Kinematics and Dynamics

Caltech-AMBER / ambersim

In-house tools built on GPU-accelerated simulation

MIT License

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Open alberthli opened 1 year ago

alberthli commented 1 year ago

Adds tests/benchmarks for kinematics and dynamics functions in mjx.

TODO:

figure out how to compare constrained forward dynamics to pinocchio correctly for forward dynamics test
write tests to make sure mimic joints are parsed correctly