mujoco_ros2_control Namespace Reference

Classes
struct	FTSensorData
class	HeadlessAdapter
struct	IMUSensorData
struct	InterfaceData
struct	MuJoCoActuatorData
class	MujocoSimulation
	ROS 2-based container for the mujoco Simulate application. More...
class	MujocoSystemInterface
class	ROS2ControlGlfwAdapter
struct	SensorData
struct	URDFJointData

Enumerations
enum class	ActuatorType {   UNKNOWN , MOTOR , POSITION , VELOCITY ,   PASSIVE , CUSTOM }

Functions
std::pair< std::string, std::string >	compose_sim_display_text (bool running, uint64_t step_count, double sim_time, double desired_pct, double actual_pct, int ncon)
	Composes the title/content text pair for the native-viewer status overlay.
std::optional< hardware_interface::ComponentInfo >	get_sensor_from_info (const hardware_interface::HardwareInfo &hardware_info, const std::string &name)
	Returns the sensor's component info for the provided sensor name, if it exists.
template<typename T >
void	add_items (std::vector< T > &vector, const std::vector< T > &items)
ActuatorType	getActuatorType (const mjModel *mj_model, int mujoco_actuator_id)
int	get_actuator_id (const std::string &actuator_name, const mjModel *mj_model)
	Get the MuJoCo actuator ID based on a name. First this method looks for a joint that matches the passed name, and finds the actuator attached to it. If this doesn't exist, it will then look for the actuator with the passed name.
std::string	get_joint_actuator_name (const std::string &joint_name, const hardware_interface::HardwareInfo &hardware_info, const mjModel *mj_model)
	Get the corresponding actuator name for a given joint name using transmissions.
std::vector< std::string >	get_interfaces_in_order (const std::vector< std::string > &available_interfaces, const std::vector< std::string > &desired_order)
	Orders available interfaces based on a desired order.

Detailed Description

Copyright (c) 2025, United States Government, as represented by the Administrator of the National Aeronautics and Space Administration.

All rights reserved.

This software is licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Copyright (c) 2026, United States Government, as represented by the Administrator of the National Aeronautics and Space Administration.

All rights reserved.

This software is licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Copyright (c) 2026 PAL Robotics S.L.

All rights reserved.

This software is licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Enumeration Type Documentation

ActuatorType

enum class mujoco_ros2_control::ActuatorType

strong

Maps to MuJoCo actuator types:

• MOTOR for MuJoCo motor actuator
• POSITION for MuJoCo position actuator
• VELOCITY for MuJoCo velocity actuator
• CUSTOM for MuJoCo general actuator or other types

Note

the MuJoCo types are as per the MuJoCo documentation: https://mujoco.readthedocs.io/en/latest/XMLreference.html#actuator

Function Documentation

compose_sim_display_text()

std::pair< std::string, std::string > mujoco_ros2_control::compose_sim_display_text ( bool  running, uint64_t  step_count, double  sim_time, double  desired_pct, double  actual_pct, int  ncon  )

inline

Composes the title/content text pair for the native-viewer status overlay.

Extracted as a pure, dependency-free function so the overlay layout and number formatting can be unit tested without a live OpenGL/GLFW rendering context (the overlay itself is only drawn in non-headless mode). MuJoCo's overlay API renders the two strings side by side: each newline-separated row in title is paired with the row at the same position in the returned content string, so the two must always contain the same number of rows.

Parameters

running	Whether the physics loop is currently advancing. Drives the "Status" row ("Running"/"Paused").
step_count	Number of physics steps taken so far (mjData step counter).
sim_time	Current simulation clock in seconds (mjData::time).
desired_pct	Target real-time percentage — either the UI slider value or the sim_speed_factor override, resolved by the caller.
actual_pct	Measured real-time percentage (100 / measured_slowdown). The caller passes 0 while paused.
ncon	Number of active contacts in the current step (mjData::ncon).

Returns

A pair of {title, content} strings ready to hand to MuJoCo's user-text overlay.

get_actuator_id()

int mujoco_ros2_control::get_actuator_id	(	const std::string &	actuator_name,
		const mjModel *	mj_model
	)

Get the MuJoCo actuator ID based on a name. First this method looks for a joint that matches the passed name, and finds the actuator attached to it. If this doesn't exist, it will then look for the actuator with the passed name.

Parameters

actuator_name	The name of the actuator.
mj_model	Pointer to the MuJoCo model.

Returns

The actuator ID if found, otherwise -1.

get_interfaces_in_order()

std::vector< std::string > mujoco_ros2_control::get_interfaces_in_order	(	const std::vector< std::string > &	available_interfaces,
		const std::vector< std::string > &	desired_order
	)

Orders available interfaces based on a desired order.

This function takes a list of available interfaces and a desired order, returning a new list where the interfaces are arranged according to the desired order. Any interfaces not specified in the desired order are appended at the end in their original order.

Parameters

available_interfaces	A vector of available interface names.
desired_order	A vector specifying the desired order of interface names.

Returns

A vector of interface names ordered according to the desired order.

get_joint_actuator_name()

std::string mujoco_ros2_control::get_joint_actuator_name	(	const std::string &	joint_name,
		const hardware_interface::HardwareInfo &	hardware_info,
		const mjModel *	mj_model
	)

Get the corresponding actuator name for a given joint name using transmissions.

Parameters

joint_name	The name of the joint.
hardware_info	The hardware information containing transmissions.
mj_model	Pointer to the MuJoCo model.

Returns

The corresponding actuator name if found, otherwise returns the joint name.