[FEATURE] WIP: Make rigid body simulation fully differentiable#2078
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SonSang wants to merge 10 commits intoGenesis-Embodied-AI:mainfrom
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[FEATURE] WIP: Make rigid body simulation fully differentiable#2078SonSang wants to merge 10 commits intoGenesis-Embodied-AI:mainfrom
SonSang wants to merge 10 commits intoGenesis-Embodied-AI:mainfrom
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SonSang
changed the title
duburcqa
reviewed
Dec 6, 2025
| @gs.assert_built | ||
| def set_dofs_velocity_grad(self, dofs_idx_local, envs_idx, velocity_grad): | ||
| dofs_idx = self._get_idx(dofs_idx_local, self.n_dofs, self._dof_start, unsafe=True) | ||
| dofs_idx = self._get_global_idx(dofs_idx_local, self.n_dofs, self._dof_start, unsafe=True) |
Collaborator
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We need a unit test for this.
duburcqa
reviewed
Dec 6, 2025
Comment on lines
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+307
| if getattr(self._options, "noslip_iterations", 0) > 0: | ||
| gs.raise_exception("Noslip is not supported yet when requires_grad is True.") | ||
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| if getattr(self._options, "sparse_solve", False): | ||
| gs.raise_exception("Sparse solve is not supported yet when requires_grad is True.") | ||
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Collaborator
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It would be nice to have unit tests to catch all this forbidden configurations.
SonSang
changed the title
…ckward pass 2. fixed bug in save_ckpt, needed to set copy=True in converting taichi field to numpy array
2. use backward mode for rigid body sim only when computing gradient
2. stabilized differentiable contact, now can solve simple optimization problem
… inner loops outside 2. fixed some geometric functions in utils.geom.py to avoid nan grads 3. added rigid entity state queries (e.g. qpos, dofs_vel)
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Description
This PR aims at stitching differentiable components in the rigid body simulation to make it fully differentiable end-to-end. Also, it will provide a minimal demo to demonstrate the differentiability of the rigid body simulation.
Specifically, this PR would contain:
Related Issue
Resolves #2069
Motivation and Context
How Has This Been / Can This Be Tested?
TBD
Screenshots (if appropriate):
TBD
Checklist:
Submitting Code Changessection of CONTRIBUTING document.