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erwincoumans / tiny-differentiable-simulator

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.
Apache License 2.0
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enable opacity/transparant rendering #15

Closed erwincoumans closed 4 years ago

erwincoumans commented 4 years ago

expose mass_matrix computation in Python, example snippet:

dofs_qd = mb.num_dofs_qd print("dofs_qd=",dofs_qd) mass_matrix = dp.TinyMatrixXxX(dofs_qd,dofs_qd) mass_matrix.set_zero() rows = mass_matrix.num_rows cols = mass_matrix.num_columns mb.mass_matrix(mass_matrix) print("rows =",rows ) print("cols =",cols ) mass_matrix.print("mass_matrix")