ROS Index
|
mujoco_ros2_control package from mujoco_ros2_control repomujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_tests |
ROS Distro
|
Package Summary
| Version | 0.0.1 |
| License | Apache License, Version 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Provides a ROS 2 control hardware interface for the MuJoCo physics simulator, including plugins for various sensors, RGB-D cameras, and lidar. |
| Checkout URI | https://github.com/ros-controls/mujoco_ros2_control.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Nathan Dunkelberger
- Erik Holum
- Bence Magyar
- Denis Štogl
- Christoph Froehlich
- Sai Kishor Kothakota
Authors
MuJoCo ros2_control Simulation
This package contains a ros2_control system interface for the MuJoCo Simulator. It was originally written for simulating robot hardware in NASA Johnson’s iMETRO facility.
The system interface wraps MuJoCo’s Simulate App to provide included functionality. Because the app is not bundled as a library, we compile it directly from a local install of MuJoCo.
Parts of this library are also based on the MoveIt mujoco_ros2_control package.
URDF Model Conversion
MuJoCo does not support the full feature set of xacro/URDFs in the ROS 2 ecosystem. As such, users are required to convert any existing robot description files to an MJCF format. This includes adding actuators, sensors, and cameras as needed to the MJCF XML.
This conversion can be done either offline or at run time. We have built a highly experimental tool to automate URDF conversion. For more information refer to the documentation.
Hardware Interface Setup
Plugin
This application is shipped as a ros2_control hardware interface, and can be configured as such. Just specify the plugin and point to a valid MJCF on launch:
```xml
Changelog for package mujoco_ros2_control
0.0.1 (2026-02-24)
- Update documentation of URDF <-> MJCF tool (#117)
- Add proper logging for the mimic joints (#118)
- Fix mardown link checker CI + fix local references (#114)
- Updates docs and comments (#113)
- Cleanup of Docs and Dev Guides (#111)
- Update other ROS Controls maintainers (#112)
- Update README.md across repository (#110)
- Conditioning visual fixes on if there are images or not for daes (#109)
- Cleanup the non-vendor mujoco install (#105)
- Feature: Add [--no-fuse]{.title-ref} arg to preserve body hierarchy (#93)
- Add [mujoco_vendor]{.title-ref} integration (#6)
- Containerize pixi in CI (#99)
- Add ResetWorld service to reset to a specific defined keyframe (#95)
- Separate tests to mujoco_ros2_control_tests package (#90)
- Support for starting from a specific declared keyframe (#89)
- Add [reset_world]{.title-ref} service functionality (#88)
- Fix the issue with the PIDs applying to wrong variable (#87)
- Move the main contents of mujoco_ros2_control to subfolder (#76)
- Contributors: Erik Holum, Louis LE LAY, Nathan Dunkelberger, Sai Kishor Kothakota, Sergi de las Muelas
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged mujoco_ros2_control at Robotics Stack Exchange
|
|
mujoco_ros2_control package from mujoco_ros2_control repomujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_tests |
ROS Distro
|
Package Summary
| Version | 0.0.1 |
| License | Apache License, Version 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Provides a ROS 2 control hardware interface for the MuJoCo physics simulator, including plugins for various sensors, RGB-D cameras, and lidar. |
| Checkout URI | https://github.com/ros-controls/mujoco_ros2_control.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Nathan Dunkelberger
- Erik Holum
- Bence Magyar
- Denis Štogl
- Christoph Froehlich
- Sai Kishor Kothakota
Authors
MuJoCo ros2_control Simulation
This package contains a ros2_control system interface for the MuJoCo Simulator. It was originally written for simulating robot hardware in NASA Johnson’s iMETRO facility.
The system interface wraps MuJoCo’s Simulate App to provide included functionality. Because the app is not bundled as a library, we compile it directly from a local install of MuJoCo.
Parts of this library are also based on the MoveIt mujoco_ros2_control package.
URDF Model Conversion
MuJoCo does not support the full feature set of xacro/URDFs in the ROS 2 ecosystem. As such, users are required to convert any existing robot description files to an MJCF format. This includes adding actuators, sensors, and cameras as needed to the MJCF XML.
This conversion can be done either offline or at run time. We have built a highly experimental tool to automate URDF conversion. For more information refer to the documentation.
Hardware Interface Setup
Plugin
This application is shipped as a ros2_control hardware interface, and can be configured as such. Just specify the plugin and point to a valid MJCF on launch:
```xml
Changelog for package mujoco_ros2_control
0.0.1 (2026-02-24)
- Update documentation of URDF <-> MJCF tool (#117)
- Add proper logging for the mimic joints (#118)
- Fix mardown link checker CI + fix local references (#114)
- Updates docs and comments (#113)
- Cleanup of Docs and Dev Guides (#111)
- Update other ROS Controls maintainers (#112)
- Update README.md across repository (#110)
- Conditioning visual fixes on if there are images or not for daes (#109)
- Cleanup the non-vendor mujoco install (#105)
- Feature: Add [--no-fuse]{.title-ref} arg to preserve body hierarchy (#93)
- Add [mujoco_vendor]{.title-ref} integration (#6)
- Containerize pixi in CI (#99)
- Add ResetWorld service to reset to a specific defined keyframe (#95)
- Separate tests to mujoco_ros2_control_tests package (#90)
- Support for starting from a specific declared keyframe (#89)
- Add [reset_world]{.title-ref} service functionality (#88)
- Fix the issue with the PIDs applying to wrong variable (#87)
- Move the main contents of mujoco_ros2_control to subfolder (#76)
- Contributors: Erik Holum, Louis LE LAY, Nathan Dunkelberger, Sai Kishor Kothakota, Sergi de las Muelas
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged mujoco_ros2_control at Robotics Stack Exchange
|
|
mujoco_ros2_control package from mujoco_ros2_control repomujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_tests |
ROS Distro
|
Package Summary
| Version | 0.0.1 |
| License | Apache License, Version 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Provides a ROS 2 control hardware interface for the MuJoCo physics simulator, including plugins for various sensors, RGB-D cameras, and lidar. |
| Checkout URI | https://github.com/ros-controls/mujoco_ros2_control.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Nathan Dunkelberger
- Erik Holum
- Bence Magyar
- Denis Štogl
- Christoph Froehlich
- Sai Kishor Kothakota
Authors
MuJoCo ros2_control Simulation
This package contains a ros2_control system interface for the MuJoCo Simulator. It was originally written for simulating robot hardware in NASA Johnson’s iMETRO facility.
The system interface wraps MuJoCo’s Simulate App to provide included functionality. Because the app is not bundled as a library, we compile it directly from a local install of MuJoCo.
Parts of this library are also based on the MoveIt mujoco_ros2_control package.
URDF Model Conversion
MuJoCo does not support the full feature set of xacro/URDFs in the ROS 2 ecosystem. As such, users are required to convert any existing robot description files to an MJCF format. This includes adding actuators, sensors, and cameras as needed to the MJCF XML.
This conversion can be done either offline or at run time. We have built a highly experimental tool to automate URDF conversion. For more information refer to the documentation.
Hardware Interface Setup
Plugin
This application is shipped as a ros2_control hardware interface, and can be configured as such. Just specify the plugin and point to a valid MJCF on launch:
```xml
Changelog for package mujoco_ros2_control
0.0.1 (2026-02-24)
- Update documentation of URDF <-> MJCF tool (#117)
- Add proper logging for the mimic joints (#118)
- Fix mardown link checker CI + fix local references (#114)
- Updates docs and comments (#113)
- Cleanup of Docs and Dev Guides (#111)
- Update other ROS Controls maintainers (#112)
- Update README.md across repository (#110)
- Conditioning visual fixes on if there are images or not for daes (#109)
- Cleanup the non-vendor mujoco install (#105)
- Feature: Add [--no-fuse]{.title-ref} arg to preserve body hierarchy (#93)
- Add [mujoco_vendor]{.title-ref} integration (#6)
- Containerize pixi in CI (#99)
- Add ResetWorld service to reset to a specific defined keyframe (#95)
- Separate tests to mujoco_ros2_control_tests package (#90)
- Support for starting from a specific declared keyframe (#89)
- Add [reset_world]{.title-ref} service functionality (#88)
- Fix the issue with the PIDs applying to wrong variable (#87)
- Move the main contents of mujoco_ros2_control to subfolder (#76)
- Contributors: Erik Holum, Louis LE LAY, Nathan Dunkelberger, Sai Kishor Kothakota, Sergi de las Muelas
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged mujoco_ros2_control at Robotics Stack Exchange
|
|
mujoco_ros2_control package from mujoco_ros2_control repomujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_tests |
ROS Distro
|
Package Summary
| Version | 0.0.1 |
| License | Apache License, Version 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Provides a ROS 2 control hardware interface for the MuJoCo physics simulator, including plugins for various sensors, RGB-D cameras, and lidar. |
| Checkout URI | https://github.com/ros-controls/mujoco_ros2_control.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | DEVELOPED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Nathan Dunkelberger
- Erik Holum
- Bence Magyar
- Denis Štogl
- Christoph Froehlich
- Sai Kishor Kothakota
Authors
MuJoCo ros2_control Simulation
This package contains a ros2_control system interface for the MuJoCo Simulator. It was originally written for simulating robot hardware in NASA Johnson’s iMETRO facility.
The system interface wraps MuJoCo’s Simulate App to provide included functionality. Because the app is not bundled as a library, we compile it directly from a local install of MuJoCo.
Parts of this library are also based on the MoveIt mujoco_ros2_control package.
URDF Model Conversion
MuJoCo does not support the full feature set of xacro/URDFs in the ROS 2 ecosystem. As such, users are required to convert any existing robot description files to an MJCF format. This includes adding actuators, sensors, and cameras as needed to the MJCF XML.
This conversion can be done either offline or at run time. We have built a highly experimental tool to automate URDF conversion. For more information refer to the documentation.
Hardware Interface Setup
Plugin
This application is shipped as a ros2_control hardware interface, and can be configured as such. Just specify the plugin and point to a valid MJCF on launch:
```xml
Changelog for package mujoco_ros2_control
0.0.1 (2026-02-24)
- Update documentation of URDF <-> MJCF tool (#117)
- Add proper logging for the mimic joints (#118)
- Fix mardown link checker CI + fix local references (#114)
- Updates docs and comments (#113)
- Cleanup of Docs and Dev Guides (#111)
- Update other ROS Controls maintainers (#112)
- Update README.md across repository (#110)
- Conditioning visual fixes on if there are images or not for daes (#109)
- Cleanup the non-vendor mujoco install (#105)
- Feature: Add [--no-fuse]{.title-ref} arg to preserve body hierarchy (#93)
- Add [mujoco_vendor]{.title-ref} integration (#6)
- Containerize pixi in CI (#99)
- Add ResetWorld service to reset to a specific defined keyframe (#95)
- Separate tests to mujoco_ros2_control_tests package (#90)
- Support for starting from a specific declared keyframe (#89)
- Add [reset_world]{.title-ref} service functionality (#88)
- Fix the issue with the PIDs applying to wrong variable (#87)
- Move the main contents of mujoco_ros2_control to subfolder (#76)
- Contributors: Erik Holum, Louis LE LAY, Nathan Dunkelberger, Sai Kishor Kothakota, Sergi de las Muelas
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged mujoco_ros2_control at Robotics Stack Exchange
|
|
mujoco_ros2_control package from mujoco_ros2_control repomujoco_ros2_control mujoco_ros2_control_demos |
ROS Distro
|
Package Summary
| Version | 0.1.0 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/moveit/mujoco_ros2_control.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-09-25 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Sangtaek Lee
Authors
- Sangtaek Lee
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| franka_hardware |
Launch files
Messages
Services
Plugins
Recent questions tagged mujoco_ros2_control at Robotics Stack Exchange
|
|
mujoco_ros2_control package from mujoco_ros2_control repomujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_tests |
ROS Distro
|
Package Summary
| Version | 0.0.1 |
| License | Apache License, Version 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Provides a ROS 2 control hardware interface for the MuJoCo physics simulator, including plugins for various sensors, RGB-D cameras, and lidar. |
| Checkout URI | https://github.com/ros-controls/mujoco_ros2_control.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Nathan Dunkelberger
- Erik Holum
- Bence Magyar
- Denis Štogl
- Christoph Froehlich
- Sai Kishor Kothakota
Authors
MuJoCo ros2_control Simulation
This package contains a ros2_control system interface for the MuJoCo Simulator. It was originally written for simulating robot hardware in NASA Johnson’s iMETRO facility.
The system interface wraps MuJoCo’s Simulate App to provide included functionality. Because the app is not bundled as a library, we compile it directly from a local install of MuJoCo.
Parts of this library are also based on the MoveIt mujoco_ros2_control package.
URDF Model Conversion
MuJoCo does not support the full feature set of xacro/URDFs in the ROS 2 ecosystem. As such, users are required to convert any existing robot description files to an MJCF format. This includes adding actuators, sensors, and cameras as needed to the MJCF XML.
This conversion can be done either offline or at run time. We have built a highly experimental tool to automate URDF conversion. For more information refer to the documentation.
Hardware Interface Setup
Plugin
This application is shipped as a ros2_control hardware interface, and can be configured as such. Just specify the plugin and point to a valid MJCF on launch:
```xml
Changelog for package mujoco_ros2_control
0.0.1 (2026-02-24)
- Update documentation of URDF <-> MJCF tool (#117)
- Add proper logging for the mimic joints (#118)
- Fix mardown link checker CI + fix local references (#114)
- Updates docs and comments (#113)
- Cleanup of Docs and Dev Guides (#111)
- Update other ROS Controls maintainers (#112)
- Update README.md across repository (#110)
- Conditioning visual fixes on if there are images or not for daes (#109)
- Cleanup the non-vendor mujoco install (#105)
- Feature: Add [--no-fuse]{.title-ref} arg to preserve body hierarchy (#93)
- Add [mujoco_vendor]{.title-ref} integration (#6)
- Containerize pixi in CI (#99)
- Add ResetWorld service to reset to a specific defined keyframe (#95)
- Separate tests to mujoco_ros2_control_tests package (#90)
- Support for starting from a specific declared keyframe (#89)
- Add [reset_world]{.title-ref} service functionality (#88)
- Fix the issue with the PIDs applying to wrong variable (#87)
- Move the main contents of mujoco_ros2_control to subfolder (#76)
- Contributors: Erik Holum, Louis LE LAY, Nathan Dunkelberger, Sai Kishor Kothakota, Sergi de las Muelas
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged mujoco_ros2_control at Robotics Stack Exchange
|
|
mujoco_ros2_control package from mujoco_ros2_control repomujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_tests |
ROS Distro
|
Package Summary
| Version | 0.0.1 |
| License | Apache License, Version 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Provides a ROS 2 control hardware interface for the MuJoCo physics simulator, including plugins for various sensors, RGB-D cameras, and lidar. |
| Checkout URI | https://github.com/ros-controls/mujoco_ros2_control.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Nathan Dunkelberger
- Erik Holum
- Bence Magyar
- Denis Štogl
- Christoph Froehlich
- Sai Kishor Kothakota
Authors
MuJoCo ros2_control Simulation
This package contains a ros2_control system interface for the MuJoCo Simulator. It was originally written for simulating robot hardware in NASA Johnson’s iMETRO facility.
The system interface wraps MuJoCo’s Simulate App to provide included functionality. Because the app is not bundled as a library, we compile it directly from a local install of MuJoCo.
Parts of this library are also based on the MoveIt mujoco_ros2_control package.
URDF Model Conversion
MuJoCo does not support the full feature set of xacro/URDFs in the ROS 2 ecosystem. As such, users are required to convert any existing robot description files to an MJCF format. This includes adding actuators, sensors, and cameras as needed to the MJCF XML.
This conversion can be done either offline or at run time. We have built a highly experimental tool to automate URDF conversion. For more information refer to the documentation.
Hardware Interface Setup
Plugin
This application is shipped as a ros2_control hardware interface, and can be configured as such. Just specify the plugin and point to a valid MJCF on launch:
```xml
Changelog for package mujoco_ros2_control
0.0.1 (2026-02-24)
- Update documentation of URDF <-> MJCF tool (#117)
- Add proper logging for the mimic joints (#118)
- Fix mardown link checker CI + fix local references (#114)
- Updates docs and comments (#113)
- Cleanup of Docs and Dev Guides (#111)
- Update other ROS Controls maintainers (#112)
- Update README.md across repository (#110)
- Conditioning visual fixes on if there are images or not for daes (#109)
- Cleanup the non-vendor mujoco install (#105)
- Feature: Add [--no-fuse]{.title-ref} arg to preserve body hierarchy (#93)
- Add [mujoco_vendor]{.title-ref} integration (#6)
- Containerize pixi in CI (#99)
- Add ResetWorld service to reset to a specific defined keyframe (#95)
- Separate tests to mujoco_ros2_control_tests package (#90)
- Support for starting from a specific declared keyframe (#89)
- Add [reset_world]{.title-ref} service functionality (#88)
- Fix the issue with the PIDs applying to wrong variable (#87)
- Move the main contents of mujoco_ros2_control to subfolder (#76)
- Contributors: Erik Holum, Louis LE LAY, Nathan Dunkelberger, Sai Kishor Kothakota, Sergi de las Muelas
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged mujoco_ros2_control at Robotics Stack Exchange
|
|
mujoco_ros2_control package from mujoco_ros2_control repomujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_tests |
ROS Distro
|
Package Summary
| Version | 0.0.1 |
| License | Apache License, Version 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Provides a ROS 2 control hardware interface for the MuJoCo physics simulator, including plugins for various sensors, RGB-D cameras, and lidar. |
| Checkout URI | https://github.com/ros-controls/mujoco_ros2_control.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Nathan Dunkelberger
- Erik Holum
- Bence Magyar
- Denis Štogl
- Christoph Froehlich
- Sai Kishor Kothakota
Authors
MuJoCo ros2_control Simulation
This package contains a ros2_control system interface for the MuJoCo Simulator. It was originally written for simulating robot hardware in NASA Johnson’s iMETRO facility.
The system interface wraps MuJoCo’s Simulate App to provide included functionality. Because the app is not bundled as a library, we compile it directly from a local install of MuJoCo.
Parts of this library are also based on the MoveIt mujoco_ros2_control package.
URDF Model Conversion
MuJoCo does not support the full feature set of xacro/URDFs in the ROS 2 ecosystem. As such, users are required to convert any existing robot description files to an MJCF format. This includes adding actuators, sensors, and cameras as needed to the MJCF XML.
This conversion can be done either offline or at run time. We have built a highly experimental tool to automate URDF conversion. For more information refer to the documentation.
Hardware Interface Setup
Plugin
This application is shipped as a ros2_control hardware interface, and can be configured as such. Just specify the plugin and point to a valid MJCF on launch:
```xml
Changelog for package mujoco_ros2_control
0.0.1 (2026-02-24)
- Update documentation of URDF <-> MJCF tool (#117)
- Add proper logging for the mimic joints (#118)
- Fix mardown link checker CI + fix local references (#114)
- Updates docs and comments (#113)
- Cleanup of Docs and Dev Guides (#111)
- Update other ROS Controls maintainers (#112)
- Update README.md across repository (#110)
- Conditioning visual fixes on if there are images or not for daes (#109)
- Cleanup the non-vendor mujoco install (#105)
- Feature: Add [--no-fuse]{.title-ref} arg to preserve body hierarchy (#93)
- Add [mujoco_vendor]{.title-ref} integration (#6)
- Containerize pixi in CI (#99)
- Add ResetWorld service to reset to a specific defined keyframe (#95)
- Separate tests to mujoco_ros2_control_tests package (#90)
- Support for starting from a specific declared keyframe (#89)
- Add [reset_world]{.title-ref} service functionality (#88)
- Fix the issue with the PIDs applying to wrong variable (#87)
- Move the main contents of mujoco_ros2_control to subfolder (#76)
- Contributors: Erik Holum, Louis LE LAY, Nathan Dunkelberger, Sai Kishor Kothakota, Sergi de las Muelas
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged mujoco_ros2_control at Robotics Stack Exchange
|
|
mujoco_ros2_control package from mujoco_ros2_control repomujoco_ros2_control mujoco_ros2_control_demos mujoco_ros2_control_msgs mujoco_ros2_control_tests |
ROS Distro
|
Package Summary
| Version | 0.0.1 |
| License | Apache License, Version 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Provides a ROS 2 control hardware interface for the MuJoCo physics simulator, including plugins for various sensors, RGB-D cameras, and lidar. |
| Checkout URI | https://github.com/ros-controls/mujoco_ros2_control.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-02-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Nathan Dunkelberger
- Erik Holum
- Bence Magyar
- Denis Štogl
- Christoph Froehlich
- Sai Kishor Kothakota
Authors
MuJoCo ros2_control Simulation
This package contains a ros2_control system interface for the MuJoCo Simulator. It was originally written for simulating robot hardware in NASA Johnson’s iMETRO facility.
The system interface wraps MuJoCo’s Simulate App to provide included functionality. Because the app is not bundled as a library, we compile it directly from a local install of MuJoCo.
Parts of this library are also based on the MoveIt mujoco_ros2_control package.
URDF Model Conversion
MuJoCo does not support the full feature set of xacro/URDFs in the ROS 2 ecosystem. As such, users are required to convert any existing robot description files to an MJCF format. This includes adding actuators, sensors, and cameras as needed to the MJCF XML.
This conversion can be done either offline or at run time. We have built a highly experimental tool to automate URDF conversion. For more information refer to the documentation.
Hardware Interface Setup
Plugin
This application is shipped as a ros2_control hardware interface, and can be configured as such. Just specify the plugin and point to a valid MJCF on launch:
```xml
Changelog for package mujoco_ros2_control
0.0.1 (2026-02-24)
- Update documentation of URDF <-> MJCF tool (#117)
- Add proper logging for the mimic joints (#118)
- Fix mardown link checker CI + fix local references (#114)
- Updates docs and comments (#113)
- Cleanup of Docs and Dev Guides (#111)
- Update other ROS Controls maintainers (#112)
- Update README.md across repository (#110)
- Conditioning visual fixes on if there are images or not for daes (#109)
- Cleanup the non-vendor mujoco install (#105)
- Feature: Add [--no-fuse]{.title-ref} arg to preserve body hierarchy (#93)
- Add [mujoco_vendor]{.title-ref} integration (#6)
- Containerize pixi in CI (#99)
- Add ResetWorld service to reset to a specific defined keyframe (#95)
- Separate tests to mujoco_ros2_control_tests package (#90)
- Support for starting from a specific declared keyframe (#89)
- Add [reset_world]{.title-ref} service functionality (#88)
- Fix the issue with the PIDs applying to wrong variable (#87)
- Move the main contents of mujoco_ros2_control to subfolder (#76)
- Contributors: Erik Holum, Louis LE LAY, Nathan Dunkelberger, Sai Kishor Kothakota, Sergi de las Muelas