A fast open-source simulator for poly-articulated systems
Jiminy Jiminy is a fast and lightweight cross-platform open-source simulator for poly-articulated systems. It was built with two ideas in mind: provide a fast yet physically accurate simulator for robotics research. Jiminy is built around Pinocchio, an open-source fast and efficient kinematics and dynamics library. Jiminy thus uses minimal coordinates and Lagrangian dynamics to simulate an articulated system: this makes Jiminy as close as numerically possible to an analytical solution, without the risk of joint violation. build an efficient and […]
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