MuJoCo as simulation module

[ggarrofe]

We are interested in using MuJoCo as the simulation environment for future developments in robotic manipulation and the contact dynamics between multiple satellites. We would like to retain the orbital dynamics capabilities from Basilisk. Have you considered integrating with them, or are you aware of any methods to achieve this integration?

[juan-g-bonilla]

I cannot speak for the rest of the team on this, but MuJoCo integration has been a toy project of mine for the last two weeks. It's looking promising, but it's not straightforward. I wouldn't hold my breath for it (unless someone else has a more developed integration that I am not aware of).

[schaubh]

Not familiar with MuJoCo. My first question would be how this would integrate with our BSK dynamics that uses the back-substitution method to yield very fast and scalable solutions. But, as with all things, there are limitations to the spacecraft configurations we can model. Regarding robotic arms, we are working on effectors that would allow you to model prescribed robotic arm motions, and also some torque based dynamics effectors for a sequential chain of general arm components.