High performance simulation for robotic tasks with granular materials. GranularGym can reach realtime simulation of hundreds of thousands of particles interacting (one-way) with rigid bodies of arbitrary geometry.

Note (9 June 2023): Currently this repository contains the core engine code, examples are being cleaned and will be released soon.

GranularGym is licensed under the GPL-3.0 license, see LICENSE.txt for details.

Additionally, the United States National Aeronautics and Space Administration (NASA) and the United State Government are licensed this software (GranularGym) under the MIT license for any purpose.

If you are interested in another licensing scheme for any purpose, please contact the authors.

The development of GranularGym has been supported by a NASA Space Technology Research Fellowship, grant number 80NSSC19K1182.

A related conference paper (GranularGym: High Performance Simulation for Robotic Tasks with Granular Materials) appears in the Robotics: Science and Systems 2023 conference proceedings, or on the arXiv preprint server: https://arxiv.org/abs/2306.01369.

BibTeX:

@inproceedings{millard2023granulargym,
  title={GranularGym: High Performance Simulation for Robotic Tasks with Granular Materials},
  author={Millard, David and Pastor, Daniel and Bowkett, Joseph and Backes, Paul and Sukhatme, Gaurav S},
  eventtitle={Robotics: Science and Systems},
  venue={Daegu, Korea},
  year={2023},
  month=jul,
}