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This is really good news. It was a really contentious issue in RL and robotics research to be so reliant on proprietary (and very expensive) software.
For more context on "very expensive," a MuJoCo license was several hundreds of dollars .
It seems great, but the simulation geometry options feel bit limited? What would be really great would be the ability to simulate scenes with objects imported from STEP/IGES files, so you can do more of the modeling in actual CAD tools. Instead, MuJoCo seems more oriented towards using its own primitives, not sure how that works out with more complex situations.
> MuJoCo is a second-order continuous-time simulator, implementing the full Equations of Motion Are there any books describing how to implement this kind of physics engine?
I wish someone would do this for MATLAB.
Earlier quoted context omitted.
as an undergrad in the 90s I invested thousands of dollars of my own money to work on machine learning. Worth every penny, even if I had to miss out on some cool parties.
Wonderful that you had thousands of dollars as an undergrad to be able to do so.
Isn't that the whole idea behind college? Spend money to learn cool stuff?
Earlier quoted context omitted.
For more context on "very expensive," a MuJoCo license was several hundreds of dollars .
For undergrad students trying to dabble in reinforcement learning, several hundreds of dollars can be quite a lot.
It seems great, but the simulation geometry options feel bit limited? What would be really great would be the ability to simulate scenes with objects imported from STEP/IGES files, so you can do more of the modeling in actual CAD tools. Instead, MuJoCo seems more oriented towards using its own primitives, not sure how that works out with more complex situations.
I wonder what this means for the future of Brax [1]. 1. https://github.com/google/brax
Google Research already maintains the Bullet Engine as well (although it mostly seems to be Erwin Coumans maintaing it) Each have their own strengths, there is no "definitive" physics engine. Bullet is probably the most generalist engine, but it suffers a bit because of this approach (it's split between the old 2.0 C++ API vs. the new PyBullet API with vastly different functionalities)
Super impressed with the data structures (and documentation) they've already released.
Can it do fluid simulations for aquatic robots?
The docs are definitely a strong point, nicely written and presented.
1: https://mujoco.readthedocs.io/en/latest/computation.html# , about 1/4 of the way down the page