MJX equality eq_active not working (?) #2149
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SimpleGeometry
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Intro
I'm a researcher using MJX for GPU-parallelized RL environments
My setup
MJX 3.2.3, brax 0.10.5
My question
It seems that equality constraints (or at least the weld equality) ignores the eq_active field. When setting active="false", it's still active, and when I examine (from brax, but I assume this refers to an underlying MJX field that's tracked) pipeline_state.eq_active, it is 0 regardless of whether I set active="true" or active="false". When I manually modify it to 1 at runtime, it doesn't do anything.
Primarily, I'm trying to have an equality that I can turn on or off, since adhesion grippers are not currently supported in MJX. Any hack will work for now as well. I tried also setting solimp[0] = solimp[1] = 0, and solref[0] to be really large, so the constraint is pretty much ignored, but it also seems I have no way of dynamically adjusting this at runtime.
My questions are:
Could also be something with brax as well, though I'm not sure, especially as setting active="false" in the XML does not have any effect.
I've looked around at the existing issues and discussions and have not found anything that seems to be related to the equality constraint not being dynamically enable-able or disable-able in MJX, so I hope I am not duplicating any issues.
Minimal model and/or code that explain my question
If it matters, my XML is below. I also have some brax environment code and the environment runner code, but pretty much it just modifies and/or queries state.pipeline_state.eq_active.
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