https://github.com/simple-robotics/contactbench

Benchmarking contact models and solvers from robotics simulators.
https://github.com/simple-robotics/contactbench

Last synced: about 1 month ago
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Benchmarking contact models and solvers from robotics simulators.

• Host: GitHub
• URL: https://github.com/simple-robotics/contactbench
• Owner: Simple-Robotics
• License: bsd-2-clause
• Created: 2024-06-26T15:49:24.000Z (6 months ago)
• Default Branch: main
• Last Pushed: 2024-07-11T07:33:10.000Z (6 months ago)
• Last Synced: 2024-07-17T00:28:27.487Z (5 months ago)
• Language: C++
• Size: 144 KB
• Stars: 5
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE
  • Citation: CITATION.cff

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README

        
# 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](https://github.com/stack-of-tasks/pinocchio) for free dynamics and Delassus computation. Collision detection and its gradients are performed with [hppfcl](https://github.com/humanoid-path-planner/hpp-fcl). The QP solver [ProxSuite](https://github.com/Simple-Robotics/proxsuite) is used in some contact models and to compute derivatives. Automatic differentiation is implemented via [CppAD](https://github.com/coin-or/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](https://quentinll.github.io) (Inria): main developer and manager of the project

-   [Justin Carpentier](https://jcarpent.github.io) (Inria): manager of the project

-   [Wilson Jallet](https://github.com/ManifoldFR) (LAAS-CNRS/Inria): core developer

-   [Fabian Schramm](https://github.com/fabinsch) (Inria): core developer

-   [Louis Montaut](https://github.com/lmontaut) (Inria): core developper