Jade

Build and install Jade:

See instruction here. It builds a manylinux_2_28 wheel. You can install the wheel via pip.

Tutorial:

See tutorial of nimble. Most APIs are the same.

Attention: Object geometry (defined in URDF) should be convex meshes, primitives like sphere and box are forbidden.

Debug Mode:

Set environment variable SPDLOG_LEVEL. e.g., SPDLOG_LEVEL=debug python myscripyt.py.

Citation

If you find our work useful, please consider citing:

@article{gang2023jade,
  title={Jade: A Differentiable Physics Engine for Articulated Rigid Bodies with Intersection-Free Frictional Contact},
  author={Yang, Gang and Luo, Siyuan and Shao, Lin},
  journal={arXiv preprint arXiv:2309.04710},
  year={2023}
}