Use of inverse dynamics and collision detection - Githubissues

erwincoumans / tiny-differentiable-simulator

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.

Apache License 2.0

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Use of inverse dynamics and collision detection #122

Closed TneitaP closed 2 years ago

TneitaP commented 3 years ago

In the demo "laikago_footstep_ik", I find the process of :

"forward kinematics"(laikago_footstep_ik.cpp, Line412);
"inverse kinematics"(laikago_footstep_ik.cpp, Line406~459);
"forward dynamic"(laikago_footstep_ik.cpp, Line191);

But do not find "inverse dynamic" of the MultiBody. However, there exist corresponding function defined in "src/daynamcs/inverse_dynamics.hpp Line23", there does not appear to be a call to this function in the provided example.

Is that mean "inverse dynamic" has not been considered in this current tds framework?

A similar question for "collision detection" : "dispatcher.compute_contactsXXX" defined in "world.hpp" and "contact_point.hpp" only used in the demo "rbdl_gui_example". Is collision detection not required in other demos?

erwincoumans commented 3 years ago

Collision detection and response is used in various demos/examples. We don't have examples of using inverse dynamics.

erwincoumans commented 2 years ago

realistically, we only develop features that we need for our research, or accept contributions. So we don't develop features on request. So closing for now.