Dojo.jl
Dojo.jl copied to clipboard
dojo-sim
A differentiable physics engine for robotics
Updated code and documentation for Defining an Environment example. This included adding necessary packages, defining variables and consistent variable names. Now ant environment example works by blindly copy and pasting...
The P gain and the simulation time needed to be increased to match the desired performance. **NOTE:** The simulations outputs NAN values for mu ``` storage = simulate!(mechanism, 20.0, controller!,...
As a new person to Julia these were some problems I encountered while working through the documentation. When trying to create the Tippetop from the Documentation under "Defining a Mechanism"...
I got this permission denied error when I'm trying to build Dojo on both Mac and Linux. Not sure what I did wrong. ``` (@v1.6) pkg> build Dojo Building WebIO...
There were a few bugs causing the example to fail on my machine: 1) Visualizer was initialized before package was included 2) visualize function was not exported from DojoEnvironments. So...
Currently, it seems Dojo does not support elastic collisions. I'm wondering if there's any plan on adding elasticity support in Dojo. Thanks!
I can' figure out where `ω_finite_difference` is defined (or what's the equivalent function now)? Current error: ```julia ERROR: LoadError: UndefVarError: ω_finite_difference not defined Stacktrace: [1] toss2z(toss::Vector{Vector{Float64}}, timestep::Float64; s::Int64) @ Main...
Add functionality for parsing values: - joint limits - damping - friction (?) from URDF models, instead of adding post hoc in an environment.
change minimal state representation to: state = (configurations, velocities)
support for pick-and-place tasks - complementarity-based binary sticking behavior - compliance via spring and damper