General Question

[abuibaid]

Hi everyone,

Just out of curiosity, is this Repo any different than the one developed by moveit? like are we going to exploit MuJoCo well through ros2?

regards,

[eholum-nasa]

Hi @abuibaid,

Not sure I could document a complete set of differences here, but off the top of my head (having contributed to these after the moveit ones),

• The biggest difference is that this wraps mujoco's simulate app, so out of the box access to their renderer is provided to do things like show forces, contacts, etc. Slowing down, pausing, or even speeding up the simulation are supported.
• This is a pure ros2 control hardware interface, so it is runnable directly through the normal ros2 controller manager (or will be as soon as Removed the forked controller manager node #9 is merged).
• Control (as of now) is delegated to the mujoco actuators themselves (this will change when Support for different control modes with mujoco by defining PIDs #5 goes in).
• We're working on improving the process for converting URDFs to MJCFs in some sort of automated way. There is a very, very messy prototype script that only works with humble, but more work will be done to get that going sometime in the future.
• Additional sensors and tools (like LIDAR) have been added here.

Hopefully that answers some of your questions?

[abuibaid]

Hi @eholum-nasa, thanks for your time replying my msg. I guess you have answered my question!

[saikishor]

Thank you @eholum-nasa and thank you @abuibaid