mujoco_ros2_control_plugins

This package provides a plugin interface for extending the functionality of mujoco_ros2_control.

Overview

The mujoco_ros2_control_plugins package is designed to contain plugins that extend the capabilities of the main mujoco_ros2_control package. This separation allows for modular development and optional features without adding complexity to the core package.

[!NOTE] This interface provides flexibility for accessing information from the MuJoCo model and data. Users are responsible for handling that data correctly and avoiding changes to critical information.

Available Plugins

HeartbeatPublisherPlugin

A simple demonstration plugin that publishes a heartbeat message every second to the /mujoco_heartbeat topic.

ExternalWrenchPlugin

Applies one or more external wrenches (force + torque) to named MuJoCo bodies for configurable durations via a ROS 2 service. Multiple wrenches can be submitted in a single call and each expires independently.

Service request

The request contains a single wrenches field of type mujoco_ros2_control_msgs/ExternalWrenchArray, which holds an array of ExternalWrench messages. All wrenches in the array are validated atomically — if any body name is unknown the entire request is rejected and nothing is applied.

Each ExternalWrench in the array has:

Service response fields

Example: apply a 10 N push along X for 2 seconds at a 10 cm offset, with a 0.5 s ramp-down

This applies a constant force of 10 N for 1.5 seconds and then decays linearly over the next 0.5 seconds.

ros2 service call /external_wrench/apply_wrench \
  mujoco_ros2_control_msgs/srv/ApplyExternalWrench \
  "{
    wrenches: {
      external_wrenches: [
        {
          wrench: {
            header: {frame_id: 'base_link'},
            wrench: {
              force:  {x: 10.0, y: 0.0, z: 0.0},
              torque: {x:  0.0, y: 0.0, z: 0.0}
            }
          },
          application_point: {x: 0.1, y: 0.0, z: 0.0},
          duration: {sec: 2, nanosec: 0},
          ramp_down_duration: {sec: 0, nanosec: 500000000}
        }
      ]
    }
  }"

Example: apply two simultaneous wrenches in a single call

```bash ros2 service call /mujoco_ros2_control/my_plugin/apply_wrench
mujoco_ros2_control_msgs/srv/ApplyExternalWrench
“{ wrenches: { external_wrenches: [ { wrench: {header: {frame_id: ‘link_a’}, wrench: {force: {x: 5.0, y: 0.0, z: 0.0}}}, duration: {sec: 1, nanosec: 0} }, { wrench: {header: {frame_id: ‘link_b’}, wrench: {force: {x: 0.0, y: -3.0, z: 0.0}}}, duration: {sec: 1, nanosec: 0} }

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Changelog for package mujoco_ros2_control_plugins

0.0.2 (2026-03-17)

• [Feature] MuJoCo ros2 control plugins (#133)
• Contributors: Sai Kishor Kothakota, Erik Holum

0.0.1 (2026-02-24)