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7 search results found

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

Incremental Potential Contact (IPC) is for robust and accurate time stepping of nonlinear elastodynamics. IPC guarantees intersection- and inversion-free trajectories regardless of materials, time-step sizes, velocities, or deformation severity.

Visualization of Motions for Legged Robots in ros-rviz

Ziran2019 ⭐ 106

Visco-elasto-plasticity and fracture simulator with the material point method (MPM) -- the reference implementation of SIGGRAPH 2019 technical paper Silly Rubber and CD-MPM.

Decomposed Optimization Time Integration (DOT) is a domain-decomposed optimization method for fast, reliable simulation of deformation dynamics. DOT efficiently converges with frame-rate time-steps across a wide range of extreme conditions.

Lecture at University of Tokyo 2023S

Research oriented physics-based animation infrastructure.

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