{"id":42517919,"url":"https://github.com/rxdu/mujoco_sim_ros2","last_synced_at":"2026-01-28T15:07:54.659Z","repository":{"id":274470000,"uuid":"920635351","full_name":"rxdu/mujoco_sim_ros2","owner":"rxdu","description":"Mujoco simulate app with ROS2 integration.","archived":false,"fork":false,"pushed_at":"2025-04-23T13:50:08.000Z","size":218,"stargazers_count":5,"open_issues_count":0,"forks_count":3,"subscribers_count":1,"default_branch":"devel","last_synced_at":"2025-04-23T14:40:58.944Z","etag":null,"topics":["jazzy","mujoco","ros2","ros2control"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/rxdu.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2025-01-22T14:04:54.000Z","updated_at":"2025-04-23T13:50:11.000Z","dependencies_parsed_at":"2025-01-27T14:44:21.649Z","dependency_job_id":"5b73a1dd-1c16-48c5-adce-c6a977a1c8c7","html_url":"https://github.com/rxdu/mujoco_sim_ros2","commit_stats":null,"previous_names":["rxdu/mujoco_sim_ros2"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/rxdu/mujoco_sim_ros2","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rxdu%2Fmujoco_sim_ros2","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rxdu%2Fmujoco_sim_ros2/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rxdu%2Fmujoco_sim_ros2/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rxdu%2Fmujoco_sim_ros2/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/rxdu","download_url":"https://codeload.github.com/rxdu/mujoco_sim_ros2/tar.gz/refs/heads/devel","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/rxdu%2Fmujoco_sim_ros2/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":28846121,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-01-28T13:02:32.985Z","status":"ssl_error","status_checked_at":"2026-01-28T13:02:04.945Z","response_time":57,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.6:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["jazzy","mujoco","ros2","ros2control"],"created_at":"2026-01-28T15:07:54.071Z","updated_at":"2026-01-28T15:07:54.654Z","avatar_url":"https://github.com/rxdu.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Mujoco Simulate App with ROS2 Integration\n\n![CI](https://github.com/rxdu/mujoco_sim_ros2/actions/workflows/default.yaml/badge.svg)\n\nThis package utilizes the [pluginlib](https://github.com/ros/pluginlib) to make the [`simulate`](https://github.com/google-deepmind/mujoco/tree/main/simulate) app from mujoco easily extendable. With this plugin support, [mujoco_ros2_control](https://github.com/rxdu/mujoco_ros2_control) is integrated to enable a flexible control interface of the simulated robot and sensors with the ros2_control framework. You can use this package together with the [mujoco_ros2_control](https://github.com/rxdu/mujoco_ros2_control) package to get a similar setup as the [gz_ros2_control](https://github.com/ros-controls/gz_ros2_control) package for Gazebo.\n\nThe following environment and software versions are supported and regularly tested:\n\n* Ubuntu 24.04\n* ROS2 Jazzy\n* Mujoco 3.3.0\n\nNotes on design and maintenance considerations of this package:\n\n* `simulate` provides a good out-of-box user experience and is sufficient for most applications. Thus, I try to avoid re-inventing the wheels (i.e. maintaining a different setup of the simulation loop and GUI).\n* It's a lot easier to maintain a ROS-native version of the `simulate` app outside of the `mujoco` package. Minimum changes are applied (mainly the plugin support) to the original app and in general it doesn't require a strict version match with the main library.\n* Future changes in the ROS part will be applied at the top (newest) of the git commit history. In case of a code sync of the `simulate` app, a rebase will be performed at the bottom (oldest) of the commit history. This strategy makes it easy to keep `simulate` up-to-date but the rebase will rewrite the git history. \n\n## Build the packages\n\nIt's recommended to clone and build the `mujoco_demo_robot` package to get a working example of the simulation setup.\nThe demo robot model `test_cart.xml` is defined in `mujoco_ros2_control` and the `mujoco_demo_robot` package\ndemonstrates how to start the simulation as well as the ros2 controllers.\n\n```bash\ncd \u003ccolcon-ws\u003e/src\ngit clone -b 3.3.0 https://github.com/google-deepmind/mujoco.git\ngit clone https://github.com/rxdu/mujoco_sim_ros2.git\ngit clone https://github.com/rxdu/mujoco_ros2_control.git\ngit clone https://github.com/rxdu/mujoco_demo_robot.git\ncd \u003ccolcon-ws\u003e\ncolcon build --symlink-install\n```\n\nNow you can start the simulation with the demo robot.\n\n```bash\nros2 launch mujoco_demo_robot cart_effort.launch.py\n```\n\n![start_simulator](docs/cart_effort.png)\n\nYou can check the ros2_control setup by listing available hardware and controllers:\n\n![controllers](docs/controllers.png)\n![hardware_interaces](docs/hardware_interface.png)\n\nYou can test the controller by sending a command to the effort controller:\n\n```bash\nros2 run mujoco_ros2_control_demos example_effort\n```\n\n![test_effort_control](docs/test_effort_control.gif)\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frxdu%2Fmujoco_sim_ros2","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frxdu%2Fmujoco_sim_ros2","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frxdu%2Fmujoco_sim_ros2/lists"}