In the long term, should we move away from dm_control and use just the mujoco binding for the core simulation?

[sibocw]

In the long term, should we move away from dm_control and use just the mujoco Python binding, at least for the core simulation?

This would allow us to use GPU/TPU for the physics simulation using MJX that's been available since MuJoCo 3.0.0 (there's no plan on the dm_control side to retrofit MJX into dm_control). I doubt a morphologically complex model like NeuroMechFly can be run efficiently on the GPU (esp. given my experience with Isaac Gym), but I'd be curious to find out.

On the other hand, we can keep using dm_control's nice camera class for projecting from xyz coordinates to row-column coordinates on rendered image, or dm_control.mjcf for modifying the XML files, or add an interactive viewer with dm_control.viewer.