nimblephysics
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keenon
Nimble: Physics Engine for Biomechanics and Deep Learning
I ran into this line of code when searching for functions. Not sure if it's a bug or this function is still being used. https://github.com/keenon/nimblephysics/blob/99cbc86ed34aca4b53f3670c771779fbd2487ca4/dart/biomechanics/DynamicsFitter.cpp#L201
Currently, the angular dynamics fitting step (handled by `DynamicsFitter::zeroLinearResidualsAndOptimizeAngular` works generally well but can either fail or lead to undesired results in a few specific ways: 1. The threshold set...
While completing a lab for the Spring 2023 offering of BIOE 485 at Stanford, a student uploaded the current files which produced an error on the web app: [Rajagopal2015_manually_trimmed_data.zip](https://github.com/keenon/AddBiomechanics/files/11336830/Rajagopal2015_manually_trimmed_data.zip). After...
If so, at least throw some warnings.
# Incorret simulation results for object collision The forward simulation gives incorrect results for object collision. The total energy of the whole system doubles after collision, a phenomenon that violates...
https://github.com/keenon/nimblephysics/blob/bf5c5a174ef236c1a2fe3db9a810bdb87f403d53/dart/biomechanics/DynamicsFitter.cpp#L9656-L9661 Close this issue if I'm wrong but my understanding of DynamicFitter is that it can adapt to .mot files with different CoP units (e.g., mm or m). However, I...
[This function](https://github.com/keenon/nimblephysics/blob/bf5c5a174ef236c1a2fe3db9a810bdb87f403d53/dart/biomechanics/OpenSimParser.cpp#L715) failed to find the correct body-plate correspondence over the attached data. [report_error.zip](https://github.com/keenon/nimblephysics/files/11127859/report_error.zip) I'm not sure what the "forcePlates.corners" is. If it's CoP, then the bug might be in...
This will require rebuilding the `keenon/diffdart:base` Docker container, found in `ci/manylinux/base/Dockerfile`, and pushing it to Docker Hub. Then, we need to update `.github/workflows/build_x86_linux_wheels.yml` to include Python 3.10.
**Is your feature request related to a problem? Please describe.** I am lost at loading a 3D object file (.obj file, the object to be manipulated) into Nimble. **Describe the...
# Confusing Gradient Output I got confusing output gradients from Nimble on a simple scene. The scene is about two balls with the same mass making fully elastic collision. In...
