Differentiability

[Tadinu]

Hi @ryichando,

Thank you for a very cool repo, which may be among the best OOS engines for contact-solving imo.

Just in case of a possibility that the engine can be made differentiable in the future, these may be of relevance:

C++
https://simple-robotics.github.io
https://github.com/Simple-Robotics/Simple
https://spirimirror.github.io/libuipc-web
https://github.com/InteractiveComputerGraphics/stark

Rust
https://github.com/ecto/phyz
https://github.com/ecto/tang
https://github.com/djrakita/ad_trait

Python
https://github.com/newton-physics/newton
https://github.com/google/brax
https://github.com/Genesis-Embodied-AI/Genesis

Further here
https://github.com/curieuxjy/Awesome_Manipulation/blob/main/Learning.md

Thank you!

[ryichando]

Thank you for sharing the list of reference projects that offer differentiable physics! At the moment, we do not support differentiable arithmetic, as it requires extensive engineering effort. I believe the core mathematics are already fairly clear; what makes it difficult is mostly the engineering itself.

With the recent advances in coding agents, I hope this may eventually become a much simpler matter with far less human labor involved. Since the entire codebase is licensed under Apache 2.0, I also humbly hope that some follow-up work from the community may eventually do this for us.