MuJoCo
MuJoCo is a general purpose physics engine made for robotics. For our purposes, it is the preferred simulation tool for development before we use the real robot.
This serves to provide all necessary information to get a MuJoCo simulation working within ROS2. It assumes you have basic understanding of ROS2, ROS2 Control, creation and formatting of URDFs, and ROS2 launch files. If you are unfamiliar with any of those, refer to their respective documentation.
Follow the Table of Contents to get started.