Questions about contact and differential.

[MacQWER]

What is the type of contact, soft or hard ?
Can mjd_transitionFD still work for massively parallelled environments ?
Will Differentiability via Warp be supported in the future ? I found it is not available in MjWarp currently.

[louislelay]

What is the type of contact, soft or hard ? Can mjd_transitionFD still work for massively parallelled environments ? Will Differentiability via Warp be supported in the future ? I found it is not available in MjWarp currently.

Hi @MacQWER, thanks for posting that!

• MjLab uses soft contacts. It relies on MJWarp, which uses the same contact model as MuJoCo.
• For your other questions, those are MJWarp-specific, so I’d suggest asking directly on the MJWarp GitHub repository.

[MacQWER]

Thanks a lot!