mujoco_sim

mujoco_sim is a MuJoCo simulation and ROS 2 integration repository.

It contains:

• mujoco_core: MuJoCo runtime and plant access layer
• mujoco_viewer: interactive MuJoCo viewer and standalone viewer executable
• mujoco_models: public MJCF models and assets used by the standalone examples
• mujoco_ros2_driver: ros2_control hardware plugin for MuJoCo-backed simulation

This repo is structured as an ament_cmake / colcon workspace and builds through pixi.

Scope

mujoco_sim is the public MuJoCo simulation stack.

It is responsible for:

• loading MuJoCo models
• owning mjModel / mjData
• stepping and resetting simulation
• actuator command application
• tracked-frame and force/torque sensor extraction
• standalone visualization
• packaging public example models
• exposing a ROS 2 hardware plugin for higher-level control integration

It is not responsible for:

• robot-specific private assets

Private robot descriptions, deployment assets, and private bringup remain in downstream/private repos.

Build

This repo is set up to build with pixi.

Dependencies

Minimal environment dependencies:

• mujoco
• cmake
• ninja
• pkg-config
• colcon-common-extensions
• glfw
• yaml-cpp
• opencv
• gtest
• ros-humble-ament-cmake
• ros-humble-hardware-interface
• ros-humble-pluginlib
• ros-humble-rclcpp
• ros-humble-rclcpp-lifecycle

Build Commands

pixi run build

Clean and rebuild:

pixi run rebuild

Run tests:

pixi run test

Run the Standalone Viewer

Pendulum example:

pixi run sim_viewer_pendulum

Repository Layout

mujoco_core/
mujoco_viewer/
mujoco_models/
mujoco_ros2_driver/

Notes

• MuJoCo is resolved from MUJOCO_PATH or CONDA_PREFIX
• public example configs are installed under:
  • share/mujoco_core/config
• public model assets are installed under:
  • share/mujoco_models