ADD: Analytically Differentiable Dynamics for Multi-Body Systems with Frictional Contact

1 code implementation • 2 Jul 2020 • Moritz Geilinger, David Hahn, Jonas Zehnder, Moritz Bächer, Bernhard Thomaszewski, Stelian Coros

We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework.

Motion Planning Self-Supervised Learning