10 actions in 3 pieces of software · ranked by words, meaning and measured trust · 620 ms

1. 1mujoco_ros2_control_msgsverified and signedpassport

   robot command setros-controls/mujoco_ros2_controlrecord

   • mujoco_ros2_control_msgs/srv/SetFreeJointState

     Directly set the pose and velocity of one or more MuJoCo free-joint objects, each identified by the name of the body it drives. Useful for teleporting/resetting objects, similar to Gazebo's set_entity_state. Applied atomically: every entry is validated before anything is written, so a single invalid

   • mujoco_ros2_control_msgs/srv/StepSimulation

     Service StepSimulation in mujoco_ros2_control_msgs: takes steps; returns success, message.

   • mujoco_ros2_control_msgs/srv/ResetWorld

     Reset the simulation to the initial state captured at startup, or to a named MJCF keyframe, optionally applying per-joint state overrides on top of the restored state.

   • mujoco_ros2_control_msgs/srv/ApplyExternalWrench

     Apply one or more external wrenches to named bodies in the MuJoCo simulation. Each ExternalWrench in the array identifies its target body via wrench.header.frame_id (must match the MJCF body name). All wrenches in a single call are validated atomically: if any body name is unknown the entire request

   • mujoco_ros2_control_msgs/srv/SetPause

     Service SetPause in mujoco_ros2_control_msgs: takes paused; returns success, message.

2. 2mujoco_ros2_control_pluginsverified and signedpassport

   robot command setros-controls/mujoco_ros2_controlrecord

   • mujoco_ros2_control_plugins/plugin/mujoco_ros2_control_plugins::FreeJointStatePublisherPlugin

     Plug-in (fills mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase): Publishes the pose and velocity of every MuJoCo free-joint body (or a user-selected subset, via the body_names parameter) to a single topic, as mujoco_ros2_control_msgs/msg/FreeJointStateArray. The reference frame the poses/tw

   • mujoco_ros2_control_plugins/plugin/mujoco_ros2_control_plugins::ExternalWrenchPlugin

     Plug-in (fills mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase): Plugin that applies an external wrench (force + torque) to a named MuJoCo body for a configurable duration via the ROS 2 service ~/apply_wrench (mujoco_ros2_control_msgs/srv/ApplyExternalWrench). The force and torque are expre

   • mujoco_ros2_control_plugins/plugin/mujoco_ros2_control_plugins::BaseVelocityPlugin

     Plug-in (fills mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase): Drives a mobile/floating-base robot from a commanded planar body velocity (vx, vy, yaw-rate) received on a cmd_vel-style topic, via a hard kinematic override of the base body's free-joint velocity applied directly before every

   • mujoco_ros2_control_plugins/plugin/mujoco_ros2_control_plugins::Mujoco3dLidarPlugin

     Plug-in (fills mujoco_ros2_control_plugins::MuJoCoROS2ControlPluginBase): Plugin that republishes mujoco lidar sensor data as ROS messages. All simulation extensions registered as `mujoco.plugin.lidar` in the simulation will have their data copied and published whenever it becomes available.

3. 3mujoco_ros2_controlverified and signedpassport

   robot command setros-controls/mujoco_ros2_controlrecord

   • mujoco_ros2_control/plugin/mujoco_ros2_control::MujocoSystemInterface

     Hardware driver (fills hardware_interface::SystemInterface): Hardware interface that wraps a MuJoCo model simulation, based on upstream simulate libraries.