https://github.com/dmillard/granulargym
High performance simulation for robotic tasks with granular materials
https://github.com/dmillard/granulargym
Last synced: 11 months ago
JSON representation
High performance simulation for robotic tasks with granular materials
- Host: GitHub
- URL: https://github.com/dmillard/granulargym
- Owner: dmillard
- License: gpl-3.0
- Created: 2023-06-02T08:44:27.000Z (about 3 years ago)
- Default Branch: main
- Last Pushed: 2024-05-28T03:33:03.000Z (about 2 years ago)
- Last Synced: 2025-03-14T10:44:01.357Z (over 1 year ago)
- Language: Julia
- Size: 55.7 KB
- Stars: 31
- Watchers: 4
- Forks: 2
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE.txt
Awesome Lists containing this project
README
# GranularGym
High performance simulation for robotic tasks with granular materials.
GranularGym can reach realtime simulation of hundreds of thousands of particles
interacting (one-way) with rigid bodies of arbitrary geometry.
This repository contains the core engine code, example usages are given in the
referenced paper below.
## Licensing
GranularGym is licensed under the GPL-3.0 license, see LICENSE.txt for details.
Additionally, the United States National Aeronautics and Space Administration
(NASA) and the United States Government are licensed this software (GranularGym)
under the MIT license for any purpose.
If you are interested in another licensing scheme for any purpose, please
contact the authors.
## Acknowledgement
The development of GranularGym has been supported by a NASA Space Technology
Research Fellowship, grant number 80NSSC19K1182.
## Citation
A related conference paper (_GranularGym: High Performance Simulation for
Robotic Tasks with Granular Materials_) appears in the Robotics: Science and
Systems 2023 conference proceedings, or on the arXiv preprint server:
https://arxiv.org/abs/2306.01369.
BibTeX:
```
@inproceedings{millard2023granulargym,
title={GranularGym: High Performance Simulation for Robotic Tasks with Granular Materials},
author={Millard, David and Pastor, Daniel and Bowkett, Joseph and Backes, Paul and Sukhatme, Gaurav S},
eventtitle={Robotics: Science and Systems},
venue={Daegu, Korea},
year={2023},
month=jul,
}
```