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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
1.2k stars 129 forks source link

add create_sphere_instance #160

Closed erwincoumans closed 3 years ago

erwincoumans commented 3 years ago

forward x direction is [4] for floating base Laikago update weights for better policy in eval_laikago_env