MuJoCo ROS Documentation

MuJoCo ROS wraps the MuJoCo simulator with ROS interfaces for launching, controlling, observing, and extending simulations. The release line uses the hybrid package structure and supports ROS 1 and ROS 2 from one shared MuJoCo core. Python bindings are available for the core environment and bundled plugin packages.

Start with the installation guide if you want to run the simulator, then use the ROS API and plugin sections as the reference for integrating it into a larger system.

• Getting Started
  • Installation and First Launch
  • Loading a Custom MuJoCo Model
• Concepts
  • Plugin System
  • Configuration
• ROS API
  • Server Launch Options
  • Services, Actions, and Runtime Parameters
• Plugin Packages
  • ROS Control Plugin
  • MuJoCo Sensors Plugin
  • Laser Plugin
  • Mocap Plugin
• Branch Notes
  • noetic-devel
  • hybrid-devel
• Python Bindings
  • Basic Use
  • Model With Plugin Example
  • Runtime Settings
  • Plugins
  • Rendering
  • Current Limitations
• Troubleshooting
  • Build Issues
  • Runtime Issues
• Changelog