[MUJOCO] Replace dm_control mujoco bindings with native MjSpec #4
Description
The feature, motivation and pitch
Replace the current dm_control mujoco bindings with native MjSpec to improve performance, reduce dependencies, and leverage the latest MuJoCo features of procedural generation and editing. dm_control or the mujoco-RL libraries will also move in this direction.
Tutorial listing the features of MjSpec https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/mjspec.ipynb#scrollTo=gfQ1CafnS7hs
Implementation Plan
Analysis Phase
- Map current dm_control usage patterns
- Identify MjSpec equivalents for each functionality
- Document breaking changes and migration requirements
Core Migration
- Replace model loading mechanisms
- Update physics simulation interfaces
Alternatives
No response
FARMS packages
farms_mujoco
Additional context
Technical Considerations
- Ensure backward compatibility where possible
- Handle version differences between dm_control and native MjSpec
- Consider impact on existing user code and provide migration path
- Validate that all physics features remain accessible
Dependencies
- MuJoCo version compatibility
- Any dependent packages that rely on dm_control interfaces