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...Grid gpu accelerated rigid body place zoom dynamics with analytical gradients headshot here outputs inputs rbdreference validated user s urdfparser urdf optimized cuda gridcodegenerator c code gridbenchmarks performance benchmarks brian plancher sabrina m neuman radhika ghosal scott kuindersma vijay janapa reddi harvard university john a paulson school of engineering and applied sciences boston makes it easy to use the robotics algorithms that provides up x speedup maintains speedupwithi o why modular design optimizations results are bottleneck for planning control e g nonlinear mpc gradient as percent computation j carpentier n mansrud neunert et al fast model best end pu option from b derivatives predictive unified trajectory analysis parallel differential dynamic rss optimization tracking icra programming wafr...