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Model Serving & MLOps
Compact C++ library for differentiable articulated rigid body simulation with forward/inverse dynamics, collision detection, and URDF support
C++
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Latest v1.0.1 · 1mo ago
Security brief →
Features
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Articulated-body algorithm (ABA) for O(N_B) forward dynamics
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Composite Rigid-Body Algorithm (CRBA) for joint-space inertia matrix calculation
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Recursive Newton-Euler algorithm (RNEA) for inverse dynamics
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End‑to‑end automatic differentiation via autodiff library
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Collision detection with GJK/EPA and impulse‑based contact resolution
No immediate action
v1.0.1
Feature
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CRBA for BDynamics
No immediate action
v1.0.0
Feature
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openGJK collision detection
No immediate action
v0.12.0
Breaking
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BCollision coordinate change
No immediate action
v0.11.0
Feature
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URDF load/save
No immediate action
v0.9.0
Feature
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Collision detection
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C++
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CMake
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