Dojo
  • Get Started
  • Examples
    • Simulation
    • Reinforcement Learning
    • System Identification
    • Trajectory Optimization
  • Creating a Mechanism
    • Overview
    • Directly Build a Mechanism
    • Using an Existing Mechanism
    • Using an Existing Environment
    • Detailed Mechanism Definition
    • Loading a Mechanism via URDF
  • Creating a Simulation
    • Defining a Simulation
    • Defining a Controller
    • Gradients
  • Environments
    • Overview
  • Background: Contact Models
    • Overview
    • Impact
    • Nonlinear friction
    • Linearized Friction
    • Collisions
  • Background: Representations
    • Maximal Coordinates
    • Minimal Coordinates
    • Background on Gradients
  • Background: Solver
    • Algorithm
    • Solver Options
  • API Documentation
  • Contributing
  • Citing
Version
  • Background: Contact Models
  • Collisions
  • Collisions
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Collisions

Info

Only sphere-halfspace collisions (spheres colliding with planes) are fully supported. The other contact models are experimental.

Dojo currently implements the following collision models:

  • SphereHalfSpaceCollision

  • SphereSphereCollision

  • SphereCapsuleCollision

  • SphereBoxCollision

« Linearized FrictionMaximal Coordinates »

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