Why did Ignition choose to use DART as the default physics engine?

asked 2022-01-20 19:23:57 -0500

shonigmann gravatar image

Unlike the decision making process for selecting a DDS vendor for the different ROS2 releases, which seemed to garner some healthy community engagement/debate, I couldn't find anything motivating the decision to default to DART on Gazebo Answers, Gazebo's Discourse, or in any of the documentation for Ignition or DARTSim.

In my experience, ODE was the more popular physics engine in Gazebo, and in the benchmarks I've seen published (e.g. here) and in my own personal experience, ODE tended to come out on top.

So I was wondering if anyone could suggest why DART was selected as the default for Ignition, and whether there is any public discussion around the priority in onboarding different physics backends?


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