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adjoint_rollout_gradient

phyz_diff::rollout::adjoint

Function adjoint_rollout_gradient 

Source 
pub fn adjoint_rollout_gradient(
    rollout: &AdjointRollout<'_>,
    objective: &FinalStateObjective<'_>,
) -> AdjointGradients
Expand description

One nominal rollout forward, one adjoint pass backward: J, dJ/dπ per body, and (when contact is configured) ∂J/∂x per collision-mesh vertex.