Is diffsim supported in the MuJoCo backend?

[Siqi-MarvelLi]

I would like to ask whether the differentiable simulation (diffsim) feature is currently ready for the MuJoCo backend. I noticed in the documentation that MJWarp is not currently differentiable, and I’m wondering what the current status is.

Additionally, could you clarify which backend(s) currently support differentiable simulation?

[adenzler-nvidia]

Speaking for MuJoCo Warp the documentation is still accurate differentiability is neither supported nor actively being worked on. We are hoping to get there at some point, it's quite a bit of work though.

[momo-van]

@Siqi-MarvelLi please provide some information on how MJWarp differentially can help your use-case. Feel free to open a feature request in MJWarp and/or Newton repo.