nimblephysics
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keenon
Nimble: Physics Engine for Biomechanics and Deep Learning
Will DiffDART be like PyBullet but with DART? Or are there plans for Gazebo integration? Since Gazebo doesn't have good Python API like PyBullet, I'd imagine the system would be...
In traditional DART, time integration uses `v_{t+1}` to compute `p_{t+1} = p_t + dt * v_{t+1}`. This introduces problematic dependencies for backpropagation, so we've changed it to `p_{t+1} = p_t...
For example, the test fails when building the package in `/build/gcc` with the following errors: ``` [==========] Running 6 tests from 1 test case. [----------] Global test environment set-up. [----------]...
This is totally not necessary, but would be nice. I'd like to be able to call a method from Python, and have it save a video that was rendered on...
Need to show an informative error when you call getXxJacobian() with anything other than a world (like a robot) Bonus: make an overloaded version of each getXxJacobian() that works with...
We don't have good tests for `MappedBackpropSnapshot::backprop`, and that's a problem. This could be a source of bugs for IK trajectories, for example.
Running DDP optimization (main.py) for 2d reacher env works in the forward calculation of the cost but during the backward operation yields the following error: RuntimeError: Function DartMapPositionBackward returned an...
Currently, in order to run the web GUI from C++, you need to boot the websocket server using code that looks like this: ``` server::GUIWebsocketServer server; server.renderWorld(world); server.renderBasis(); server.serve(8070); while...
This is all around `unittests/comprehensive/test_AtlasTrajectory.cpp`: We'd like to have Atlas train a trajectory without tripping our `World::setSlowDebugResultsAgainstFD(true)` flag (see [Finding and fixing bugs](https://github.com/keenon/diffdart/wiki/4.-Finding-and-fixing-bugs) in the wiki). Currently, it crashes quite...
Double-cartpole, accessible by loading the attached skel file, used to vibrate uncontrollably on `pip3 install diffdart==0.2.5`. Now, somehow, on `pip3 install diffdart>=0.2.6` the problem seems to have gone away... We...