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tiny-differentiable-simulator | Tiny Differentiable Simulator is a header-only C and CUDA

 by   erwincoumans C++ Version: cuda_laikago_codegen2 License: Apache-2.0

 by   erwincoumans C++ Version: cuda_laikago_codegen2 License: Apache-2.0

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kandi X-RAY | tiny-differentiable-simulator Summary

tiny-differentiable-simulator is a C++ library. tiny-differentiable-simulator has no bugs, it has no vulnerabilities, it has a Permissive License and it has medium support. You can download it from GitHub.
Tiny Differentiable Simulator is a header-only C++ (and CUDA) physics library with zero dependencies. It currently implements various rigid-body dynamics algorithms, including forward and inverse dynamics, as well as contact models based on impulse-level LCP and force-based nonlinear spring-dampers. Actuator models for motors, servos, and Series-Elastic Actuator (SEA) dynamics are implemented. The entire codebase is templatized so you can use forward- and reverse-mode automatic differentiation scalar types, such as CppAD, Stan Math fvar and ceres::Jet. The library can also be used with regular float or double precision values. Another option is to use the included fix-point integer math, that provide cross-platform deterministic computation.
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kandi-support Support

  • tiny-differentiable-simulator has a medium active ecosystem.
  • It has 868 star(s) with 96 fork(s). There are 32 watchers for this library.
  • It had no major release in the last 12 months.
  • There are 8 open issues and 33 have been closed. On average issues are closed in 48 days. There are 1 open pull requests and 0 closed requests.
  • It has a neutral sentiment in the developer community.
  • The latest version of tiny-differentiable-simulator is cuda_laikago_codegen2
This Library - Support
Best in #C++
Average in #C++
This Library - Support
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quality kandi Quality

  • tiny-differentiable-simulator has no bugs reported.
This Library - Quality
Best in #C++
Average in #C++
This Library - Quality
Best in #C++
Average in #C++

securitySecurity

  • tiny-differentiable-simulator has no vulnerabilities reported, and its dependent libraries have no vulnerabilities reported.
This Library - Security
Best in #C++
Average in #C++
This Library - Security
Best in #C++
Average in #C++

license License

  • tiny-differentiable-simulator is licensed under the Apache-2.0 License. This license is Permissive.
  • Permissive licenses have the least restrictions, and you can use them in most projects.
This Library - License
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This Library - License
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buildReuse

  • tiny-differentiable-simulator releases are available to install and integrate.
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This Library - Reuse
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tiny-differentiable-simulator Key Features

Note that the main repository is transfered from google-research to Erwin Coumans

Bibtex

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@inproceedings{heiden2021neuralsim,
  author =	  {Heiden, Eric and Millard, David and Coumans, Erwin and Sheng, Yizhou and Sukhatme, Gaurav S},
  year =		  {2021},
  title =		  {Neural{S}im: Augmenting Differentiable Simulators with Neural Networks},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  url =		    {https://github.com/google-research/tiny-differentiable-simulator}
}

Getting started

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mkdir build
cd build
cmake ..
make -j

MeshCat Visualization

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pip install meshcat
meshcat-server --open
This should open Chrome at http://localhost:7000/static/
Then compile and run tiny_urdf_parser_meshcat_example in optimized/release build.

Community Discussions

No Community Discussions are available at this moment for tiny-differentiable-simulator.Refer to stack overflow page for discussions.

No Community Discussions are available at this moment for tiny-differentiable-simulator.Refer to stack overflow page for discussions.

Community Discussions, Code Snippets contain sources that include Stack Exchange Network

Vulnerabilities

No vulnerabilities reported

Install tiny-differentiable-simulator

The open-source version builds using CMake and requires a compiler with C++17 support.

Support

For any new features, suggestions and bugs create an issue on GitHub. If you have any questions check and ask questions on community page Stack Overflow .

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