@article{addanalyticallydifferentiabledynamicsfor,
  title = {ADD: Analytically Differentiable Dynamics for Multi-Body Systems with Frictional Contact},
  author = {Moritz Geilinger and David Hahn and Jonas Zehnder and Moritz Bächer and Bernhard Thomaszewski and Stelian Coros},
  year = {2020},
  eprint = {2007.00987},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2007.00987v1},
}