Dojo.jl

A differentiable physics engine for robotics
Popularity
221 Stars
Updated Last
11 Months Ago
Started In
December 2021

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Dojo

A differentiable physics engine for robotics

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Update April 2023

  • We are no longer actively developing Dojo, but pull requests are always welcome.
  • We have updated or removed examples to account for changes since the initial version of Dojo.
  • Additional developments on differentiable simulation:
    • Differentiable collision detection (Kevin Tracy): capsules, convex primitives
    • Single-level contact dynamics + collision detection (Simon Le Cleac'h): Silico

Examples

Simulation

Learning and Control

System Identification

Interfacing Other Packages

ReinforcementLearning.jl: DQN ControlSystems.jl: LQR

Installation

Dojo can be added via the Julia package manager (type ]):

pkg> add Dojo

For convenience mechanisms and environments, add DojoEnvironments additionally:

pkg> add DojoEnvironments

Citing

@article{howelllecleach2022,
	title={Dojo: A Differentiable Simulator for Robotics},
	author={Howell, Taylor and Le Cleac'h, Simon and Bruedigam, Jan and Kolter, Zico and Schwager, Mac and Manchester, Zachary},
	journal={arXiv preprint arXiv:2203.00806},
	url={https://arxiv.org/abs/2203.00806},
	year={2022}
}

How To Contribute

Please submit a pull request or open an issue. See the docs for contribution ideas.