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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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opengl_urdf_visualizer, allow rendering of TINY_SPHERE_TYPE, TINY_BOX… #68

Closed erwincoumans closed 3 years ago

erwincoumans commented 3 years ago

…_TYPE and TINY_CAPSULE_TYPE

remove multibody.spherical_joints, they should be part of dof() (adding 4 dofs, fixed joint adds 0 dof, revolute/prismatic add 1 dof), note that qdof will add 3 dofs.