README

mujoco_ros2_control_demos

Demonstration tutorials for the mujoco_ros2_control package. This package provides ready-to-use tutorials that show how to use MuJoCo with ros2_control.

Documentation

Full tutorial documentation is maintained in RST format:

  • Demos and Tutorials — step-by-step tutorials covering basic robot setup, MJCF generation, PID control, and transmissions.

Quick Start

# Tutorial 1 – Basic Robot
ros2 launch mujoco_ros2_control_demos 01_basic_robot.launch.py

# Tutorial 2 – MJCF Generation at Runtime
ros2 launch mujoco_ros2_control_demos 02_mjcf_generation.launch.py

# Tutorial 3 – PID Control
ros2 launch mujoco_ros2_control_demos 03_pid_control.launch.py

# Tutorial 4 – Transmissions
ros2 launch mujoco_ros2_control_demos 04_transmissions.launch.py

All tutorials support headless:=true to run without the MuJoCo viewer.

For the full list of launch arguments, features, controlling the robot, and package structure, see doc/tutorials.rst.

See Also