Parallel_Sim
gpu-native rigid body dynamics and contact solver. engineered for massive throughput, eliminating the cpu bottleneck in robot learning.
01 // Hyper-Parallelism
by maintaining the entire simulation state on device memory, we bypass pcie transfer latency. the forward simulation, collision detection, and policy inference all execute within the same cuda context.
02 // Kinematic Solver
Mass-Matrix Solver
utilizes a custom articulated body algorithm (aba) optimized for warp-level execution on nvidia architectures. resolves complex kinematic chains without the drift associated with maximal coordinate solvers.
Contact Constraints
resolves rigid body collisions via a projected gauss-seidel (pgs) iterative solver. uses sub-stepping (typically 4-8 steps per control cycle) to prevent tunneling and ensure stable resting contacts for complex foot morphologies.