Elodin is a platform for rapid design, testing, and simulation of drones, satellites, and aerospace control systems.
Quick Demo: https://app.elodin.systems/sandbox/hn/cube-sat
Sandbox Alpha: https://app.elodin.systems Docs (WIP): https://docs.elodin.systems
This repository is a collection of core libraries:
libs/nox: Tensor library that compiles to XLA (like JAX, but for Rust).libs/nox-ecs: Rust ECS framework built to work with JAX and Nox, that allows you to build your own physics engine.libs/nox-py: Python version ofnox-ecs, that works with JAXlibs/nox-ecs-macros: Derive macros to generate implementations of ECS and Nox traits.libs/conduit: Column-based protocol for transferring ECS data between different systems.libs/xla-rs: Rust bindings to XLA's C++ API (originally based on https://github.com/LaurentMazare/xla-rs).
Join us on Discord: https://discord.gg/agvGJaZXy5!
- Install Rust using https://rustup.rs
- Setup a new venv with:
python3 -m venv .venv
. .venv/bin/activate.fish # or activate.sh if you do not use fish- Install
elodin, andmatplotlibwith
pip install libs/nox-py
pip install matplotlib- Try running the following code
import matplotlib.pyplot as plt
import jax
import jax.numpy as jnp
import elodin as el
@el.map
def gravity(f: el.Force, inertia: el.Inertia) -> el.Force:
return f + el.SpatialForce.from_linear(
jnp.array([0.0, inertia.mass() * -9.81, 0.0])
)
@el.map
def bounce(p: el.WorldPos, v: el.WorldVel) -> el.WorldVel:
return jax.lax.cond(
jax.lax.max(p.linear()[1], v.linear()[1]) < 0.0,
lambda _: el.SpatialMotion.from_linear(
v.linear() * jnp.array([1.0, -1.0, 1.0]) * 0.85
),
lambda _: v,
operand=None,
)
world = el.World()
world.spawn(
el.Body(
world_pos=el.SpatialTransform.from_linear(jnp.array([0.0, 10.0, 0.0])),
world_vel=el.SpatialMotion.from_linear(jnp.array([0.0, 0.0, 0.0])),
inertia=el.SpatialInertia.from_mass(1.0),
)
)
client = el.Client.cpu()
sys = bounce.pipe(el.six_dof(1.0 / 60.0, gravity))
exec = world.build(sys)
t = range(500)
pos = []
for _ in t:
exec.run(client)
y = exec.column_array("world_pos")[0, 5]
pos.append(y)
fig, ax = plt.subplots()
ax.plot(t, pos)
plt.show()Licensed under either of
at your option.
Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.
