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chg: 0.9.0 release
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‎README.md

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Tools that combine the MuJoCo simulator with ROS. Meant to recreate a base port of [gazebo\_ros\_pkgs](https://github.com/ros-simulation/gazebo_ros_pkgs) for MuJoCo.
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This is a ROS software Project that wraps the [MuJoCo physics engine](https://mujoco.org/) into a ROS package.
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It is an extension of the MuJoCo [simulate](https://github.com/deepmind/mujoco/blob/2.1.1/sample/simulate.cc) program, with ROS integration and the possibility to load plugins via pluginlib.
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It is an extension of the MuJoCo [simulate](https://github.com/deepmind/mujoco/blob/3.2.0/sample/simulate.cc) program, with ROS integration and the possibility to load plugins via pluginlib.
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### ROS Versions
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# Build Instructions
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1. Make sure MuJoCo is installed (the current build uses version 2.3.7) and runs on your machine.
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1. Make sure MuJoCo is installed (the current build uses version 3.2.0) and runs on your machine.
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2. Create a new ROS workspace or include this repository into an existing workspace.
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3. Before building, make sure that your compiler knows where to find the MuJoCo library, e.g. by running
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```bash
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export MUJOCO_DIR=PATH/TO/MUJOCO/DIR
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export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$MUJOCO_DIR/lib
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export LIBRARY_PATH=$LIBRARY_PATH:$MUJOCO_DIR/lib
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```
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where `PATH/TO/MUJOCO/DIR` is `~/.mujoco/mujoco-2.3.7` if you used the recommended location to install mujoco (if downloaded as tarball). If you built MuJoCo from source and the install path is known to catkin, you can skip this step.
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where `PATH/TO/MUJOCO/DIR` is `~/.mujoco/mujoco-3.2.0` if you used the recommended location to install mujoco (if downloaded as tarball). If you built MuJoCo from source and the install path is known to catkin, you can skip this step.
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4. Build with `catkin_build`, `catkin b` or `colcon build`.
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5. Source your workspace and try `roslaunch mujoco_ros launch_server.launch use_sim_time:=true` to test if it runs.

‎mujoco_ros/CHANGELOG.md

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<a name="unreleased"></a>
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## Unreleased
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<a name="0.9.0"></a>
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## [0.9.0] - 2024-07-31
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### Added
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* Mocap plugin to programmatically control mocap bodies.
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Contributors: @DavidPL1
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[unreleased]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.8.0...HEAD
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[0.9.0]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.8.0...0.9.0
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[0.8.0]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.7.0...0.8.0
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[0.7.0]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.6.0...0.7.0
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[0.6.0]: https://github.com/ubi-agni/mujoco_ros_pkgs/compare/0.5.0...0.6.0

‎mujoco_ros/package.xml

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<?xml version="1.0"?>
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<package format="2">
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<name>mujoco_ros</name>
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<version>0.8.0</version>
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<version>0.9.0</version>
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<description>The mujoco_ros package</description>
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<maintainer email="dleins@techfak.uni-bielefeld.de">David P. Leins</maintainer>

‎mujoco_ros_control/package.xml

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<?xml version="1.0"?>
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<package format="2">
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<name>mujoco_ros_control</name>
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<version>0.8.0</version>
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<version>0.9.0</version>
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<description>The mujoco_ros_control package</description>
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<url type="repository">https://github.com/DavidPL1/mujoco_ros_pkgs</url>

‎mujoco_ros_mocap_plugin/package.xml

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<?xml version="1.0"?>
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<package format="2">
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<name>mujoco_ros_mocap</name>
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<version>0.8.0</version>
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<version>0.9.0</version>
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<description>The mujoco_ros_mocap plugin package</description>
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<url type="repository">https://github.com/ubi-agni/mujoco_ros_pkgs</url>

‎mujoco_ros_msgs/package.xml

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<?xml version="1.0"?>
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<package format="2">
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<name>mujoco_ros_msgs</name>
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<version>0.8.0</version>
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<version>0.9.0</version>
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<description>mujoco_ros_msgs provides message files for interaction with a mujoco_ros simulation</description>
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<maintainer email="dleins@techfak.uni-bielefeld.de">David Leins</maintainer>

‎mujoco_ros_pkgs/package.xml

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<?xml version="1.0"?>
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<package format="2">
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<name>mujoco_ros_pkgs</name> <!-- This is a meta package! -->
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<version>0.8.0</version>
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<version>0.9.0</version>
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<description>Interface for using ROS with the <a href="https://mujoco.org/">MuJoCo</a> simulator.</description>
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<license>BSD</license>

‎mujoco_ros_sensors/package.xml

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<?xml version="1.0"?>
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<package format="2">
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<name>mujoco_ros_sensors</name>
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<version>0.8.0</version>
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<version>0.9.0</version>
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<description>Sensor plugin for mujoco_ros</description>
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<maintainer email="dleins@techfak.uni-bielefeld.de">David P. Leins</maintainer>

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