@article{fastandfeaturecompletedifferentiable,
  title = {Fast and Feature-Complete Differentiable Physics for Articulated Rigid Bodies with Contact},
  author = {Keenon Werling and Dalton Omens and Jeongseok Lee and Ioannis Exarchos and C. Karen Liu},
  year = {2021},
  eprint = {2103.16021},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2103.16021v3},
}