kevin-tracy/DifferentiableCollisions.jl

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A library for differential collision detection, as implemented from Differentiable Collision Detection for a Set of Convex Primitives. The core algorithmn, DCOL, computes collision information between the following convex primitives: polytopes capsules cylinders cones spheres ellipsoids padded polygons A limited version of DCOL is available in Python/JAX as dpax. Interface DCOL works by creating a struct for each shape, and calling a function to query a proximity value between them. Primitives Each...