Support for Genesis renderer

[MRiabov]

The feature, motivation and pitch

Hello, I would like to simulate and train on some deformable bodies, and it seems MJX-Madrona integration does not support it. There seems to be a new GPU renderer called "Genesis" which supports a whole array of physics simulation, and also fast rendering. There is also fluid sim, and more precise FEM. They claim it actually is 10-80x faster than MJX, though I would doubt it as they don't use jax.lax.scan in their benchmarks, only python while loops (obviously very slow for jax)

I'm only entering the field of robotics sim, but it would be great to see deformable bodies, and train on them. I specifically am interested in visual training on cables and wirings, which Madrona says it does not support .

Alternatives

Implement such physics in Madrona? But this probably would be infeasible.

Additional context

No response

[quagla]

Hi, we have cables in mujoco, although they are not supported by MJX. I guess what you are asking is that we should port the cable to MJX? The FEM in Genesis benefits from a very high number of DOFs but it's not per se more accurate than the FEM we have in MuJoCo.