Outcomes from last months sig-simulation planning review for 2023
One item discussed was whether it would be good to look at a way to support an alternative physics back end (for example MuJoCo) that @adamdbrw has been experimenting with.
This would apply to adding a single new physics engine as well as making it more architecturally friendly to add new physics engines in general.
Performance of different backends is a concern when it comes to performance (e.g. MuJoCo is single threaded).
Note: This is a complicated thing to do. For example Gazebo Classic 'technically' supports 5 physics engines, but only one supports everything.
Soft body physics - different requirements in terms of realism (e.g. mobile game vs robotics/simulation). In the simulation case you need the physical accuracy, in the first case it is not as important but can just look cool.
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