contactbench
Benchmarking contact models and solvers from robotics simulators.
Science Score: 44.0%
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○Scientific vocabulary similarity
Low similarity (7.6%) to scientific vocabulary
Repository
Benchmarking contact models and solvers from robotics simulators.
Basic Info
- Host: GitHub
- Owner: Simple-Robotics
- License: bsd-2-clause
- Language: C++
- Default Branch: main
- Size: 146 KB
Statistics
- Stars: 36
- Watchers: 3
- Forks: 2
- Open Issues: 2
- Releases: 0
Metadata Files
README.md
Contact Bench
C++ implementation of various contact models and solvers used for robotics simulation.
The contact problem
The contact problem is formulated as a Non-linear Complementarity Problem (NCP):
$$ \begin{align} &c = G \lambda + g \ &\mathcal{K} \ni \lambda \perp c + {\Phi}(c) \in \mathcal{K} \ \end{align} $$
Several algorithms solving this problem or a relaxation of it are implemented and empirically evaluated. We also benchmark various algorithms for gradient computation: automatic and implicit differentiation.
Requirements
We use Pinocchio for free dynamics and Delassus computation. Collision detection and its gradients are performed with hppfcl. The QP solver ProxSuite is used in some contact models and to compute derivatives. Automatic differentiation is implemented via CppAD.
Citing this work
If you find this helpful work, please cite the related paper:
@article{lelidec2023contact,
title={Contact Models in Robotics: a Comparative Analysis},
author={Le Lidec, Quentin and Jallet, Wilson and Montaut, Louis and Laptev, Ivan and Schmid, Cordelia and Carpentier, Justin}
}
Credits
The following people have been involved in the development of Contact Bench:
- Quentin Le Lidec (Inria): main developer and manager of the project
- Justin Carpentier (Inria): manager of the project
- Wilson Jallet (LAAS-CNRS/Inria): core developer
- Fabian Schramm (Inria): core developer
- Louis Montaut (Inria): core developper
Owner
- Name: SimpleRobotics
- Login: Simple-Robotics
- Kind: organization
- Repositories: 5
- Profile: https://github.com/Simple-Robotics
Open Source Software for Efficient, Frugal and Reliable Robotics
Citation (CITATION.cff)
cff-version: 1.0.0
message: "If you use this software, please cite it as below."
authors:
- family-names: Le Lidec
given-names: Quentin
- family-names: Jallet
given-names: Wilson
- family-names: Montaut
given-names: Louis
- family-names: Schmid
given-names: Cordelia
- family-names: Laptev
given-names: Ivan
- family-names: Carpentier
given-names: Justin
title: "Contact Models in Robotics: a Comparative Analysis"
version: 1.0.0
date-released: 2021-08-11
GitHub Events
Total
- Issues event: 1
- Watch event: 20
- Issue comment event: 3
- Fork event: 2
Last Year
- Issues event: 1
- Watch event: 20
- Issue comment event: 3
- Fork event: 2
Issues and Pull Requests
Last synced: 8 months ago
All Time
- Total issues: 1
- Total pull requests: 0
- Average time to close issues: N/A
- Average time to close pull requests: N/A
- Total issue authors: 1
- Total pull request authors: 0
- Average comments per issue: 2.0
- Average comments per pull request: 0
- Merged pull requests: 0
- Bot issues: 0
- Bot pull requests: 0
Past Year
- Issues: 1
- Pull requests: 0
- Average time to close issues: N/A
- Average time to close pull requests: N/A
- Issue authors: 1
- Pull request authors: 0
- Average comments per issue: 2.0
- Average comments per pull request: 0
- Merged pull requests: 0
- Bot issues: 0
- Bot pull requests: 0
Top Authors
Issue Authors
- arrakakki (1)