{"id":21601488,"url":"https://github.com/simple-robotics/simple","last_synced_at":"2025-07-10T19:02:59.936Z","repository":{"id":241325237,"uuid":"800430751","full_name":"Simple-Robotics/Simple","owner":"Simple-Robotics","description":"The Simple Simulator: Simulation Made Simple","archived":false,"fork":false,"pushed_at":"2025-06-04T17:34:02.000Z","size":108,"stargazers_count":152,"open_issues_count":0,"forks_count":4,"subscribers_count":22,"default_branch":"main","last_synced_at":"2025-06-13T03:03:49.995Z","etag":null,"topics":["brax","bullet-physics","bullet3","drake","isaac-gym","mujoco","pinocchio","raisim","robotics","simulation"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Simple-Robotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2024-05-14T10:17:12.000Z","updated_at":"2025-06-11T02:19:41.000Z","dependencies_parsed_at":null,"dependency_job_id":"bf08b93d-8900-423a-a704-8aef6bd58d43","html_url":"https://github.com/Simple-Robotics/Simple","commit_stats":null,"previous_names":["simple-robotics/simple"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/Simple-Robotics/Simple","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Simple-Robotics%2FSimple","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Simple-Robotics%2FSimple/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Simple-Robotics%2FSimple/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Simple-Robotics%2FSimple/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Simple-Robotics","download_url":"https://codeload.github.com/Simple-Robotics/Simple/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Simple-Robotics%2FSimple/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":264637823,"owners_count":23642055,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["brax","bullet-physics","bullet3","drake","isaac-gym","mujoco","pinocchio","raisim","robotics","simulation"],"created_at":"2024-11-24T19:09:39.255Z","updated_at":"2025-07-10T19:02:59.910Z","avatar_url":"https://github.com/Simple-Robotics.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# The Simple Simulator: Simulation Made Simple\n\n**Simple** is a new (differentiable) physical engine based on recent progress on solving contact simulation and leveraging [Pinocchio](https://github.com/stack-of-tasks/pinocchio) for fast dynamics computations and [Coal](https://github.com/coal-library/coal/) for efficient collision detection.\nWhile first targetting robotics applications, **Simple** can be exploited in many other contexts: video games, system design, graphical animations, biomechanics, etc.\n\n**Simple** is developed by the [WILLOW team](https://www.di.ens.fr/willow/) at [Inria](https://www.inria.fr/en).\nThe code associated with **Simple** has been released on May, 26th 2025 under the permissive BSD-3 license.\n\nMore features and improved efficiency will come soon. And as Jean de La Fontaine wrote: **\"Patience and time do more than strength or passion\"**.\n\n\n \n## The core team\n\nThe following persons actively took part in the development of **Simple**:\n- [Justin Carpentier](https://jcarpent.github.io/) (Inria): core developer and project instigator\n- [Quentin Le Lidec](https://quentinll.github.io/) (Inria): core developer\n- [Louis Montaut](https://lmontaut.github.io/) (Inria): core developer\n- [Joris Vaillant](https://github.com/jorisv/) (Inria): core developer\n- [Yann de Mont-Marin](https://github.com/ymontmarin) (Inria): core developer\n- [Ajay Sathya](https://www.ajaysathya.com/) (Inria): feature contributor\n- [Fabian Schramm](https://github.com/fabinsch) (Inria): feature contributor\n\nExternal contributions are more than welcome. If you have contributed to the development of Simple, feel free to add your name.\n\n## Associated scientific and technical publications\n\n**Simple** is built on active research around understanding and enhancing physical simulation.\nInterested readers can learn more about the algorithmic and computational foundations of **Simple** by reading these publications:\n\n- Le Lidec, Q., Montaut, L. \u0026 Carpentier, J. (2024, July). [From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach](https://hal.science/hal-04588906). In RSS 2024-Robotics: Science and Systems.\n- Montaut, L., Le Lidec, Q., Petrik, V., Sivic, J., \u0026 Carpentier, J. (2024). [GJK++: Leveraging Acceleration Methods for Faster Collision Detection](https://hal.science/hal-04070039/). IEEE Transactions on Robotics.\n- Sathya, A., \u0026 Carpentier, J. (2024). [Constrained Articulated Body Dynamics Algorithms](https://hal.science/hal-04443056/). IEEE Transactions on Robotics.\n- Montaut, L., Le Lidec, Q., Bambade, A., Petrik, V., Sivic, J., \u0026 Carpentier, J. (2023, May). [Differentiable collision detection: a randomized smoothing approach](https://hal.science/hal-03780482/). In 2023 IEEE International Conference on Robotics and Automation (ICRA).\n- Le Lidec, Q., Jallet, W., Montaut, L., Laptev, I., Schmid, C., \u0026 Carpentier, J. (2023). [Contact models in robotics: a comparative analysis](https://hal.science/hal-04067291/). IEEE Transactions on Robotics.\n- Montaut, L., Le Lidec, Q., Petrik, V., Sivic, J., \u0026 Carpentier, J. (2022, June). [Collision Detection Accelerated: An Optimization Perspective](https://hal.science/hal-03662157/). In Robotics: Science and Systems (RSS 2O22).\n- Carpentier, J., Budhiraja, R., \u0026 Mansard, N. (2021, July). [Proximal and sparse resolution of constrained dynamic equations](https://hal.science/hal-03271811/). In Robotics: Science and Systems (RSS 2021).\n- Carpentier, J., \u0026 Mansard, N. (2018, June). [Analytical derivatives of rigid body dynamics algorithms](https://hal.science/hal-01790971/). In Robotics: Science and systems (RSS 2018).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsimple-robotics%2Fsimple","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fsimple-robotics%2Fsimple","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsimple-robotics%2Fsimple/lists"}