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Dojo is a differentiable simulator for robotics, prioritizing accurate physics and useful gradients. The simulator is written in pure Julia in order to be both performant and easy to use.

Features

• Maximal-Coordinates Representation: Fast and efficient conversion between maximal and minimal representations
• Smooth Gradients: Simulation with hard contact and useful gradients through contact events
• Open Source: Code is available on GitHub and distributed under the MIT License
• Python Interface: dojopy

Installation

Dojo can be installed using the Julia package manager for Julia v1.6 and higher. Inside the Julia REPL, type ] to enter the Pkg REPL mode then run

pkg> add Dojo

Related talks

Credits

The following people are involved in the development of Dojo:

Primary Development

• Simon Le Cleac'h (main development, contact modeling, interior-point solver, gradients)
• Taylor Howell (main development, contact modeling, interior-point solver, gradients)
• Jan Bruedigam (main development, maximal representation and graph-based solver)

• Zico Kolter
• Mac Schwager
• Zachary Manchester (principal investigator)

Additional Contributions

• Suvansh Sanjeev (PyTorch interface)
• Benjamin Bokser (REx Hopper)

Development by the Robotic Exploration Lab.

If this project is useful for your work please consider

• Citing the relevant papers
• Leaving a star on the GitHub repository

Licence

Dojo.jl is licensed under the MIT License. For more details click here.