KO | EN

GitLite

Minimalist Open Source Repository Search Engine

gitlite — search

#developer-tools #typescript #dsh #dsh-plugin #ai-agent #codex #ai-agents #deepseek-harness #claude-code #cli #react #mcp

Silico.jl

★ 47 Open GitHub ↗

Unified contact simulaton and collision detection

// repository documentation

Was this content helpful?

★ 0 (0 ratings)

[![CI](https://github.com/simon-lc/Silico.jl/actions/workflows/CI.yml/badge.svg)](https://github.com/simon-lc/Silico.jl/actions/workflows/CI.yml)
[![codecov](https://codecov.io/gh/simon-lc/Silico.jl/branch/main/graph/badge.svg?token=VMLS7NNFAI)](https://codecov.io/gh/simon-lc/Silico.jl)

# Silico.jl: Single-Level Differentiable Contact Simulation 
Silico allows you to quickly build rigid-body contact simulation environments. It unifies the problem of contact dynamics and the collision detection problem by formulating a single Nonlinear Complementarity Problem (NCP). Silico jointly solves for the contact impact forces, friction forces and the contact point locations. The NCP is solved efficiently using a primal-dual interior point method implemented in [Mehrotra.jl](https://github.com/simon-lc/Mehrotra.jl/).

It handles collision between ``convex bundles''. A convex bundle is a non-convex shape resulting from the composition of convex shapes through union and Minkowski sum operations.

For more information, please refer to:
- [paper](https://arxiv.org/abs/2212.06764)
- [video](https://youtu.be/oaGLTR13iF8)
- [slides](https://docs.google.com/presentation/d/1dKse0byWRH7zf75ow9r1ZEnlXIdxVPFInbBVdG6DUnE/edit?usp=sharing)

## Video
[![video](http://i3.ytimg.com/vi/oaGLTR13iF8/hqdefault.jpg)](https://youtu.be/oaGLTR13iF8)

## Examples

### Contact-rich manipulation
<img src="examples/deps/grasping.gif" height="350"/>

### Peg-in-hole insertion
<img src="examples/deps/peg_in_hole.gif" height="350"/>

### Block stacking
<img src="examples/deps/jenga.gif" height="350"/>

### Polytope drop
<img src="examples/deps/polytope.gif" height="350"/>

### Convex bundle
The light green object is the result of the union of two convex shapes, the dark green shapes results for the Minkowski sum of a polytope and a sphere.

### Citing 
```
@article{lecleach2022silico,
	title={Single-Level Differentiable Contact Simulation },
	author={Le Cleac'h, Simon and Schwager, Mac and Manchester, Zachary and Sindhwani, Vikas and Florence, Pete and Singh, Sumeet},
	journal={arXiv preprint arXiv:2212.06764},
	year={2022}
}
```

Silico.jl

Explore Similar Repositories

Was this content helpful?

Recent Feedback

Download README