Welcome to Nimble’s documentation!
IMPORTANT NOTE: Nimble is currently in beta. We reserve the right to make backwards incompatible changes to the APIs until Nimble reaches v1.0
.
This documentation was written for Nimble v0.5.3
, and may or may not work on later versions.
Contents:
- Installation
- Get Started in 2 Minutes
- Understand Worlds and Skeletons
- Backprop through Physics Timesteps
- Specify Loss in World Space
- Differentiable Human Body Models
- Inverse Dynamics (with Contact)
- System Identification
- Accessing Jacobians of Dynamics
- Working with AddBiomechanics Data
- Processing Mocap Data