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google-deepmind / mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.
https://mujoco.org
Apache License 2.0
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mujoco gazebo integration #27

Closed ggulgulia closed 2 months ago

ggulgulia commented 3 years ago

Gazebo is a popular open source tool for physics simulation and is widely used for robot simulation as well. An integration of mujoco physics with gazebo will enable the mujoco user audience to grow and consequently this will enable faster development processes (bug reporting, feature requests etc.)

traversaro commented 3 years ago

Related issue on the "Gazebo" side: https://github.com/ignitionrobotics/ign-physics/issues/299 .

The Gazebo simulator as described in http://gazebosim.org/ is now typically referred as "Gazebo Classic" and it is in mantainance mode (no new major feature planned) until 2025. All the new development is going on on "Ignition Gazebo" and the related suite of "Ignition Robotics" libraries that born from the refactor of "Gazebo Classic". In "Gazebo Classic" it is not easy to add new physics engine because adding a physics engine requires to modify the source code of Gazebo itself, while in Ignition Gazebo it is possible to add new physics engine as standalone plugins (even mantained in standalone repos) thanks to the Ignition Physics abstraction layer. For this reason https://github.com/ignitionrobotics/ign-physics/issues/299 is an issue on the ign-physics repo, but it can benefic ign-gazebo .

nimrod-gileadi commented 3 years ago

Thanks @traversaro for your proof of concept and for the write up. Having a high quality MuJoCo plugin in Ignition would be great.

I agree that Ignition's physics abstraction layer makes this a much cleaner integration that would be easier to maintain long term. Maybe we can continue to track this on ignitionrobotics/ign-physics#299, and see if there's an excited contributor to take this on?

If there are any features or API changes needed for MuJoCo to support such an integration, we'll be happy to collaborate.

traversaro commented 3 years ago

Thanks @traversaro for your proof of concept and for the write up. Having a high quality MuJoCo plugin in Ignition would be great.

Great! I guess that a problem that anyone that may want to look into this integration may face is being discussed in https://github.com/deepmind/mujoco/discussions/24, not sure if it is just a documentation issue or something that could be improve on the MuJoCo side.