escape | underline}}
+
+.. automodule:: {{ fullname }}
+
+   {% block attributes %}
+   {% if attributes %}
+   .. rubric:: Module Attributes
+
+   .. autosummary::
+      :toctree:
+   {% for item in attributes %}
+      {{ item }}
+   {%- endfor %}
+   {% endif %}
+   {% endblock %}
+
+   {% block classes %}
+   {% if classes %}
+   .. rubric:: {{ _('Classes') }}
+
+   .. autosummary::
+      :toctree:
+      :template: custom-class-template.rst
+   {% for item in classes %}
+      {{ item }}
+   {%- endfor %}
+   {% endif %}
+   {% endblock %}
+
+   {% block inheritance %}
+   {% if classes %}
+
+   .. inheritance-diagram:: {{ fullname }}
+      :caption: Inheritance Relationship
+      :parts: -1
+   {% endif %}
+   {% endblock %}
+
+   {% block functions %}
+   {% if functions %}
+   .. rubric:: {{ _('Functions') }}
+
+   .. autosummary::
+      :toctree:
+   {% for item in functions %}
+      {{ item }}
+   {%- endfor %}
+   {% endif %}
+   {% endblock %}
+
+   {% block exceptions %}
+   {% if exceptions %}
+   .. rubric:: {{ _('Exceptions') }}
+
+   .. autosummary::
+      :toctree:
+   {% for item in exceptions %}
+      {{ item }}
+   {%- endfor %}
+   {% endif %}
+   {% endblock %}
+
+{% block modules %}
+{% if modules %}
+.. rubric:: Modules
+
+.. autosummary::
+   :toctree:
+   :template: custom-module-template.rst
+   :recursive:
+{% for item in modules %}
+   {{ item }}
+{%- endfor %}
+{% endif %}
+{% endblock %}

docs/source/index.rst

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+.. adam documentation master file, created by
+   sphinx-quickstart on Fri Jun 28 14:10:15 2024.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+
+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  using:
+
+.. create rst list with links to the following libraries
+
+- `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.
+Thanks to the `jax.vmap`-ing and `jax.jit`-ing capabilities, the algorithms can be run on batches of inputs, which are possibly converted to PyTorch using the `jax2torch` conversion functions.
+
+
+**adam** is based on **Roy Featherstone's Rigid Body Dynamics Algorithms**.
+
+Examples
+--------
+
+Have a look at the examples `folder in the repository <https://github.com/ami-iit/adam/tree/main/examples>`_!
+
+
+License
+-------
+
+`BSD-3-Clause <https://choosealicense.com/licenses/bsd-3-clause/>`_
+
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Getting started:
+
+   installation
+   quickstart/index
+
+.. toctree::
+   :maxdepth: 2
+   :caption: API:
+
+   modules/index

docs/source/installation.rst

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+Installation
+============
+This is the installation guide for the project.
+
+
+Prerequisites
+-------------
+
+adam requires python 3.7 or later.
+
+
+🐍 Conda installation
+------------------
+
+We suggest to install adam using `conda <https://anaconda.org/>`_:
+
+.. code-block:: bash
+
+    conda install adam-robotics -c conda-forge
+
+📦 Pip installation
+------------------
+
+You can also install adam using `pip <https://pypi.org/project/pip/>`_:
+
+.. code-block:: bash
+
+    pip install adam-robotics
+
+If you want to install all the dependencies install ``adam-robotics[all]``.
+
+.. note::
+
+    If the GPU support for ``JAX`` is needed, follow the instructions in the `Jax documentation <https://jax.readthedocs.io/en/latest/installation.html#conda-community-supported>`_.

docs/source/modules/adam.core.rst

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+adam.core package
+=================
+
+Submodules
+----------
+
+adam.core.constants module
+--------------------------
+
+.. automodule:: adam.core.constants
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+adam.core.rbd\_algorithms module
+--------------------------------
+
+.. automodule:: adam.core.rbd_algorithms
+   :members:
+   :show-inheritance:
+
+adam.core.spatial\_math module
+------------------------------
+
+.. automodule:: adam.core.spatial_math
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/modules/adam.geometry.rst

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+adam.geometry package
+=====================
+
+Submodules
+----------
+
+adam.geometry.utils module
+--------------------------
+
+.. automodule:: adam.geometry.utils
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Module contents
+---------------
+
+.. automodule:: adam.geometry
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/modules/adam.model.std_factories.rst

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+adam.model.std\_factories package
+=================================
+
+Submodules
+----------
+
+adam.model.std\_factories.std\_joint module
+-------------------------------------------
+
+.. automodule:: adam.model.std_factories.std_joint
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+adam.model.std\_factories.std\_link module
+------------------------------------------
+
+.. automodule:: adam.model.std_factories.std_link
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+adam.model.std\_factories.std\_model module
+-------------------------------------------
+
+.. automodule:: adam.model.std_factories.std_model
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/modules/adam.parametric.casadi.rst

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+adam.parametric.casadi package
+==============================
+
+Submodules
+----------
+
+adam.parametric.casadi.computations\_parametric module
+------------------------------------------------------
+
+.. automodule:: adam.parametric.casadi.computations_parametric
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/modules/adam.parametric.jax.rst

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+adam.parametric.jax package
+===========================
+
+Submodules
+----------
+
+adam.parametric.jax.computations\_parametric module
+---------------------------------------------------
+
+.. automodule:: adam.parametric.jax.computations_parametric
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/modules/adam.parametric.model.parametric_factories.rst

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+adam.parametric.model.parametric\_factories package
+===================================================
+
+Submodules
+----------
+
+adam.parametric.model.parametric\_factories.parametric\_joint module
+--------------------------------------------------------------------
+
+.. automodule:: adam.parametric.model.parametric_factories.parametric_joint
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+adam.parametric.model.parametric\_factories.parametric\_link module
+-------------------------------------------------------------------
+
+.. automodule:: adam.parametric.model.parametric_factories.parametric_link
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+adam.parametric.model.parametric\_factories.parametric\_model module
+--------------------------------------------------------------------
+
+.. automodule:: adam.parametric.model.parametric_factories.parametric_model
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/modules/adam.parametric.model.rst

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+adam.parametric.model package
+=============================
+
+Subpackages
+-----------
+
+.. toctree::
+   :maxdepth: 4
+
+   adam.parametric.model.parametric_factories

docs/source/modules/adam.parametric.numpy.rst

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+adam.parametric.numpy package
+=============================
+
+Submodules
+----------
+
+adam.parametric.numpy.computations\_parametric module
+-----------------------------------------------------
+
+.. automodule:: adam.parametric.numpy.computations_parametric
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/modules/adam.parametric.pytorch.rst

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+adam.parametric.pytorch package
+===============================
+
+Submodules
+----------
+
+adam.parametric.pytorch.computations\_parametric module
+-------------------------------------------------------
+
+.. automodule:: adam.parametric.pytorch.computations_parametric
+   :members:
+   :undoc-members:
+   :show-inheritance: