jiminy
jiminy copied to clipboard
duburcqa
Jiminy: a fast and portable Python/C++ simulator of poly-articulated robots with OpenAI Gym interface for reinforcement learning
Currently, the sensor and controller update periods are set at engine level, while it should be specific to every robots. It would be natural to move the controller as an...
It is possible to speedup simulation by pre-compiling computationally intensive loops. For C++ core, the main bottlenecks are related to the contact solver, namely the decomposition of the mass matrix...
- `panda3d-sync` and `meshcat` backends should run simultaneously to avoid having to rely on dirty hack based on `pyppeteer`. It makes sense since `panda3d-sync` is always available and is computationally...
Bashlash can be implemented in the exact same way as flexible joints by a virtual joint with co-located with the true one and with the same DoFs. The "flexible" name...
Remove dependency to `h5py`, `trimesh`, `scipy`, and `tree`: - [x] `tree`: parse of variable names structure for variable registration. It could even be moved to C++, or boost::python bindings. -...
- It enables keyboard control, and trigger events such as throwing stuff to the robot - It allows for more interactive replay, with time bar and sleep ratio control, export...