MuJoCo - A2R-Lab/indy7-sdk GitHub Wiki

The MujocoSimNode is a ROS2 node that provides a physics-based simulation environment for the Indy7 robot using the MuJoCo physics engine. It includes real-time visualization, physics simulation, and ROS2 interface integration.

Core Features

Physics Simulation

• MuJoCo-based physics engine running at 100Hz
• Torque control or position control with configurable gains
• Gravity compensation (currently disabled for testing)
• Forward dynamics computation using MuJoCo's solver

Visualization

• Real-time 3D rendering using GLFW
• Interactive camera controls with keyboard and mouse

ROS2 Integration

• Publishes joint states at simulation frequency
• Subscribes to joint commands for position control
• Uses simulated clock for time synchronization

Future TODOs

• Move simulation parameters to launch files:
  • Simulation timestep
  • Initial joint positions
  • Control gains
• YAML configuration for robot parameters
• Enable/configure gravity compensation
• Trajectory visualization
• Display force/torque vectors
• Show coordinate frames
• Add GUI elements for parameter tuning
• Implement recording/playback functionality

Model Requirements

• XML model file must be located at: indy7-control/src/mujoco_sim/models/indy7.xml
• Model must include appropriate actuator definitions
• Joint limits should be properly configured