Physics EngineΒΆ

As a part of my PhD I was developing wrapper around bullet physics engine which was capable of instanciating robots in a given initial state and simulate them forward in time very quickly. The repository is in Spirit Repo

Some of the features are

  • Custom gui based on Pangolin

  • Quick state initialization of robot from state vector

  • Multi-threaded simulation

  • Adjustable vechile configurations on the fly (geometric and parametric)

  • Planner objects like waypoints and trajecotry objects in state space

  • Ceres-Solver based non-linear optimization

Here is an example of spirit runnign a AWD car model with a PID control on steering. The 3D gui is fully interactive (not showin in this video).