nimblephysics
nimblephysics copied to clipboard
keenon
Nimble: Physics Engine for Biomechanics and Deep Learning
The helper method `DARTCollide::createFaceFaceContacts()` returns a list of contact points given a pair of convex hulls colliding at a witness plane. The method receives all the "witness points" (vertices within...
The method `ContactConstraint::getTangentBasisMatrixODE(Eigen::Vector3d normal)` produces the pair of vectors that, when combined with the vector `normal`, form an orthonormal basis of `R^3`. These two vectors become our two frictional directions....
https://dev.addbiomechanics.org/data/e013a4d2-683d-48b9-bfe5-83a0305caf87/Carter2023_Formatted_No_Arm/P003_split2
Following errors for [this data](https://github.com/keenon/nimblephysics/files/13035746/Subject33_4.zip) Traceback (most recent call last): File "/mnt/d/Local/AddBiom/AddBiomechanics/server/engine/src/engine.py", line 105, in main() File "/mnt/d/Local/AddBiom/AddBiomechanics/server/engine/src/engine.py", line 54, in main subject.run_kinematics_fit(DATA_FOLDER_PATH) File "/mnt/d/Local/AddBiom/AddBiomechanics/server/engine/src/subject .py", line 475, in run_kinematics_fit...
[Subject47.zip](https://github.com/keenon/nimblephysics/files/12910798/Subject47.zip)
I put a ball and a box in the simulation and have them move towards each other at first. However, when they meet each other they don't collide but penetrate....
I've tracked down a regression in the python bindings that causes a segafult when nimblephysics when from 0.8.77 to 0.8.78 This can be easily reproduced with: ``` import nimblephysics as...
I would like to use contact forces to calculate a loss, and then calculate a gradient from the loss. The specific problem I'm trying to solve with this is simulating...
#### Environment * Nimble physics version: master, v0.8.34 * OS name and version name(or number): [macOS] * Browser : Safari, Firefox #### Expected Behavior showing cheetah GUI in web browser...
Hi, Thank you for the great work. I was wondering if it is possible simulate a batch of the same environments. As you use torch tensor as the primitive type...
