VMAS is a vectorized differentiable simulator designed for efficient Multi-Agent Reinforcement Learning benchmarking. It is comprised of a vectorized 2D physics engine written in PyTorch and a set of challenging multi-robot scenarios. Additional scenarios can be implemented through a simple and modular interface.
The kinematics-related code for the multi-robot transport system with a deformable sheet, utilizing the Virtual Variable Cable Model (VVCM) for modeling.
