Improving Simulation Interoperability and Domain Randomization with MuJoCo and DeepMind

Today we are happy to announce that we have released the sdformat-mjcf library that allows for seamless conversion between the two formats! The software is currently available on PyPI and allows users to convert models / worlds, joints (such as ball, continuous, fixed, prismatic, and revolute joints), sensors (such as altimeters, cameras, force torque sensors, and IMUs) and materials between the two formats. In practical terms this means that users of both MuJoCo and Gazebo are able to quickly and easily toggle between the two simulation environments. This new tooling opens up the entire universe of models available for Gazebo to the MuJoCo user community, and provides MuJoCo users with the capability to use their models in Gazebo.