Dojo.jl
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A differentiable physics engine for robotics
Dojo
A differentiable simulator for robotics
- arXiv preprint: https://arxiv.org/abs/2203.00806
- Python interface: https://github.com/dojo-sim/dojopy
- site: https://sites.google.com/view/dojo-sim
- video presentation: https://youtu.be/TRtOESXJxJQ
Examples
Simulation
Atlas drop
![](https://github.com/dojo-sim/Dojo.jl/raw/main/examples/animations/atlas_drop.gif)
REx Hopper drop
![](https://github.com/dojo-sim/Dojo.jl/raw/main/examples/animations/rexhopper.gif)
Astronaut
![](https://github.com/dojo-sim/Dojo.jl/raw/main/examples/animations/astronaut.gif)
Friction-cone comparison
![](https://github.com/dojo-sim/Dojo.jl/raw/main/examples/animations/cone_compare_mujoco.gif)
Dzhanibekov effect
![](https://github.com/dojo-sim/Dojo.jl/raw/main/examples/animations/dzhanibekov.gif)
Tippe top
![](https://github.com/dojo-sim/Dojo.jl/raw/main/examples/animations/tippetop.gif)
Pendulum swing-up
![](https://github.com/dojo-sim/Dojo.jl/raw/main/examples/animations/pendulum.gif)
Trajectory Optimization
Box
![](https://github.com/dojo-sim/Dojo.jl/raw/main/examples/animations/box_right.gif)
![](https://github.com/dojo-sim/Dojo.jl/raw/main/examples/animations/box_up.gif)
Hopper
![](https://github.com/dojo-sim/Dojo.jl/raw/main/examples/animations/hopper_max.gif)
Quadruped
![](https://github.com/dojo-sim/Dojo.jl/raw/main/examples/animations/quadruped_min.gif)
Atlas
![](https://github.com/dojo-sim/Dojo.jl/raw/main/examples/animations/atlas_ilqr.gif)
Cart-pole
![](https://github.com/dojo-sim/Dojo.jl/raw/main/examples/animations/cartpole_max.gif)
Reinforcement Learning
Half Cheetah
![](https://github.com/dojo-sim/Dojo.jl/raw/main/examples/animations/halfcheetah_ars.gif)
Ant
![](https://github.com/dojo-sim/Dojo.jl/raw/main/examples/animations/ant_ars_no_grid.gif)
Real-To-Sim
Learning
![](https://github.com/dojo-sim/Dojo.jl/raw/main/examples/animations/box_learning.gif)
![](https://github.com/dojo-sim/Dojo.jl/raw/main/examples/animations/cone_learning.gif)
Toss
![](https://github.com/dojo-sim/Dojo.jl/raw/main/examples/animations/box_toss.gif)
Installation
Dojo
can be added via the Julia package manager (type ]
):
pkg> add Dojo
The latest version can be added by calling:
pkg> add Dojo#main
Citing
@article{howelllecleach2022,
title={Dojo: A Differentiable Simulator for Robotics},
author={Howell, Taylor and Le Cleac'h, Simon and Kolter, Zico and Schwager, Mac and Manchester, Zachary},
journal={arXiv preprint arXiv:2203.00806},
url={https://arxiv.org/abs/2203.00806},
year={2022}
}
How To Contribute
Please submit a pull request, open an issue, or reach out to: [email protected] (Taylor) or [email protected] (Simon)