Class MujocoSystemInterface

• Defined in File mujoco_system_interface.hpp

Inheritance Relationships

Base Type

• public hardware_interface::SystemInterface

Class Documentation

class MujocoSystemInterface : public hardware_interface::SystemInterface

Public Functions

MujocoSystemInterface()

ros2_control SystemInterface to wrap Mujocos Simulate application.

Supports Actuators, Force Torque/IMU Sensors, and RGB-D camera, and Lidar Sensors in ROS 2 simulations. For more information on configuration refer to the docs, check the comment strings below, and refer to the example in the test folder.

~MujocoSystemInterface() override

hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams &params) override

std::vector<hardware_interface::StateInterface> export_state_interfaces() override

std::vector<hardware_interface::CommandInterface> export_command_interfaces() override

hardware_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override

hardware_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override

hardware_interface::return_type perform_command_mode_switch(const std::vector<std::string> &start_interfaces, const std::vector<std::string> &stop_interfaces) override

hardware_interface::return_type read(const rclcpp::Time &time, const rclcpp::Duration &period) override

hardware_interface::return_type write(const rclcpp::Time &time, const rclcpp::Duration &period) override

void get_model(mjModel *&dest)

Returns a copy of the MuJoCo model.

This method locks the simulation mutex to ensure thread safety.

Parameters:

dest – Pointer to an mjModel structure where the copy will be stored. The pointer will be allocated if it is nullptr.

void get_data(mjData *&dest)

Returns a copy of the current MuJoCo data.

This method locks the simulation mutex to ensure thread safety.

Parameters:

dest – Pointer to an mjData structure where the copy will be stored. The pointer will be allocated if it is nullptr.

void set_data(mjData *mj_data)

Sets the MuJoCo data to the provided value.

This method locks the simulation mutex to ensure thread safety.

Parameters:

mj_data – Pointer to an mjData structure containing the new data.