How does ComFree handle gradients through contact?

[kamiradi]

Hi @wanxinjin,

Thank you for this repository. I am looking at applications where I can use fast contact solvers for control. The fact that ComFree is analytical makes it an appealing candidate. A noob question, am I right in assuming that this simulator is Differentiable because of the warp backend? Would I be able to extract gradients through the contact solve?

If so is there a tutorial that explains how to exploit gradients coming from your simulation? If not it would be a great addition to have this boilerplate. Thanks for your work and instruction.

Best,
Aditya

[calumarnott]

Commenting to note my interest in this feature/tutorial too.

Thanks,
Calum