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Merge upstream/main: MuJoCo 3.5.0 compat, URDF tooling refactor, tests
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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‎.github/workflows/coverage.yml‎

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name: Coverage Build - Jazzy
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on:
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workflow_dispatch:
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pull_request: &event
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branches:
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- main
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paths:
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- '**.hpp'
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- '**.h'
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- '**.cpp'
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- '**.py'
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- '**.yaml'
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- '.github/workflows/coverage.yml'
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- '**/package.xml'
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- '**/CMakeLists.txt'
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- 'codecov.yml'
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push: *event
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jobs:
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coverage_jazzy:
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uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
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secrets: inherit
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with:
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ros_distro: jazzy

‎README.md‎

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# MuJoCo ros2_control
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3-
[![Rdev](https://build.ros2.org/job/Rdev__mujoco_ros2_control__ubuntu_noble_amd64/badge/icon)](https://build.ros2.org/job/Rdev__mujoco_ros2_control__ubuntu_noble_amd64/) [![Kdev](https://build.ros2.org/job/Kdev__mujoco_ros2_control__ubuntu_noble_amd64/badge/icon)](https://build.ros2.org/job/Kdev__mujoco_ros2_control__ubuntu_noble_amd64/) [![Jdev](https://build.ros2.org/job/Jdev__mujoco_ros2_control__ubuntu_noble_amd64/badge/icon)](https://build.ros2.org/job/Jdev__mujoco_ros2_control__ubuntu_noble_amd64/) [![CI](https://github.com/ros-controls/mujoco_ros2_control/actions/workflows/ci.yaml/badge.svg)](https://github.com/ros-controls/mujoco_ros2_control/actions/workflows/ci.yaml) ![License](https://img.shields.io/github/license/ros-controls/mujoco_ros2_control) [![Codecov](https://codecov.io/gh/ros-controls/mujoco_ros2_control/branch/main/graph/badge.svg)](https://codecov.io/gh/ros-controls/mujoco_ros2_control)
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[![Rdev](https://build.ros2.org/job/Rdev__mujoco_ros2_control__ubuntu_noble_amd64/badge/icon)](https://build.ros2.org/job/Rdev__mujoco_ros2_control__ubuntu_noble_amd64/) [![Kdev](https://build.ros2.org/job/Kdev__mujoco_ros2_control__ubuntu_noble_amd64/badge/icon)](https://build.ros2.org/job/Kdev__mujoco_ros2_control__ubuntu_noble_amd64/) [![Jdev](https://build.ros2.org/job/Jdev__mujoco_ros2_control__ubuntu_noble_amd64/badge/icon)](https://build.ros2.org/job/Jdev__mujoco_ros2_control__ubuntu_noble_amd64/) [![Hdev](https://build.ros2.org/job/Hdev__mujoco_ros2_control__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Hdev__mujoco_ros2_control__ubuntu_jammy_amd64/) [![CI](https://github.com/ros-controls/mujoco_ros2_control/actions/workflows/ci.yaml/badge.svg)](https://github.com/ros-controls/mujoco_ros2_control/actions/workflows/ci.yaml) ![License](https://img.shields.io/github/license/ros-controls/mujoco_ros2_control) [![Codecov](https://codecov.io/gh/ros-controls/mujoco_ros2_control/branch/main/graph/badge.svg)](https://codecov.io/gh/ros-controls/mujoco_ros2_control)
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This repository provides a ros2_control system interface and supporting packages to run ROS 2 controllers against the MuJoCo physics simulator.
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‎codecov.yml‎

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coverage:
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precision: 2
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round: down
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range: "35...100"
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status:
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project:
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default:
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informational: true
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flags:
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- unittests
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patch: off
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fixes:
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- "ros_ws/src/mujoco_ros2_control/::"
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comment:
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layout: "diff, flags, files"
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behavior: default
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flags:
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unittests:
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paths:
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- mujoco_ros2_control

‎mujoco_ros2_control/CMakeLists.txt‎

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@@ -14,6 +14,7 @@ find_package(hardware_interface REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclpy REQUIRED)
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find_package(rclcpp_lifecycle REQUIRED)
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find_package(mujoco_ros2_control_msgs REQUIRED)
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find_package(Threads REQUIRED)
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src/mujoco_cameras.cpp
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src/mujoco_lidar.cpp
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)
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# Ensure MuJoCo library can be found at runtime regardless of how it was installed above
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# Ensure MuJoCo library can be found at runtime regardless of how it was installed above.
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# mujoco_vendor installs libmujoco.so under opt/mujoco_vendor/lib/ relative to the
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# install prefix, so that directory must be in the RPATH alongside the standard lib/.
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set_target_properties(mujoco_ros2_control PROPERTIES
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INSTALL_RPATH "\$ORIGIN/../lib;${CMAKE_INSTALL_PREFIX}/lib"
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INSTALL_RPATH "\$ORIGIN/../lib;\$ORIGIN/../opt/mujoco_vendor/lib;${CMAKE_INSTALL_PREFIX}/lib"
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)
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# MuJoCo has TinyXML2 statically linked, which conflicts with the system TinyXML2
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# used by FastDDS. We need to ensure the system TinyXML2 is loaded first.
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pluginlib_export_plugin_description_file(hardware_interface mujoco_system_interface_plugin.xml)
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if(BUILD_TESTING)
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add_subdirectory(test)
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add_subdirectory(tests)
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endif()
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ament_python_install_package(mujoco_ros2_control
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SCRIPTS_DESTINATION lib/mujoco_ros2_control
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)
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ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
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ament_package()

‎mujoco_ros2_control/mujoco_ros2_control/__init__.py‎

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# Copyright (c) 2026 PAL Robotics S.L.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from .urdf_to_mujoco_utils import (
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add_mujoco_info,
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remove_tag,
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extract_mesh_info,
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replace_package_names,
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get_images_from_dae,
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rename_material_textures,
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set_up_axis_to_z_up,
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update_obj_assets,
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update_non_obj_assets,
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add_mujoco_inputs,
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get_processed_mujoco_inputs,
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parse_inputs_xml,
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parse_scene_xml,
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add_free_joint,
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multiply_quaternion,
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get_urdf_transforms,
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euler_to_quaternion,
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add_links_as_sites,
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add_cameras_from_sites,
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add_lidar_from_sites,
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add_modifiers,
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copy_pre_generated_meshes,
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get_urdf_from_rsp,
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get_xml_from_file,
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publish_model_on_topic,
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add_urdf_free_joint,
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write_mujoco_scene,
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DECOMPOSED_PATH_NAME,
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COMPOSED_PATH_NAME,
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)
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__all__ = [
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"add_mujoco_info",
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"remove_tag",
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"extract_mesh_info",
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"replace_package_names",
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"get_images_from_dae",
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"rename_material_textures",
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"set_up_axis_to_z_up",
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"update_obj_assets",
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"update_non_obj_assets",
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"add_mujoco_inputs",
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"get_processed_mujoco_inputs",
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"parse_inputs_xml",
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"parse_scene_xml",
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"add_free_joint",
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"multiply_quaternion",
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"get_urdf_transforms",
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"euler_to_quaternion",
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"add_links_as_sites",
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"add_cameras_from_sites",
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"add_lidar_from_sites",
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"add_modifiers",
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"copy_pre_generated_meshes",
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"get_urdf_from_rsp",
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"get_xml_from_file",
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"publish_model_on_topic",
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"add_urdf_free_joint",
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"write_mujoco_scene",
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DECOMPOSED_PATH_NAME,
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COMPOSED_PATH_NAME,
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]

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