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ami-iit / jaxsim

A differentiable physics engine and multibody dynamics library for control and robot learning.
https://jaxsim.readthedocs.io/
BSD 3-Clause "New" or "Revised" License
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Consider extending the documentation with a textbook-like introduction #175

Open markusheimerl opened 3 months ago

markusheimerl commented 3 months ago

see https://mujoco.readthedocs.io/en/stable/computation/index.html for reference.

diegoferigo commented 3 months ago

Hi @markusheimerl, thanks for the suggestion. We are aware that the documentation is currently lacking, so far we focused mainly on functionality. Many things have changed in the past few months, but now we reached APIs that are much more stable.

We are considering both to extend the documentation and provide a paper / technical report. Timing is not yet clear though.

markusheimerl commented 3 months ago

Hello @diegoferigo, thanks for the prompt update. Looking forward to developments of jaxsim 👍🏻

diegoferigo commented 3 months ago

Waiting for more details that go beyond the docstrings of our code, for the time being I would probably redirect interested readers to Chapter 2 (Robot modelling), Chapter 7 (Contact-aware multibody dynamics) and Chapter 8 (Scaling rigid-body simulations) of my Ph.D. thesis[^1]. It describes the considered dynamics, the soft contact model, and provides the pseudocode of the rigid body dynamics algorithms implemented in JaxSim.

Many software-engineering things have changed since, but the modelling is pretty much the same, and at least readers can find a good reference of notation and considered dynamics.

[^1]: Simulation Architectures for Reinforcement Learning applied to Robotics, 2022, URL.