Configuration

MuJoCo ROS configuration is intentionally parameter-driven. Launch files load YAML into the ROS parameter server, the server reads those parameters during setup and reload, and plugins receive their own nested configuration through MujocoPlugins.

Camera Configuration

MuJoCo cameras can publish ROS image streams without loading the sensors plugin. Configure each named camera under cam_config/<camera_name>:

cam_config:
  workspace_cam:
    stream_type: 7
    frequency: 15
    width: 720
    height: 480
    use_segid: true
    topic: cameras/workspace_cam
    name_rgb: rgb
    name_depth: depth
    name_segment: segmented

stream_type is a bit mask: RGB is 1, depth is 2, and segmentation is 4. Add values to enable multiple streams; 7 enables all three.

The default topic layout is:

cameras/<camera_name>/rgb/image_raw
cameras/<camera_name>/rgb/camera_info
cameras/<camera_name>/depth/image_raw
cameras/<camera_name>/depth/camera_info
cameras/<camera_name>/segmented/image_raw
cameras/<camera_name>/segmented/camera_info

Relative topic values are resolved in the server namespace. Absolute topics are used as provided. Rendering is lazy: an offscreen camera only renders the streams that currently have image or camera-info subscribers.

Initial Joint States

Initial joint states are configured as maps from MuJoCo joint names to string values:

initial_joint_positions:
  joint_map:
    hinge_joint: "0.0"
    ball_joint: "1 0 0 0"
    free_joint: "0 0 1 1 0 0 0"

initial_joint_velocities:
  joint_map:
    hinge_joint: "0.0"
    ball_joint: "0 0 0"
    free_joint: "0 0 0 0 0 0"

The values are applied when the model loads, resets, reloads, or when load_initial_joint_states is called.

Evaluation Mode

eval_mode restricts operations that should not be available during evaluation. Requests that change simulation state include an admin_hash field; in evaluation mode the request hash must match the server’s configured hash. The sensors plugin also suppresses ground-truth topics in evaluation mode.