[Feature]: Rigid-body solver differentiability?

[gpu-daal]

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What feature or enhancement are you proposing?

Is there a rough estimate on when rigid-body solver becomes differentiable? I'm thinking of using Genesis for my project, but I need to be able to propagate gradients through the physics engine, and I need rigid-body solver for it. Is it hard to make the solver differentiable myself using MPM as reference?

Motivation

Differentiable engines are becoming more and more popular. Rigid-body solver is the most important in modern robotics.

Potential Benefit

For personal projects involving robotics.

What is the expected outcome of the implementation work?

Fully-differentiable rigid-body solver.

Additional information

No response