@article{diffsdfsimdifferentiablerigidbodydynamic,
  title = {DiffSDFSim: Differentiable Rigid-Body Dynamics With Implicit Shapes},
  author = {Michael Strecke and Joerg Stueckler},
  year = {2021},
  eprint = {2111.15318},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2111.15318v2},
}