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Feature/625 mujoco-based dynamics#908

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juan-g-bonilla merged 24 commits into
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feature/625-mujoco
Apr 14, 2025
Merged

Feature/625 mujoco-based dynamics#908
juan-g-bonilla merged 24 commits into
developfrom
feature/625-mujoco

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@juan-g-bonilla juan-g-bonilla commented Jan 21, 2025

Description

This PR adds a new paradigm for dynamics simulation. It makes use of the MuJoCo library for multi-body dynamics. A new DynamicObject is added, MJScene, whose purpose is to expose an interface that can interoperate with the rest of the Basilisk framework, while internally using MuJoCo to solve the complicated dynamics of a multi-body system. Scenarios have been added that showcase the current capabilities.

This feature should be considered in "alpha". Any and all code is subject to considerable refactors in the near future. Validation efforts are not complete; do not use this feature to produce results that you actually care about.

Verification

Tests have been added in src/simulation/dynamics/mujoco/_UnitTest and scenarios in examples/mujoco (src/tests/test_scenarioMujoco.py checks that these scenarios run).

Documentation

The scenarios documentation page has been updated to include a new section Multi-Body Dynamics Simulations with MuJoCo.

Future work

Things still to figure out (non-exhaustive):

  • Stateful SysModel (for models that define states with derivatives to be integrated by MJScene.
  • Possibly rework how the inertial properties (mass, etc.) are updated.
  • Allow prescribing joints and mass.
  • Add torque to the gravity model NBodyGravity.
  • Add hooks for vizard.
  • Add more tests to compare results and performance of spacecraft and MJScene

@juan-g-bonilla juan-g-bonilla added enhancement New feature or request dont merge Waiting on other changes before merging labels Jan 21, 2025
@juan-g-bonilla juan-g-bonilla self-assigned this Jan 21, 2025
@juan-g-bonilla juan-g-bonilla requested a review from a team as a code owner January 21, 2025 09:00
@juan-g-bonilla juan-g-bonilla force-pushed the feature/625-mujoco branch 3 times, most recently from 8004d67 to d5f4f22 Compare January 23, 2025 04:31
@juan-g-bonilla juan-g-bonilla mentioned this pull request Feb 20, 2025
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@juan-g-bonilla juan-g-bonilla force-pushed the feature/625-mujoco branch 8 times, most recently from 68fa6f1 to 6a4a2fa Compare February 23, 2025 20:47
@juan-g-bonilla juan-g-bonilla added documentation Improvements or additions to documentation build Build system or compilation enhancement and removed dont merge Waiting on other changes before merging labels Feb 23, 2025
schaubh
schaubh requested changes Feb 24, 2025
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I think I'll do this in stages and leave feedback as I find it. Was able to compile BSK without --mujoco flag just fine. All tests passed or mujoco tests were skipped as expected. Nice work.

I next compiled BSK with `--mujocoflag set to true. mujoco`` version 3.2.6 was installed without issues. Compiling finished with no issues.

To do:

  • need to update docs/source/Install/installBuild.rst table to discuss the --mujoco build option. I'd add it under the opNav description.

Comment thread src/simulation/dynamics/gravityEffector/gravityEffector.i
Comment thread docs/source/Support/bskReleaseNotes.rst Outdated
@juan-g-bonilla juan-g-bonilla changed the title Feature/625 mujoco [draft] Feature/625 mujoco-based dynamics Feb 27, 2025
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Great work overall. I found some small things to address, typos, questions on msg variable naming and frames, etc.

Comment thread src/simulation/dynamics/_GeneralModuleFiles/interpolator.h
Comment thread libs/mujoco/conanfile.py Outdated
Comment thread libs/mujoco/conanfile.py Outdated
Comment thread src/architecture/msgPayloadDefC/ForceMsgPayload.h Outdated
Comment thread src/architecture/msgPayloadDefC/ForceMsgPayload.h Outdated
Comment thread examples/mujoco/scenarioSimpleDocking.py
Comment thread examples/mujoco/scenarioUnbalancedThrusters.py
Comment thread examples/mujoco/scenarioUnbalancedThrusters.py Outdated
Comment thread examples/mujoco/scenarioUnbalancedThrusters.py Outdated
Comment thread examples/mujoco/scenarioSimpleDocking.py Outdated
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juan-g-bonilla commented Mar 20, 2025

@schaubh Thanks for the feedback and the commits to solve some of the issues. I think my latest push addresses your comments.

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schaubh commented Mar 27, 2025

If the replay install fails, then the whole configuration process should fail. Provide info on how to custom download and build gflw. We used

conan download glfw/3.4@ -r=conancenter
conan install . --build=missing

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next round of suggestions

Comment thread src/architecture/msgPayloadDefC/ForceAtSiteMsgPayload.h Outdated
Comment thread src/architecture/msgPayloadDefC/TorqueAtSiteMsgPayload.h Outdated
Comment thread src/simulation/dynamics/mujoco/pythonUtils.py
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juan-g-bonilla commented Mar 27, 2025 •
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Build page for MuJoCo: MacOS has an error for glfw3, how to fix that by manually building. Found a better fix

@juan-g-bonilla juan-g-bonilla force-pushed the feature/625-mujoco branch 2 times, most recently from 243ea57 to 4c3adcb Compare March 30, 2025 08:18
juan-g-bonilla and others added 15 commits April 9, 2025 22:20
@juan-g-bonilla
Edit .gitignore to ignore all instances of CMakeUserPresets.json
a65ce23
@juan-g-bonilla
Add mujoco as a conan2 package
9cd3007
@juan-g-bonilla
Add 'replay' utility for MuJoCo simulations
64f0a9e
@juan-g-bonilla
Modify build system to use mujoco as dependency
ec1bf70
@juan-g-bonilla
Add MJScene MuJoCo-based DynamicObject
6fd5aa5
@juan-g-bonilla
Add tests for MuJoCo-based simulations
a40ef46
@juan-g-bonilla
Add scenarios related to using MuJoCo
8144fe9
@juan-g-bonilla
Add section for MuJoCo scenarios in documentation
9ced8ad
@juan-g-bonilla
Exclude certain mujoco elements from documentation
641d9dc
@juan-g-bonilla
Add documentation page about MJScene
c3bffbc
@juan-g-bonilla
Update release notes
864124d
@schaubh @juan-g-bonilla
added RST ability to include BETA labels
671bb83 
This should be useful as we include beta features in the develop release and want to ensure the user understands this is work in progress.

Updated the mujoco documentation to use this label, as well as the beta pip wheel documentation page
@schaubh @juan-g-bonilla
various documentation fixes
b31e45b 
- grammar and spelling typos
- make variable typeset as variables
- add hyperlink to SysModel class
@schaubh @juan-g-bonilla
add the MuJoCo build flags to the install documentation
be02e0d
@juan-g-bonilla
Update Linux All Tests to allow conan to install missing system packages
f2dd565
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juan-g-bonilla commented Apr 10, 2025

@schaubh just appended commits to move the mujoco files to mujocoDynamics.

@juan-g-bonilla juan-g-bonilla force-pushed the feature/625-mujoco branch 2 times, most recently from bed2a59 to 3b6db28 Compare April 12, 2025 07:50
@juan-g-bonilla
Add simulation/mujocoDynamics to build script
c1252ce 
Note the special behavior: mujocoDynamics gets to
see the _GeneralModuleFiles of dynamics

Link dynamicsLib for mujocoDynamicsLib
@juan-g-bonilla
Add EXCLUDED_BSK_LIBRARIES to skip entire modules / libraries
6c3bbab
@juan-g-bonilla
Exclude entire mujocoDynamics module instead of targets
6515cca
schaubh
schaubh approved these changes Apr 13, 2025
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Nice work here. I did a clean build on my system with and without the --mujoco build flag and everything worked as expected. This is an exciting beta feature to add to BSK.

@juan-g-bonilla juan-g-bonilla merged commit 43d3df0 into develop Apr 14, 2025
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@juan-g-bonilla juan-g-bonilla deleted the feature/625-mujoco branch April 14, 2025 04:44
@github-project-automation github-project-automation Bot moved this from 👀 In review to ✅ Done in Basilisk Apr 14, 2025
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build Build system or compilation enhancement documentation Improvements or additions to documentation enhancement New feature or request

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MuJoCo as simulation module

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