SimBenchmark

SimBenchmark is a benchmark suite for state-of-the-art physics engines.

We evaluated a few widely used physics engines for robotics and machine learning applications. The list of the engines is as follows:

• RAISIM
• Bullet Physics
• Open Dynamics Engine
• Multi-Joint dynamics with Contact (a.k.a. MuJoCo)
• DART Sim

You can see the details in webpage.

Installation

SimBenchmark runs on Ubuntu 16.04 LTS.

Notes:

• RAISIM is released as a free-of-charge closed-source library.
• MuJoCo is under a proprietary license.
• Matlab R2018a is required for plotting (optional).

via Docker (recommended)

See docker/README.md

via bash script

• Run install.sh script by ./install.sh
• The dependencies are downloaded in lib directory.
• To use visualization, add environmental variable "RAI_GRAPHICS_OPENGL_ROOT" that points to lib/raiGraphics
• download MuJoCo v.1.5 in lib directory
  • lib/mjpro150
  • put mjkey.txt in lib/mjpro150/mjkey.txt

Test and Results

We designed the following tests for the evaluation

• Rolling test: friction model test
• Bouncing test: single-body elastic collision test
• 666 balls test: single-body hard contact test
• Elastic 666 balls test: single-body energy test
• ANYmal PD control test: articulated-robot-system speed test for quadrupedal robot
• Atlas PD control test: articulated-robot-system speed test for bipedal robot
• ANYmal momentum test: articulated-robot-system momentum test
• ANYmal energy test: articulated-robot-system energy test

Please see our webpage for more details.

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Contact

• Note that this benchmark is done by Dongho Kang and Jemin Hwangho who are the developers of RaiSim.
• If you have any concern, please contact Dongho Kang