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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
1.23k stars 130 forks source link

Spherical joint fix #72

Closed PaulSchreiner closed 3 years ago

PaulSchreiner commented 3 years ago

I fixed the collision issue for spherical joints by adding a case to the jacobian calculation. I had to create 'apply' and 'apply_inverse' methods for 3x6 (Force/Motion matrices) in the transform class. These are different for Force and Motion matrices so I implemented them using a flag indicating what they are. Is this an issue regarding differentiability?

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erwincoumans commented 3 years ago

Thanks a lot for the fixes! Will merge it now, the CI is very slow.