Disney Research and NVIDIA researchers in Zurich developed Kamino, a GPU physics solver for robots whose mechanisms contain tightly coupled joints and closed kinematic loops. Built with NVIDIA Warp and integrated into Newton, it can simulate structurally different robots in parallel without first replacing their mechanisms with simplified joint trees.
The researchers demonstrated reinforcement-learning training for DR Legs, a biped containing six nested kinematic loops, using 4,096 parallel environments on one GPU to produce a feasible walking policy. The solver is in beta and targets large simulation batches; dedicated articulated-body solvers remain faster for simple joint trees.