MJX support adhesion actuator

[giorgionicola]

The feature, motivation and pitch

Hi, I'm working on locomotion for climbing robots, and I would like to use MJX to simulate climbing. However, he adhesion actuator that I use to simulate the vacuum of my robot is not yet supported.

Are there future plan for supporting it? Are there possible workaround? I have seen this old issue that uses equality connections #2149

Alternatives

No response

Additional context

No response

[yuvaltassa]

Ad-hoc equality constraints are a good solution. Proper adhesion actuators will soon come to MuJoCo Warp.

[thowell]

@giorgionicola adhesion actuators are implemented for MuJoCo Warp

for example, simulating mujoco/model/adhesion/active_adhesion.xml with MuJoCo Warp's viewer

mjwarp-viewer --mjcf=mujoco/model/adhesion/activate_adhesion.xml

[thowell]

This feature is available in MJX via the MuJoCo Warp backend by setting impl='warp'

mx = mjx.put_model(m, impl='warp')
dx = mjx.put_data(m, impl='warp')