Why doesn't Gazebo improve its weak physics engine?

[CursedRock17]

@huanghuiyu.pm

I really don’t understand why Gazebo, as a simulation engine that has existed for over 20 years, does absolutely nothing in the face of the physics engine advantages of later competitors like Mujoco and Isaac

To be fair, you are able to load in other physics engines - https://gazebosim.org/api/sim/9/physics.html Tutorial, it just runs DART out of the box. In fact, Gazebo offers two Bullet flavors : gz-physics/bullet at gz-physics9 · gazebosim/gz-physics · GitHub of implementations that are supported as well. So, technically with any physics engine that has a C++ API, you could make it interface with Gazebo.

For instance you mention Isaac Sim, which is awesome, but NVidia’s PhysX physics engine does a lot of the heavy lifting. Here is a current GitHub issue within the GZ-Physics Repo, which mentions using the PhysX C++ SDK as an option for Gazebo.