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NVIDIA / warp

A Python framework for high performance GPU simulation and graphics
https://nvidia.github.io/warp/
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Minimal / generalized coordinate integrator #190

Closed etaoxing closed 2 months ago

etaoxing commented 3 months ago

Is there a minimal / generalized coordinate version of SemiImplicitIntegrator on the roadmap or already implemented somewhere? Specifically the model used in dFlex. This would make it a lot easier to port things over.

Alternatively, any suggestions for scaling joint_act and the following parameters for the current maximal coordinate SemiImplicitIntegrator to match the dFlex implementation?

joint_attach_ke
joint_attach_kd
angular_damping_scale

I'm setting model.joint_act in the same way, and after calling wp.sim.eval_ik, getting significantly different results for joint_qd compared to in dFlex.

etaoxing commented 2 months ago

v1.0.0 added FeatherstoneIntegrator