jiminy
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duburcqa
Jiminy: a fast and portable Python/C++ simulator of poly-articulated robots with OpenAI Gym interface for reinforcement learning
Currently, the contact force is modelled using a spring-dumper mechanism. Using infinite stiffness without dumping for the ground reaction force should, **in theory**, replicate a perfectly rigid impact model. However,...
It would use phenomenological spring-damper mechanism for the vertical forces, and analytical constraints for the friction forces (both torsional and translational).
Currently, a euclidean linear interpolation is used systematically for all sensors. The proper lie algebra interpolation method should be used (typically it makes sure that quaternion data is properly normalized)....
This constraint should enable gathering constraints applied on frames sharing the same parent joint as a single one. This would not only allow to avoid redundant computation for the Jacobian,...
Transmissions, motors and even sensors may have some dynamic state that should be aggregated. Typically, the current-voltage regulation loop of DC motors, or the generic n-to-m transmissions. As such, it...
Open3d has the potential to replace both meshcat and panda3d. It seems to surpass them on many aspects. First, it has native web and notebook (the official way, without any...
I am proposing to add a unidirection Perlin ground `HeightmapFunction`. Multidirectional perlin ground can then be generated by using the `sumHeightmaps` function to generated terrains such as hills. See image...
