CQDC-Warp: GPU-Accelerated Differentiable Quasi-Dynamic Simulation for Contact-Rich Manipulation
CQDC-Warp is a GPU-accelerated simulator for contact-rich manipulation that uses differentiable dynamics to support batched Model Predictive Control (MPC). It allows planners to specify intended robot contacts beforehand, which then guide the optimization process. The simulation determines the actual contact geometry and friction, enabling efficient trajectory generation for complex tasks.