diff --git a/pixi.lock b/pixi.lock
index de0961dd72..2831ce0afb 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -13,6 +13,7 @@ environments:
packages:
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- conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/absl-py-2.4.0-pyhd8ed1ab_0.conda
- conda: https://conda.anaconda.org/conda-forge/noarch/adwaita-icon-theme-49.0-unix_0.conda
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- conda: https://conda.anaconda.org/conda-forge/linux-64/aiohttp-3.13.3-py312h5d8c7f2_0.conda
@@ -114,6 +115,7 @@ environments:
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- conda: https://conda.anaconda.org/conda-forge/linux-64/epoxy-1.5.10-hb03c661_2.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/etils-1.12.2-pyhd8ed1ab_0.conda
- conda: https://conda.anaconda.org/conda-forge/noarch/exceptiongroup-1.3.1-pyhd8ed1ab_0.conda
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@@ -145,6 +147,7 @@ environments:
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- conda: https://conda.anaconda.org/conda-forge/linux-64/frozenlist-1.7.0-py312h447239a_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/fsspec-2026.3.0-pyhd8ed1ab_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/gcc-14.3.0-h0dff253_18.conda
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- conda: https://conda.anaconda.org/conda-forge/linux-64/glew-2.3.0-h71661d4_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/glfw-3.4-hb03c661_1.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/glib-2.86.4-h5192d8d_1.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/glib-tools-2.86.4-hf516916_1.conda
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- conda: https://conda.anaconda.org/conda-forge/linux-64/libmicrohttpd-1.0.2-hc2fc477_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libmujoco-3.6.0-h31df9c7_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/libnetcdf-4.9.3-nompi_hbf2fc22_104.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.67.0-had1ee68_0.conda
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- conda: https://conda.anaconda.org/conda-forge/linux-64/libzlib-1.3.1-hb9d3cd8_2.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/lodepng-20220109-h924138e_0.tar.bz2
- conda: https://conda.anaconda.org/conda-forge/noarch/loguru-0.7.3-pyh707e725_0.conda
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- conda: https://conda.anaconda.org/conda-forge/linux-64/msgpack-python-1.1.2-py312hd9148b4_1.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/mujoco-3.6.0-h1eba5cb_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/mujoco-python-3.6.0-np2py312h2fcff2b_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/mujoco-samples-3.6.0-h3c404ae_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/mujoco-simulate-3.6.0-h530d17e_0.conda
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- conda: https://conda.anaconda.org/conda-forge/noarch/pyflakes-3.4.0-pyhd8ed1ab_0.conda
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- conda: https://conda.anaconda.org/conda-forge/linux-64/pynacl-1.6.2-py312h4c3975b_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/pyopengl-3.1.10-pyha804496_2.conda
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linux-aarch64:
- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/_openmp_mutex-4.5-20_gnu.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/absl-py-2.4.0-pyhd8ed1ab_0.conda
- conda: https://conda.anaconda.org/conda-forge/noarch/adwaita-icon-theme-49.0-unix_0.conda
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@@ -1158,6 +1171,7 @@ environments:
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- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/epoxy-1.5.10-he30d5cf_2.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/etils-1.12.2-pyhd8ed1ab_0.conda
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- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/frozenlist-1.7.0-py312hb10c72c_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/fsspec-2026.3.0-pyhd8ed1ab_0.conda
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- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/glew-2.3.0-hf9dcc85_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/glfw-3.4-he30d5cf_1.conda
- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/glib-2.86.4-hc66a092_1.conda
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- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libmicrohttpd-1.0.2-h3543b8c_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libmujoco-3.6.0-h2b9416c_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libnetcdf-4.9.3-nompi_h06de00c_104.conda
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- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libzlib-1.3.1-h86ecc28_2.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/lodepng-20220109-hdd96247_0.tar.bz2
- conda: https://conda.anaconda.org/conda-forge/noarch/loguru-0.7.3-pyh707e725_0.conda
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- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/msgpack-python-1.1.2-py312h4f740d2_1.conda
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- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/pynacl-1.6.2-py312hcd1a082_0.conda
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packages:
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- conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/absl-py-2.4.0-pyhd8ed1ab_0.conda
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- conda: https://conda.anaconda.org/conda-forge/linux-64/epoxy-1.5.10-hb03c661_2.conda
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- conda: https://conda.anaconda.org/conda-forge/linux-64/frozenlist-1.7.0-py312h447239a_0.conda
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- conda: https://conda.anaconda.org/conda-forge/linux-64/glew-2.3.0-h71661d4_0.conda
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- conda: https://conda.anaconda.org/conda-forge/linux-64/libmicrohttpd-1.0.2-hc2fc477_0.conda
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- conda: https://conda.anaconda.org/conda-forge/linux-64/libzlib-1.3.1-hb9d3cd8_2.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/lodepng-20220109-h924138e_0.tar.bz2
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+ - libmujoco ==3.6.0 h31df9c7_0
+ - python
+ - numpy
+ - absl-py
+ - pyglfw
+ - pyopengl
+ - etils
+ - fsspec
+ - importlib_resources
+ - typing_extensions
+ - zipp
+ - libgcc >=14
+ - __glibc >=2.17,<3.0.a0
+ - libstdcxx >=14
+ - numpy >=1.23,<3
+ - libabseil >=20250512.1,<20250513.0a0
+ - libabseil * cxx17*
+ - libmujoco >=3.6.0,<3.6.1.0a0
+ - python_abi 3.12.* *_cp312
+ - lodepng >=20220109,<20220110.0a0
+ - libgl >=1.7.0,<2.0a0
+ - pybind11-abi ==11
+ - glfw >=3.4,<4.0a0
+ license: Apache-2.0
+ license_family: APACHE
+ purls:
+ - pkg:pypi/mujoco?source=hash-mapping
+ size: 3091314
+ timestamp: 1773254855824
+- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/mujoco-python-3.6.0-np2py312h7d9f038_0.conda
+ sha256: caf6a78d1a99b17788f4fb82a06454f1218690256b209a7fceb422cd26c5c2f8
+ md5: 33e67e48f9b8a28b951039c87e572d60
+ depends:
+ - libmujoco ==3.6.0 h2b9416c_0
+ - python
+ - numpy
+ - absl-py
+ - pyglfw
+ - pyopengl
+ - etils
+ - fsspec
+ - importlib_resources
+ - typing_extensions
+ - zipp
+ - python 3.12.* *_cpython
+ - libstdcxx >=14
+ - libgcc >=14
+ - glfw >=3.4,<4.0a0
+ - libmujoco >=3.6.0,<3.6.1.0a0
+ - libabseil >=20250512.1,<20250513.0a0
+ - libabseil * cxx17*
+ - libgl >=1.7.0,<2.0a0
+ - numpy >=1.23,<3
+ - python_abi 3.12.* *_cp312
+ - lodepng >=20220109,<20220110.0a0
+ - pybind11-abi ==11
+ license: Apache-2.0
+ license_family: APACHE
+ purls:
+ - pkg:pypi/mujoco?source=hash-mapping
+ size: 2681953
+ timestamp: 1773254871641
+- conda: https://conda.anaconda.org/conda-forge/linux-64/mujoco-samples-3.6.0-h3c404ae_0.conda
+ sha256: 75e15ed67ae5a93257b1c9a58522f4be208e0d8d4871825ccd1d7ccdaf1f3829
+ md5: 8e4bc2f01fc453e0b91cfd63b87ea220
+ depends:
+ - libmujoco >=3.6.0,<3.6.1.0a0
+ - libgcc >=14
+ - __glibc >=2.17,<3.0.a0
+ - libstdcxx >=14
+ - libgl >=1.7.0,<2.0a0
+ - glfw >=3.4,<4.0a0
+ license: Apache-2.0
+ license_family: APACHE
+ purls: []
+ size: 54920
+ timestamp: 1773254855824
+- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/mujoco-samples-3.6.0-h21f88d6_0.conda
+ sha256: 9175eea1eb6ef8d58f8b6f20733047ea4c118193dfb1e17fc3197d156efdc667
+ md5: d88e0a0bba66ae49ab5b39c2a726d072
+ depends:
+ - libmujoco >=3.6.0,<3.6.1.0a0
+ - libstdcxx >=14
+ - libgcc >=14
+ - libgl >=1.7.0,<2.0a0
+ - glfw >=3.4,<4.0a0
+ license: Apache-2.0
+ license_family: APACHE
+ purls: []
+ size: 58442
+ timestamp: 1773254871641
+- conda: https://conda.anaconda.org/conda-forge/linux-64/mujoco-simulate-3.6.0-h530d17e_0.conda
+ sha256: d50568b18c9d502bf5b0edf9549d163dab88b68dfebac78247c838db99590c9d
+ md5: 45d74f7bf36cc5c867502420a719c068
+ depends:
+ - libmujoco ==3.6.0 h31df9c7_0
+ license: Apache-2.0
+ license_family: APACHE
+ purls: []
+ size: 17682
+ timestamp: 1773254855824
+- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/mujoco-simulate-3.6.0-hd58b8c5_0.conda
+ sha256: d98fd13347719abd5db059b195b8ed77cb08e66bc03c7c526e5f8b4806c4f2fd
+ md5: 39b81dfef000a5f09f581910d8fd8fdc
+ depends:
+ - libmujoco ==3.6.0 h2b9416c_0
+ license: Apache-2.0
+ license_family: APACHE
+ purls: []
+ size: 17656
+ timestamp: 1773254871641
- conda: https://conda.anaconda.org/conda-forge/linux-64/multidict-6.7.1-py312h8a5da7c_0.conda
sha256: 0da7e7f4e69bfd6c98eff92523e93a0eceeaec1c6d503d4a4cd0af816c3fe3dc
md5: 17c77acc59407701b54404cfd3639cac
@@ -14925,6 +15241,18 @@ packages:
- pkg:pypi/pyflakes?source=hash-mapping
size: 59592
timestamp: 1750492011671
+- conda: https://conda.anaconda.org/conda-forge/noarch/pyglfw-2.10.0-pyha770c72_0.conda
+ sha256: 1a3143f429501d3cae877d5ffe5cc07b2422c2145e73d5abdf22b29ae0ce0250
+ md5: 6756789a134e25ec77d4697a1f9462fb
+ depends:
+ - glfw
+ - python >=3.10
+ license: MIT
+ license_family: MIT
+ purls:
+ - pkg:pypi/glfw?source=hash-mapping
+ size: 31744
+ timestamp: 1757704430445
- conda: https://conda.anaconda.org/conda-forge/noarch/pygments-2.19.2-pyhd8ed1ab_0.conda
sha256: 5577623b9f6685ece2697c6eb7511b4c9ac5fb607c9babc2646c811b428fd46a
md5: 6b6ece66ebcae2d5f326c77ef2c5a066
@@ -15001,6 +15329,18 @@ packages:
- pkg:pypi/pynacl?source=hash-mapping
size: 1159017
timestamp: 1767324059167
+- conda: https://conda.anaconda.org/conda-forge/noarch/pyopengl-3.1.10-pyha804496_2.conda
+ sha256: 0775255f81e2c6b49948b3656796823758e64938a15543302857d99da0e3d737
+ md5: cce156023226a62044a8112bebf3d5e1
+ depends:
+ - __linux
+ - libopengl-devel
+ - python >=3.10
+ license: LicenseRef-pyopengl
+ purls:
+ - pkg:pypi/pyopengl?source=hash-mapping
+ size: 1327162
+ timestamp: 1756496351413
- conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.3.2-pyhcf101f3_0.conda
sha256: 417fba4783e528ee732afa82999300859b065dc59927344b4859c64aae7182de
md5: 3687cc0b82a8b4c17e1f0eb7e47163d5
diff --git a/pixi.toml b/pixi.toml
index 8c8641d9c0..deb7406f25 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -58,6 +58,7 @@ libnuma = ">=2.0.18,<3"
libopencv = ">=4.11.0,<5"
libprotobuf = ">=6.31.1,<7"
matplotlib = ">=3.10.8,<4"
+mujoco = ">=3.6.0,<4"
mypy = ">=1.18.2,<2"
ninja = ">=1.13.2,<2"
numpy = ">=1.26.4,<2"
diff --git a/src/bitbots_misc/bitbots_bringup/launch/mujoco_simulation.launch.py b/src/bitbots_misc/bitbots_bringup/launch/mujoco_simulation.launch.py
new file mode 100644
index 0000000000..ec5db580e4
--- /dev/null
+++ b/src/bitbots_misc/bitbots_bringup/launch/mujoco_simulation.launch.py
@@ -0,0 +1,218 @@
+import os
+from pathlib import Path
+
+import yaml
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import (
+ DeclareLaunchArgument,
+ ExecuteProcess,
+ LogInfo,
+ OpaqueFunction,
+ TimerAction,
+)
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+# Teamplayer arguments to expose (name, description)
+# Empty string default means "not set" - will use teamplayer's default
+# sim is always true for mujoco simulation
+TEAMPLAYER_ARGS = [
+ ("audio", "Whether the audio system should be started"),
+ ("behavior", "Whether the behavior control system should be started"),
+ ("behavior_dsd_file", "The behavior dsd file that should be used"),
+ ("game_controller", "Whether the Gamecontroller module should be started"),
+ ("ipm", "Whether the inverse perspective mapping should be started"),
+ ("localization", "Whether the localization system should be started"),
+ ("motion", "Whether the motion control system should be started"),
+ ("path_planning", "Whether the path planning should be started"),
+ ("teamcom", "Whether the team communication system should be started"),
+ ("vision", "Whether the vision system should be started"),
+ ("world_model", "Whether the world model should be started"),
+ ("monitoring", "Whether the system monitor and udp bridge should be started"),
+ ("record", "Whether the ros bag recording should be started"),
+ ("tts", "Whether to speak"),
+]
+
+
+def generate_domain_bridge_config(robot_domain: int, output_dir: Path) -> Path:
+ """Generate domain bridge config file for a single robot.
+
+ Returns the config file path.
+ """
+ main_domain = int(os.getenv("ROS_DOMAIN_ID", "0"))
+ output_dir.mkdir(parents=True, exist_ok=True)
+
+ namespace = f"robot{robot_domain}"
+
+ config = {
+ "name": f"robot{robot_domain}_bridge",
+ "from_domain": main_domain,
+ "to_domain": robot_domain,
+ "topics": {
+ # Clock: main → robot domain
+ "clock": {
+ "type": "rosgraph_msgs/msg/Clock",
+ },
+ },
+ }
+
+ # Sensor topics: main → robot domain (with remap to remove namespace)
+ sensor_topics = [
+ ("joint_states", "sensor_msgs/msg/JointState"),
+ ("imu/data", "sensor_msgs/msg/Imu"),
+ ("camera/image_proc", "sensor_msgs/msg/Image"),
+ ("camera/camera_info", "sensor_msgs/msg/CameraInfo"),
+ ("foot_pressure_left/filtered", "bitbots_msgs/msg/FootPressure"),
+ ("foot_pressure_right/filtered", "bitbots_msgs/msg/FootPressure"),
+ ("foot_center_of_pressure_left", "geometry_msgs/msg/PointStamped"),
+ ("foot_center_of_pressure_right", "geometry_msgs/msg/PointStamped"),
+ ]
+
+ for topic_suffix, msg_type in sensor_topics:
+ src_topic = f"{namespace}/{topic_suffix}"
+ config["topics"][src_topic] = {
+ "type": msg_type,
+ "remap": topic_suffix,
+ }
+
+ # Command topic: robot domain → main (reversed direction)
+ # Key is source topic in from_domain, remap is destination in to_domain
+ config["topics"]["DynamixelController/command"] = {
+ "type": "bitbots_msgs/msg/JointCommand",
+ "from_domain": robot_domain,
+ "to_domain": main_domain,
+ "remap": f"{namespace}/DynamixelController/command",
+ }
+
+ config_path = output_dir / f"robot{robot_domain}_bridge.yaml"
+ with open(config_path, "w") as f:
+ yaml.dump(config, f, default_flow_style=False, sort_keys=False)
+
+ return config_path
+
+
+def generate_world_xml(num_robots: int, package_share: str, robot_type: str) -> Path:
+ """Generate MuJoCo world XML with the correct number of robots."""
+ template_path = Path(package_share) / "xml" / "adult_field.xml"
+ output_path = Path(package_share) / "xml" / "generated_world.xml"
+ offset = 6 * (1/num_robots) # this makes the offset be the default value when there are 4 robots and increse the less robots there are
+
+ with open(template_path) as f:
+ template = f.read()
+
+ # Replace placeholder with actual robot count
+ world_xml = template.replace("{{NUM_ROBOTS}}", str(num_robots)).replace("{{OFFSET}}", str(offset)).replace("{{ROBOT_TYPE}}", robot_type)
+
+
+ with open(output_path, "w") as f:
+ f.write(world_xml)
+ return output_path
+
+
+def launch_setup(context):
+ """Dynamically set up launches based on num_robots."""
+ num_robots = int(LaunchConfiguration("num_robots").perform(context))
+ robot_type = str(LaunchConfiguration("robot_type").perform(context))
+ package_share = get_package_share_directory("bitbots_mujoco_sim")
+ bridge_config_dir = Path(package_share) / "config" / "domain_bridges"
+
+ # Get teamplayer argument values - only pass if explicitly set (not empty)
+ teamplayer_args = ["sim:=true"] # sim is always true for mujoco simulation
+ for arg_name, _ in TEAMPLAYER_ARGS:
+ value = LaunchConfiguration(arg_name).perform(context)
+ if value: # Only pass if not empty string
+ teamplayer_args.append(f"{arg_name}:={value}")
+
+ world_file = generate_world_xml(num_robots, package_share, robot_type)
+
+ actions = []
+
+ actions.append(
+ LogInfo(msg=f"Starting MuJoCo simulation with {num_robots} robot(s)"),
+ )
+ actions.append(
+ Node(
+ package="bitbots_mujoco_sim",
+ executable="sim",
+ name="sim_interface",
+ output="screen",
+ emulate_tty=True,
+ parameters=[{"world_file": str(world_file)}],
+ ),
+ )
+
+ for robot_domain in range(num_robots + 11): # 11 is the standart starting id for our robots
+ config_file = generate_domain_bridge_config(robot_domain, bridge_config_dir)
+ actions.append(
+ LogInfo(msg=f"Starting domain bridge for robot{robot_domain} (domain {robot_domain})"),
+ )
+ actions.append(
+ Node(
+ package="domain_bridge",
+ executable="domain_bridge",
+ name=f"domain_bridge_robot{robot_domain}",
+ arguments=[str(config_file)],
+ output="screen",
+ emulate_tty=True,
+ ),
+ )
+
+ actions.append(
+ TimerAction(
+ period=3.0,
+ actions=[
+ LogInfo(msg=f"Launching teamplayer stack for robot{robot_domain} in domain {robot_domain}"),
+ ExecuteProcess(
+ cmd=[
+ "ros2",
+ "launch",
+ "bitbots_bringup",
+ "teamplayer.launch",
+ ]
+ + teamplayer_args,
+ output="screen",
+ additional_env={"ROS_DOMAIN_ID": str(robot_domain)},
+ ),
+ ],
+ )
+ )
+
+ return actions
+
+
+def generate_launch_description():
+ """Launch MuJoCo simulation with domain bridge for multi-robot support."""
+
+ declared_args = [
+ DeclareLaunchArgument(
+ "num_robots",
+ default_value="1",
+ description="Number of robots in the simulation",
+ ),
+ DeclareLaunchArgument(
+ "robot_type",
+ default_value="wolfgang",
+ description="Set the type of robot used (wolfgang, piplus, x02)",
+ ),
+ ]
+
+
+
+ # Add all teamplayer arguments with empty default (means use teamplayer's default)
+ for arg_name, description in TEAMPLAYER_ARGS:
+ declared_args.append(
+ DeclareLaunchArgument(
+ arg_name,
+ default_value="",
+ description=description,
+ )
+ )
+
+ return LaunchDescription(
+ declared_args
+ + [
+ # All setup happens in OpaqueFunction to ensure proper ordering
+ OpaqueFunction(function=launch_setup),
+ ]
+ )
diff --git a/src/bitbots_misc/bitbots_utils/bitbots_utils/perf_timer.py b/src/bitbots_misc/bitbots_utils/bitbots_utils/perf_timer.py
new file mode 100644
index 0000000000..d2637a5ce4
--- /dev/null
+++ b/src/bitbots_misc/bitbots_utils/bitbots_utils/perf_timer.py
@@ -0,0 +1,397 @@
+"""Performance timing decorator for simulation benchmarking.
+
+This module provides timing decorators and metrics collection for comparing
+simulator performance. It collects:
+- Function execution times
+- CPU usage (user/system time)
+- Real-time factor (RTF) - calculated from wall clock vs simulation time
+- Simulation time
+
+Data is written both as a human-readable summary and as a CSV for graphing.
+
+Usage:
+ from bitbots_utils.perf_timer import timed, set_sim_time, configure_output
+
+ # Configure output paths (call once at startup)
+ configure_output("/tmp/mujoco_perf")
+
+ # Decorate functions to time
+ @timed
+ def my_function():
+ ...
+
+ # Update simulation time periodically (RTF calculated automatically)
+ set_sim_time(current_sim_time)
+"""
+
+import atexit
+import csv
+import functools
+import resource
+import signal
+import time
+from collections import defaultdict
+from dataclasses import dataclass, field
+from pathlib import Path
+from typing import Callable, TypeVar
+
+F = TypeVar("F", bound=Callable)
+
+
+@dataclass
+class TimeSample:
+ """A single time-series sample of performance metrics."""
+
+ wall_time: float # Wall clock time since start
+ sim_time: float # Simulation time
+ rtf: float # Real-time factor (sim_time_delta / wall_time_delta)
+ cpu_user: float # Cumulative user CPU time
+ cpu_system: float # Cumulative system CPU time
+ total_calls: int # Total function calls so far
+ # Snapshot of per-function timing data at this sample point
+ func_timing: dict[str, dict] = field(default_factory=dict)
+
+
+@dataclass
+class PerfData:
+ """Central storage for all performance data."""
+
+ # Configuration
+ output_prefix: str = "/tmp/sim_perf"
+ simulator_name: str = "simulator"
+
+ # Timing data per function
+ timing_data: dict = field(default_factory=lambda: defaultdict(lambda: {"total_time": 0.0, "call_count": 0}))
+
+ # Time-series samples
+ samples: list[TimeSample] = field(default_factory=list)
+
+ # Current state
+ start_time: float = field(default_factory=time.time)
+ start_cpu: resource.struct_rusage = field(default_factory=lambda: resource.getrusage(resource.RUSAGE_SELF))
+ last_write_count: int = 0
+
+ # Simulation time tracking
+ sim_time: float = 0.0
+ last_sample_wall_time: float = 0.0
+ last_sample_sim_time: float = 0.0
+
+ # Sample interval (in total function calls)
+ sample_interval: int = 1000
+
+
+# Global instance
+_perf = PerfData()
+
+
+def configure_output(prefix: str, simulator_name: str = "simulator", sample_interval: int = 1000) -> None:
+ """
+ Configure output file paths and simulator name.
+
+ Args:
+ prefix: Path prefix for output files (e.g., "/tmp/mujoco_perf")
+ Creates {prefix}.txt and {prefix}.csv
+ simulator_name: Name to identify this simulator in reports
+ sample_interval: How often to collect time-series samples (in function calls)
+ """
+ _perf.output_prefix = prefix
+ _perf.simulator_name = simulator_name
+ _perf.sample_interval = sample_interval
+ # Reset timing state for fresh start
+ _perf.start_time = time.time()
+ _perf.start_cpu = resource.getrusage(resource.RUSAGE_SELF)
+ _perf.last_sample_wall_time = 0.0
+ _perf.last_sample_sim_time = 0.0
+
+
+def set_sim_time(sim_time: float) -> None:
+ """
+ Update the current simulation time.
+
+ RTF is calculated automatically from wall clock time vs simulation time.
+ Call this periodically from your simulation step function.
+ """
+ _perf.sim_time = sim_time
+
+
+# Backward compatibility alias
+def set_rtf(rtf: float, sim_time: float = 0.0) -> None:
+ """Deprecated: Use set_sim_time() instead. RTF is calculated automatically."""
+ if sim_time > 0:
+ _perf.sim_time = sim_time
+
+
+def _collect_sample() -> None:
+ """Collect a time-series sample of current metrics."""
+ now = time.time()
+ wall_elapsed = now - _perf.start_time
+ cpu = resource.getrusage(resource.RUSAGE_SELF)
+
+ # Calculate instantaneous RTF from delta since last sample
+ wall_delta = wall_elapsed - _perf.last_sample_wall_time
+ sim_delta = _perf.sim_time - _perf.last_sample_sim_time
+
+ if wall_delta > 0 and sim_delta > 0:
+ rtf = sim_delta / wall_delta
+ else:
+ rtf = 0.0
+
+ # Snapshot current function timing data (deep copy)
+ func_timing_snapshot = {
+ name: {"total_time": data["total_time"], "call_count": data["call_count"]}
+ for name, data in _perf.timing_data.items()
+ }
+
+ sample = TimeSample(
+ wall_time=wall_elapsed,
+ sim_time=_perf.sim_time,
+ rtf=rtf,
+ cpu_user=cpu.ru_utime - _perf.start_cpu.ru_utime,
+ cpu_system=cpu.ru_stime - _perf.start_cpu.ru_stime,
+ total_calls=sum(d["call_count"] for d in _perf.timing_data.values()),
+ func_timing=func_timing_snapshot,
+ )
+ _perf.samples.append(sample)
+
+ # Update last sample tracking
+ _perf.last_sample_wall_time = wall_elapsed
+ _perf.last_sample_sim_time = _perf.sim_time
+
+
+def _write_results() -> None:
+ """Write timing results to files on exit."""
+ if not _perf.timing_data:
+ return
+
+ # Collect final sample
+ _collect_sample()
+
+ _write_summary()
+ _write_csv()
+
+
+def _write_summary() -> None:
+ """Write human-readable summary file."""
+ output_path = f"{_perf.output_prefix}.txt"
+
+ # Calculate final metrics
+ elapsed_time = time.time() - _perf.start_time
+ end_cpu = resource.getrusage(resource.RUSAGE_SELF)
+ user_cpu_time = end_cpu.ru_utime - _perf.start_cpu.ru_utime
+ system_cpu_time = end_cpu.ru_stime - _perf.start_cpu.ru_stime
+ total_cpu_time = user_cpu_time + system_cpu_time
+ cpu_usage_percent = (total_cpu_time / elapsed_time) * 100 if elapsed_time > 0 else 0
+
+ # Calculate overall RTF from total simulation time vs wall clock time
+ overall_rtf = _perf.sim_time / elapsed_time if elapsed_time > 0 else 0.0
+
+ # Calculate average RTF from samples (for comparison)
+ rtf_values = [s.rtf for s in _perf.samples if s.rtf > 0]
+ avg_sample_rtf = sum(rtf_values) / len(rtf_values) if rtf_values else 0.0
+
+ # Sort functions by average time (descending)
+ sorted_data = sorted(
+ _perf.timing_data.items(),
+ key=lambda x: x[1]["total_time"] / max(x[1]["call_count"], 1),
+ reverse=True,
+ )
+
+ lines = [
+ f"=== {_perf.simulator_name} Performance Report ===",
+ f"Wall clock time: {elapsed_time:.2f} s",
+ f"Simulation time: {_perf.sim_time:.2f} s",
+ f"Overall RTF: {overall_rtf:.2f}",
+ f"Average sample RTF: {avg_sample_rtf:.2f}",
+ f"CPU time (user): {user_cpu_time:.2f} s",
+ f"CPU time (system): {system_cpu_time:.2f} s",
+ f"CPU time (total): {total_cpu_time:.2f} s",
+ f"CPU usage: {cpu_usage_percent:.1f}%",
+ f"Samples collected: {len(_perf.samples)}",
+ "",
+ "=== Function Timing ===",
+ ]
+
+ for func_name, data in sorted_data:
+ if data["call_count"] > 0:
+ avg_time_us = (data["total_time"] / data["call_count"]) * 1e6
+ total_time_ms = data["total_time"] * 1e3
+ lines.append(
+ f"{func_name}: {avg_time_us:.2f} µs avg, {total_time_ms:.1f} ms total, {data['call_count']} calls"
+ )
+
+ output = "\n".join(lines) + "\n"
+
+ # Write to file
+ Path(output_path).parent.mkdir(parents=True, exist_ok=True)
+ with open(output_path, "w") as f:
+ f.write(output)
+
+ # print(f"\n=== Performance timing results written to {output_path} ===")
+ # print(output)
+
+
+def _write_csv() -> None:
+ """Write time-series data to CSV for graphing."""
+ output_path = f"{_perf.output_prefix}.csv"
+
+ if not _perf.samples:
+ return
+
+ # Get all function names
+ func_names = sorted(_perf.timing_data.keys())
+
+ # CSV header
+ header = [
+ "wall_time",
+ "sim_time",
+ "rtf",
+ "cpu_user",
+ "cpu_system",
+ "cpu_total",
+ "total_calls",
+ ]
+ # Add per-function columns
+ for name in func_names:
+ header.extend([f"{name}_avg_us", f"{name}_calls"])
+
+ Path(output_path).parent.mkdir(parents=True, exist_ok=True)
+ with open(output_path, "w", newline="") as f:
+ writer = csv.writer(f)
+ writer.writerow(header)
+
+ # Write each sample
+ for sample in _perf.samples:
+ row = [
+ f"{sample.wall_time:.3f}",
+ f"{sample.sim_time:.3f}",
+ f"{sample.rtf:.3f}",
+ f"{sample.cpu_user:.3f}",
+ f"{sample.cpu_system:.3f}",
+ f"{sample.cpu_user + sample.cpu_system:.3f}",
+ sample.total_calls,
+ ]
+
+ # Add per-function data from the snapshot at this sample point
+ for name in func_names:
+ data = sample.func_timing.get(name, {"total_time": 0.0, "call_count": 0})
+ if data["call_count"] > 0:
+ avg_us = (data["total_time"] / data["call_count"]) * 1e6
+ row.extend([f"{avg_us:.2f}", data["call_count"]])
+ else:
+ row.extend(["0.00", "0"])
+
+ writer.writerow(row)
+
+ # print(f"Time-series data written to {output_path}")
+
+
+# Register the write function to run at exit and on signals
+atexit.register(_write_results)
+
+
+def _signal_handler(signum, frame):
+ """Handle termination signals by writing results before exit."""
+ _write_results()
+ # Re-raise the signal to allow normal termination
+ signal.signal(signum, signal.SIG_DFL)
+ signal.raise_signal(signum)
+
+
+# Register signal handlers for graceful shutdown
+signal.signal(signal.SIGTERM, _signal_handler)
+signal.signal(signal.SIGINT, _signal_handler)
+
+
+def timed(func: F) -> F:
+ """
+ Decorator that measures execution time of a function.
+
+ Results are accumulated and written to files at program exit.
+
+ Usage:
+ @timed
+ def my_function():
+ ...
+ """
+ func_name = func.__name__
+
+ @functools.wraps(func)
+ def wrapper(*args, **kwargs):
+ start = time.perf_counter()
+ result = func(*args, **kwargs)
+ elapsed = time.perf_counter() - start
+
+ _perf.timing_data[func_name]["total_time"] += elapsed
+ _perf.timing_data[func_name]["call_count"] += 1
+
+ # Collect sample and write results periodically
+ total_calls = sum(d["call_count"] for d in _perf.timing_data.values())
+ if total_calls - _perf.last_write_count >= _perf.sample_interval:
+ _perf.last_write_count = total_calls
+ _collect_sample()
+ _write_results()
+
+ return result
+
+ return wrapper # type: ignore
+
+
+def timed_method(name: str | None = None) -> Callable[[F], F]:
+ """
+ Decorator factory for timing methods with a custom name.
+
+ Usage:
+ @timed_method("publish_imu")
+ def publish_imu_event(self):
+ ...
+ """
+
+ def decorator(func: F) -> F:
+ func_name = name or func.__name__
+
+ @functools.wraps(func)
+ def wrapper(*args, **kwargs):
+ start = time.perf_counter()
+ result = func(*args, **kwargs)
+ elapsed = time.perf_counter() - start
+
+ _perf.timing_data[func_name]["total_time"] += elapsed
+ _perf.timing_data[func_name]["call_count"] += 1
+
+ return result
+
+ return wrapper # type: ignore
+
+ return decorator
+
+
+def get_timing_summary() -> str:
+ """Get the current timing summary as a string."""
+ if not _perf.timing_data:
+ return "No timing data collected."
+
+ sorted_data = sorted(
+ _perf.timing_data.items(),
+ key=lambda x: x[1]["total_time"] / max(x[1]["call_count"], 1),
+ reverse=True,
+ )
+
+ lines = []
+ for func_name, data in sorted_data:
+ if data["call_count"] > 0:
+ avg_time_us = (data["total_time"] / data["call_count"]) * 1e6
+ lines.append(f"Elapsed time for {func_name}: {avg_time_us:.2f} µs over {data['call_count']} calls")
+
+ return "\n".join(lines)
+
+
+def reset_timing() -> None:
+ """Reset all timing data."""
+ _perf.timing_data.clear()
+ _perf.samples.clear()
+ _perf.start_time = time.time()
+ _perf.start_cpu = resource.getrusage(resource.RUSAGE_SELF)
+ _perf.last_write_count = 0
+ _perf.sim_time = 0.0
+ _perf.last_sample_wall_time = 0.0
+ _perf.last_sample_sim_time = 0.0
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/__init__.py b/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/__init__.py
new file mode 100644
index 0000000000..b01c3865f2
--- /dev/null
+++ b/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/__init__.py
@@ -0,0 +1,5 @@
+"""BitBots MuJoCo Simulation Package"""
+
+__all__ = [
+ "simulation",
+]
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/camera.py b/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/camera.py
new file mode 100644
index 0000000000..187bba7661
--- /dev/null
+++ b/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/camera.py
@@ -0,0 +1,55 @@
+import mujoco
+import numpy as np
+
+
+class Camera:
+ """Represents a camera in the MuJoCo simulation, providing image rendering capabilities."""
+
+ def __init__(self, model: mujoco.MjModel, data: mujoco.MjData, name: str, width: int = 800, height: int = 600):
+ self.model: mujoco.MjModel = model
+ self.data: mujoco.MjData = data
+ self.name: str = name
+ self.instance = model.camera(name)
+ self.width: int = width
+ self.height: int = height
+ self.renderer = mujoco.Renderer(self.model, height=self.height, width=self.width)
+
+ @property
+ def fov(self) -> float:
+ """Returns the camera's horizontal field of view in radians."""
+ if hasattr(self, "_fov") and self._fov is not None:
+ return self._fov
+
+ # MuJoCo uses fovy (vertical field of view in degrees)
+ fovy_deg = self.instance.fovy[0] if hasattr(self.instance.fovy, "__iter__") else self.instance.fovy
+ fovy_rad = np.deg2rad(fovy_deg)
+
+ # Convert vertical FOV to horizontal FOV using aspect ratio
+ aspect_ratio = self.width / self.height
+ fovx_rad = 2 * np.arctan(np.tan(fovy_rad / 2) * aspect_ratio)
+
+ self._fov = fovx_rad
+ return self._fov
+
+ def render(self) -> bytes:
+ """
+ Renders and returns the camera image as raw bytes (BGRA format).
+ Returns Raw image data in BGRA8 format for ROS Image messages.
+ """
+ # Update renderer with current scene
+ self.renderer.update_scene(self.data, camera=self.name)
+
+ # Render the image - returns RGB by default
+ rgb_array = self.renderer.render()
+
+ # Convert RGB to BGRA (standard for ROS Image messages)
+ # MuJoCo returns RGB uint8 array of shape (height, width, 3)
+ # We need to add alpha channel and swap R and B
+ height, width, _ = rgb_array.shape
+ bgra_array = np.zeros((height, width, 4), dtype=np.uint8)
+ bgra_array[:, :, 0] = rgb_array[:, :, 2] # B
+ bgra_array[:, :, 1] = rgb_array[:, :, 1] # G
+ bgra_array[:, :, 2] = rgb_array[:, :, 0] # R
+ bgra_array[:, :, 3] = 255 # A (fully opaque)
+
+ return bgra_array.tobytes()
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/joint.py b/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/joint.py
new file mode 100644
index 0000000000..eb07cba3cc
--- /dev/null
+++ b/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/joint.py
@@ -0,0 +1,39 @@
+import mujoco
+
+
+class Joint:
+ """Represents a single controllable joint and associated actuator in the MuJoCo simulation."""
+
+ def __init__(
+ self,
+ model: mujoco.MjModel,
+ data: mujoco.MjData,
+ ros_name: str,
+ name: str | None = None,
+ ):
+ self.model: mujoco.MjModel = model
+ self.data: mujoco.MjData = data
+ self.ros_name: str = ros_name
+ self.name: str = name if name is not None else ros_name
+ self.joint_instance: int = model.joint(self.name)
+ self.actuator_instance: int = model.actuator(self.name)
+
+ @property
+ def position(self) -> float:
+ """Gets the current joint position (angle) in radians."""
+ return self.data.qpos[self.joint_instance.qposadr[0]]
+
+ @position.setter
+ def position(self, value: float) -> None:
+ """Sets the position target for the joint's position actuator."""
+ self.data.ctrl[self.actuator_instance.id] = value
+
+ @property
+ def velocity(self) -> float:
+ """Gets the current joint velocity in rad/s."""
+ return self.data.qvel[self.joint_instance.dofadr[0]]
+
+ @property
+ def effort(self) -> float:
+ """Gets the current effort (force/torque) applied by the position actuator."""
+ return self.data.actuator_force[self.actuator_instance.id]
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/main.py b/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/main.py
new file mode 100644
index 0000000000..5288a6c7f1
--- /dev/null
+++ b/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/main.py
@@ -0,0 +1,20 @@
+import threading
+
+import rclpy
+from bitbots_utils.perf_timer import configure_output
+from rclpy.experimental.events_executor import EventsExecutor
+
+from bitbots_mujoco_sim.simulation import Simulation
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ configure_output("/tmp/mujoco_perf", "MuJoCo")
+ simulation = Simulation()
+ executor = EventsExecutor()
+ executor.add_node(simulation)
+ thread = threading.Thread(target=executor.spin, daemon=True)
+ thread.start()
+ simulation.run()
+ simulation.destroy_node()
+ rclpy.shutdown()
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/robot.py b/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/robot.py
new file mode 100644
index 0000000000..ea079a973d
--- /dev/null
+++ b/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/robot.py
@@ -0,0 +1,180 @@
+import mujoco
+
+from bitbots_mujoco_sim.camera import Camera
+from bitbots_mujoco_sim.joint import Joint
+from bitbots_mujoco_sim.sensor import FootPressureSensor, Sensor
+
+
+class Robot:
+ """Represents the robot, holding all its components like the camera, joints, and sensors."""
+
+ def __init__(self, model: mujoco.MjModel, data: mujoco.MjData, index: int = 0):
+ self.index: int = index
+ self.camera = Camera(model, data, name=self._get_name("head_camera"))
+ self.joints = RobotJoints(
+ [
+ # --- Right Leg ---
+ Joint(model, data, ros_name="RHipYaw", name=self._get_name("RHipYaw")),
+ Joint(model, data, ros_name="RHipRoll", name=self._get_name("RHipRoll")),
+ Joint(model, data, ros_name="RHipPitch", name=self._get_name("RHipPitch")),
+ Joint(model, data, ros_name="RKnee", name=self._get_name("RKnee")),
+ Joint(model, data, ros_name="RAnklePitch", name=self._get_name("RAnklePitch")),
+ Joint(model, data, ros_name="RAnkleRoll", name=self._get_name("RAnkleRoll")),
+ # --- Left Leg ---
+ Joint(model, data, ros_name="LHipYaw", name=self._get_name("LHipYaw")),
+ Joint(model, data, ros_name="LHipRoll", name=self._get_name("LHipRoll")),
+ Joint(model, data, ros_name="LHipPitch", name=self._get_name("LHipPitch")),
+ Joint(model, data, ros_name="LKnee", name=self._get_name("LKnee")),
+ Joint(model, data, ros_name="LAnklePitch", name=self._get_name("LAnklePitch")),
+ Joint(model, data, ros_name="LAnkleRoll", name=self._get_name("LAnkleRoll")),
+ # --- Arms ---
+ Joint(model, data, ros_name="RShoulderPitch", name=self._get_name("RShoulderPitch")),
+ Joint(model, data, ros_name="RShoulderRoll", name=self._get_name("RShoulderRoll")),
+ Joint(model, data, ros_name="RElbow", name=self._get_name("RElbow")),
+ Joint(model, data, ros_name="LShoulderPitch", name=self._get_name("LShoulderPitch")),
+ Joint(model, data, ros_name="LShoulderRoll", name=self._get_name("LShoulderRoll")),
+ Joint(model, data, ros_name="LElbow", name=self._get_name("LElbow")),
+ # --- Head ---
+ Joint(model, data, ros_name="HeadPan", name=self._get_name("HeadPan")),
+ Joint(model, data, ros_name="HeadTilt", name=self._get_name("HeadTilt")),
+ ]
+ )
+ self.sensors = RobotSensors(
+ [
+ # IMU Sensors
+ Sensor(model, data, name=self._get_name("gyro"), ros_name="IMU_gyro"),
+ Sensor(model, data, name=self._get_name("accelerometer"), ros_name="IMU_accelerometer"),
+ Sensor(
+ model,
+ data,
+ name=self._get_name("orientation"),
+ ros_name="IMU_orientation",
+ ), # Global orientation quaternion
+ Sensor(model, data, name=self._get_name("position"), ros_name="IMU_position"), # Global position vector
+ # Foot Sensors
+ Sensor(model, data, name=self._get_name("l_foot_pos"), ros_name="left_foot_position"),
+ Sensor(model, data, name=self._get_name("r_foot_pos"), ros_name="right_foot_position"),
+ Sensor(model, data, name=self._get_name("l_foot_global_linvel"), ros_name="left_foot_velocity"),
+ Sensor(model, data, name=self._get_name("r_foot_global_linvel"), ros_name="right_foot_velocity"),
+ ]
+ )
+
+ self.feet_sensors = RobotFeetSensors(
+ [
+ # left foot
+ FootPressureSensor(model, data, name=self._get_name("llb_foot_floor_found"), ros_name="llb"),
+ FootPressureSensor(model, data, name=self._get_name("llf_foot_floor_found"), ros_name="llf"),
+ FootPressureSensor(model, data, name=self._get_name("lrf_foot_floor_found"), ros_name="lrf"),
+ FootPressureSensor(model, data, name=self._get_name("lrb_foot_floor_found"), ros_name="lrb"),
+ # right foot
+ FootPressureSensor(model, data, name=self._get_name("rlb_foot_floor_found"), ros_name="rlb"),
+ FootPressureSensor(model, data, name=self._get_name("rlf_foot_floor_found"), ros_name="rlf"),
+ FootPressureSensor(model, data, name=self._get_name("rrf_foot_floor_found"), ros_name="rrf"),
+ FootPressureSensor(model, data, name=self._get_name("rrb_foot_floor_found"), ros_name="rrb"),
+ ]
+ )
+
+ def _get_name(self, base_name: str) -> str:
+ return f"robot_{base_name}_{self.index}"
+
+ @property
+ def domain(self) -> int:
+ return self.index
+
+ @property
+ def namespace(self) -> str:
+ return f"robot{self.domain}"
+
+
+class RobotFeetSensors(list[FootPressureSensor]):
+ """A list of Robot Foot Pressure Sensors with additional helper methods."""
+
+ @property
+ def left(self):
+ """Returns a list of left foot pressure sensors."""
+ return self.__get_side("l")
+
+ @property
+ def right(self):
+ """Returns a list of right foot pressure sensors."""
+ return self.__get_side("r")
+
+ def get(self, name: str) -> FootPressureSensor:
+ """Finds and returns a specific foot pressure sensor by its ROS name."""
+ return next(filter(lambda sensor: sensor.ros_name == name, self))
+
+ def __get_side(self, side: str):
+ class SideList(list[FootPressureSensor]):
+ @property
+ def left_back(self) -> FootPressureSensor:
+ return self[0]
+
+ @property
+ def left_front(self) -> FootPressureSensor:
+ return self[1]
+
+ @property
+ def right_front(self) -> FootPressureSensor:
+ return self[2]
+
+ @property
+ def right_back(self) -> FootPressureSensor:
+ return self[3]
+
+ @property
+ def center_of_pressure(self) -> list[float]:
+ # we can take a very small threshold, since simulation gives more accurate values than reality
+ threshold = 1
+ if self.total_force < threshold:
+ return [0.0, 0.0]
+
+ pos_x, pos_y = 0.085, 0.045
+ pressure_diff = (self.left_back.force + self.left_front.force) - (
+ self.right_front.force + self.right_back.force
+ )
+
+ return [
+ max(min(pressure_diff * pos_x / self.total_force, pos_x), -pos_x),
+ max(min(pressure_diff * pos_y / self.total_force, pos_y), -pos_y),
+ ]
+
+ @property
+ def total_force(self) -> float:
+ return abs(sum(sensor.force for sensor in self))
+
+ return SideList(
+ [
+ self.get(f"{side}lb"),
+ self.get(f"{side}lf"),
+ self.get(f"{side}rf"),
+ self.get(f"{side}rb"),
+ ]
+ )
+
+
+class RobotSensors(list[Sensor]):
+ """A list of Robot Sensors with additional helper methods."""
+
+ def get(self, name: str) -> Sensor:
+ """Finds and returns a specific sensor by its ROS name."""
+ return next(filter(lambda sensor: sensor.ros_name == name, self))
+
+ @property
+ def gyro(self) -> Sensor:
+ return self.get("IMU_gyro")
+
+ @property
+ def accelerometer(self) -> Sensor:
+ return self.get("IMU_accelerometer")
+
+ @property
+ def orientation(self) -> Sensor:
+ return self.get("IMU_orientation")
+
+
+class RobotJoints(list[Joint]):
+ """A list of Robot Joints with additional helper methods."""
+
+ def get(self, name: str) -> Joint:
+ """Finds and returns a specific joint by its ROS name."""
+ return next(filter(lambda joint: joint.ros_name == name, self))
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/sensor.py b/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/sensor.py
new file mode 100644
index 0000000000..29591dc226
--- /dev/null
+++ b/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/sensor.py
@@ -0,0 +1,36 @@
+import mujoco
+import numpy as np
+
+
+class Sensor:
+ """Represents a single sensor, providing a clean interface to its value."""
+
+ def __init__(self, model: mujoco.MjModel, data: mujoco.MjData, name: str, ros_name: str):
+ self._data = data
+ self.ros_name: str = ros_name
+ self.instance: int = model.sensor(name)
+ self.id: int = self.instance.id
+
+ @property
+ def data(self) -> np.ndarray:
+ """Gets the current sensor reading from sensordata array."""
+ return self._data.sensordata[self.adr : self.adr + self.dim]
+
+ @property
+ def adr(self) -> int:
+ """Gets the address of the sensor data in sensordata array."""
+ return int(self.instance.adr)
+
+ @property
+ def dim(self) -> int:
+ """Gets the dimension of the sensor data."""
+ return int(self.instance.dim)
+
+
+class FootPressureSensor(Sensor):
+ """Represents a foot pressure sensor, providing access to individual pressure readings."""
+
+ @property
+ def force(self) -> float:
+ """Gets the total force measured by the sensor."""
+ return self.data[2]
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/simulation.py b/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/simulation.py
new file mode 100644
index 0000000000..e16e6dcc72
--- /dev/null
+++ b/src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/simulation.py
@@ -0,0 +1,266 @@
+import math
+import time
+from typing import TYPE_CHECKING, Callable
+
+import mujoco
+from ament_index_python.packages import get_package_share_directory
+from bitbots_utils.perf_timer import set_sim_time, timed
+from geometry_msgs.msg import PointStamped
+from mujoco import viewer
+from rclpy.node import Node
+from rclpy.time import Time
+from rosgraph_msgs.msg import Clock
+from sensor_msgs.msg import CameraInfo, Image, Imu, JointState
+from std_msgs.msg import Float32
+
+from bitbots_msgs.msg import FootPressure, JointCommand
+from bitbots_mujoco_sim.robot import Robot
+
+if TYPE_CHECKING:
+ from bitbots_mujoco_sim.simulation import RobotSimulation
+
+
+class Simulation(Node):
+ """Manages the MuJoCo simulation state and its components."""
+
+ def __init__(self):
+ super().__init__("sim_interface")
+ self.declare_parameter("world_file", "")
+
+ self.package_path = get_package_share_directory("bitbots_mujoco_sim")
+ world_file = self.get_parameter("world_file").get_parameter_value().string_value
+ if not world_file:
+ world_file = self.package_path + "/xml/generated_world.xml"
+
+ self.model: mujoco.MjModel = mujoco.MjModel.from_xml_path(world_file)
+ self.data: mujoco.MjData = mujoco.MjData(self.model)
+ self.robots: list[RobotSimulation] = [
+ RobotSimulation(self, Robot(self.model, self.data, idx)) for idx in self._find_robot_indices()
+ ]
+
+ self.time = 0.0
+ self.time_message = Time(seconds=0, nanoseconds=0).to_msg()
+ self.timestep = self.model.opt.timestep
+ self.step_number = 0
+ self.real_time_factor = 1.0
+ self.clock_publisher = self.create_publisher(Clock, "clock", 1)
+ self.create_subscription(Float32, "real_time_factor", self.real_time_factor_callback, 1)
+
+ self.imu_frame_id = self.get_parameter_or("imu_frame", "imu_frame")
+
+ self.camera_optical_frame_id = self.get_parameter_or("camera_optical_frame", "camera_optical_frame")
+ self.camera_active = True
+
+ self.events = [
+ {"frequency": 1, "handler": self.publish_clock_event},
+ {"frequency": 4, "handler": lambda: self.publish(lambda robot: robot.publish_ros_joint_states_event())},
+ {"frequency": 4, "handler": lambda: self.publish(lambda robot: robot.publish_imu_event())},
+ {"frequency": 4, "handler": lambda: self.publish(lambda robot: robot.publish_pressure_events())},
+ {"frequency": 4, "handler": lambda: self.publish(lambda robot: robot.publish_center_of_pressure_events())},
+ {"frequency": 32, "handler": lambda: self.publish(lambda robot: robot.publish_camera_event())},
+ ]
+
+ def _find_robot_indices(self) -> list[int]:
+ """Find all robot instances by looking for bodies named 'robot_torso_X'."""
+ body_names = [self.model.body(i).name for i in range(self.model.nbody)]
+ robot_bodies = filter(lambda name: name.startswith("robot_torso_"), body_names)
+ indices = [int(name.split("_")[-1]) for name in robot_bodies if name.split("_")[-1].isdigit()]
+ return sorted(indices)
+
+ def run(self) -> None:
+ print("Starting simulation viewer...")
+ with viewer.launch_passive(self.model, self.data) as view:
+ while view.is_running():
+ self.step()
+ view.sync()
+
+ @timed
+ def step(self) -> None:
+ real_start_time = time.time()
+ self.step_number += 1
+ self.time += self.timestep
+ self.time_message = Time(seconds=int(self.time), nanoseconds=int(self.time % 1 * 1e9)).to_msg()
+
+ mujoco.mj_step(self.model, self.data)
+
+ for event_config in self.events:
+ if self.step_number % event_config["frequency"] == 0:
+ event_config["handler"]()
+
+ real_end_time = time.time()
+ expected_step_time = self.timestep / self.real_time_factor
+ time.sleep(max(0.0, expected_step_time - (real_end_time - real_start_time)))
+
+ # Update perf_timer with current simulation time
+ set_sim_time(self.time)
+
+ def real_time_factor_callback(self, msg: Float32) -> None:
+ self.real_time_factor = msg.data
+
+ @timed
+ def publish_clock_event(self) -> None:
+ clock_msg = Clock()
+ clock_msg.clock = self.time_message
+ self.clock_publisher.publish(clock_msg)
+
+ def publish(self, executor: Callable[["RobotSimulation"], None]) -> None:
+ for robot in self.robots:
+ executor(robot)
+
+
+class RobotSimulation:
+ """Holds the simulation state for a single robot instance."""
+
+ def __init__(self, simulation: Simulation, robot: Robot):
+ self.simulation = simulation
+ self.robot = robot
+ self.model = simulation.model
+ self.data = simulation.data
+
+ def _topic(name: str) -> str:
+ return f"{self.namespace}/{name}"
+
+ self.node_publishers = {
+ "joint_states": self.simulation.create_publisher(JointState, _topic("joint_states"), 1),
+ "imu": self.simulation.create_publisher(Imu, _topic("imu/data"), 1),
+ "camera_proc": self.simulation.create_publisher(Image, _topic("camera/image_proc"), 1),
+ "camera_info": self.simulation.create_publisher(CameraInfo, _topic("camera/camera_info"), 1),
+ "foot_pressure_left": self.simulation.create_publisher(
+ FootPressure, _topic("foot_pressure_left/filtered"), 1
+ ),
+ "foot_pressure_right": self.simulation.create_publisher(
+ FootPressure, _topic("foot_pressure_right/filtered"), 1
+ ),
+ "foot_center_of_pressure_left": self.simulation.create_publisher(
+ PointStamped, _topic("foot_center_of_pressure_left"), 1
+ ),
+ "foot_center_of_pressure_right": self.simulation.create_publisher(
+ PointStamped, _topic("foot_center_of_pressure_right"), 1
+ ),
+ }
+
+ self.simulation.create_subscription(
+ JointCommand, _topic("DynamixelController/command"), self.joint_command_callback, 1
+ )
+
+ @property
+ def domain(self) -> int:
+ return self.robot.domain
+
+ @property
+ def namespace(self) -> str:
+ return self.robot.namespace
+
+ @timed
+ def joint_command_callback(self, command: JointCommand) -> None:
+ if len(command.positions) != 0:
+ for i in range(len(command.joint_names)):
+ joint = self.robot.joints.get(command.joint_names[i])
+ joint.position = command.positions[i]
+
+ @timed
+ def publish_ros_joint_states_event(self) -> None:
+ js = JointState()
+ js.name = []
+ js.header.stamp = self.simulation.time_message
+ js.position = []
+ js.velocity = []
+ js.effort = []
+ for joint in self.robot.joints:
+ js.name.append(joint.ros_name)
+ js.position.append(joint.position)
+ js.velocity.append(joint.velocity)
+ js.effort.append(joint.effort)
+ self.node_publishers["joint_states"].publish(js)
+
+ @timed
+ def publish_imu_event(self) -> None:
+ imu = Imu()
+ imu.header.stamp = self.simulation.time_message
+ imu.header.frame_id = self.simulation.imu_frame_id
+ imu.linear_acceleration.x, imu.linear_acceleration.y, imu.linear_acceleration.z = (
+ self.robot.sensors.accelerometer.data
+ )
+
+ # make sure that acceleration is not completely zero or we will get error in filter.
+ # Happens if robot is moved manually in the simulation
+ if imu.linear_acceleration.x == 0 and imu.linear_acceleration.y == 0 and imu.linear_acceleration.z == 0:
+ imu.linear_acceleration.z = 0.001
+
+ imu.angular_velocity.x, imu.angular_velocity.y, imu.angular_velocity.z = self.robot.sensors.gyro.data
+
+ # Use ground-truth orientation from MuJoCo (quaternion: w, x, y, z)
+ imu.orientation.w, imu.orientation.x, imu.orientation.y, imu.orientation.z = self.robot.sensors.orientation.data
+ self.node_publishers["imu"].publish(imu)
+
+ @timed
+ def publish_camera_event(self) -> None:
+ if not self.simulation.camera_active:
+ return
+
+ img = Image()
+ img.header.stamp = self.simulation.time_message
+ img.header.frame_id = self.simulation.camera_optical_frame_id
+ img.encoding = "bgra8"
+ img.height = self.robot.camera.height
+ img.width = self.robot.camera.width
+ img.step = 4 * self.robot.camera.width
+ img.data = self.robot.camera.render()
+ self.node_publishers["camera_proc"].publish(img)
+
+ cam_info = CameraInfo()
+ cam_info.header = img.header
+ cam_info.height = self.robot.camera.height
+ cam_info.width = self.robot.camera.width
+
+ @staticmethod
+ def focal_length_from_fov(fov: float, resolution: int) -> float:
+ "Calculate focal length from field of view and resolution."
+ return 0.5 * resolution * (math.cos(fov / 2) / math.sin(fov / 2))
+
+ @staticmethod
+ def h_fov_to_v_fov(h_fov: float, height: int, width: int) -> float:
+ "Convert horizontal FOV to vertical FOV based on image aspect ratio."
+ return 2 * math.atan(math.tan(h_fov * 0.5) * (height / width))
+
+ camera = self.robot.camera
+
+ h_fov = camera.fov
+ v_fov = h_fov_to_v_fov(h_fov, camera.height, camera.width)
+
+ f_x, f_y = focal_length_from_fov(h_fov, camera.width), focal_length_from_fov(v_fov, camera.height)
+ cx, cy = camera.width / 2.0, camera.height / 2.0
+ cam_info.k = [f_x, 0.0, cx, 0.0, f_y, cy, 0.0, 0.0, 1.0]
+ cam_info.p = [f_x, 0.0, cx, 0.0, 0.0, f_y, cy, 0.0, 0.0, 0.0, 1.0, 0.0]
+
+ self.node_publishers["camera_info"].publish(cam_info)
+
+ @timed
+ def publish_pressure_events(self) -> None:
+ left = FootPressure()
+ left.header.stamp = self.simulation.time_message
+ left.left_back, left.left_front, left.right_front, left.right_back = [
+ -sensor.force for sensor in self.robot.feet_sensors.left
+ ]
+ self.node_publishers["foot_pressure_left"].publish(left)
+
+ right = FootPressure()
+ right.header.stamp = self.simulation.time_message
+ right.left_back, right.left_front, right.right_front, right.right_back = [
+ -sensor.force for sensor in self.robot.feet_sensors.right
+ ]
+ self.node_publishers["foot_pressure_right"].publish(right)
+
+ @timed
+ def publish_center_of_pressure_events(self) -> None:
+ left = PointStamped()
+ left.header.frame_id = "l_foot_frame"
+ left.header.stamp = self.simulation.time_message
+ left.point.x, left.point.y = self.robot.feet_sensors.left.center_of_pressure
+ self.node_publishers["foot_center_of_pressure_left"].publish(left)
+
+ right = PointStamped()
+ right.header.frame_id = "r_foot_frame"
+ right.header.stamp = self.simulation.time_message
+ right.point.x, right.point.y = self.robot.feet_sensors.right.center_of_pressure
+ self.node_publishers["foot_center_of_pressure_right"].publish(right)
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/package.xml b/src/bitbots_simulation/bitbots_mujoco_sim/package.xml
new file mode 100644
index 0000000000..e3a85ca881
--- /dev/null
+++ b/src/bitbots_simulation/bitbots_mujoco_sim/package.xml
@@ -0,0 +1,36 @@
+
+
+
+ bitbots_mujoco_sim
+ 1.0.0
+ Simulation environment using Mujoco for Wolfgang robot.
+
+ Hamburg Bit-Bots
+
+ MIT
+
+ Arshia Delavar
+ Sebastian Fromm
+ Samim Maschal
+ Hamburg Bit-Bots
+
+ ament_cmake
+
+ rclpy
+ sensor_msgs
+ rosgraph_msgs
+ bitbots_msgs
+ ament_index_python
+ python3-numpy
+ python3-mujoco
+
+ ament_cmake_mypy
+
+
+
+ unknown
+ python
+
+ ament_python
+
+
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/resource/bitbots_mujoco_sim b/src/bitbots_simulation/bitbots_mujoco_sim/resource/bitbots_mujoco_sim
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/setup.cfg b/src/bitbots_simulation/bitbots_mujoco_sim/setup.cfg
new file mode 100644
index 0000000000..de24bec2b9
--- /dev/null
+++ b/src/bitbots_simulation/bitbots_mujoco_sim/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/bitbots_mujoco_sim
+[install]
+install_scripts=$base/lib/bitbots_mujoco_sim
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/setup.py b/src/bitbots_simulation/bitbots_mujoco_sim/setup.py
new file mode 100644
index 0000000000..9ebfe0beea
--- /dev/null
+++ b/src/bitbots_simulation/bitbots_mujoco_sim/setup.py
@@ -0,0 +1,36 @@
+import glob
+
+from setuptools import find_packages, setup
+
+package_name = "bitbots_mujoco_sim"
+
+
+setup(
+ name=package_name,
+ version="0.0.0",
+ packages=find_packages(exclude=["test"]),
+ data_files=[
+ ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+ ("share/" + package_name, ["package.xml"]),
+ ("share/" + package_name + "/launch", glob.glob("launch/*.launch.py")),
+ ("share/" + package_name + "/xml", glob.glob("xml/*.xml")),
+ ("share/" + package_name + "/xml/assets", glob.glob("xml/assets/*.png")),
+ ("share/" + package_name + "/xml/assets", glob.glob("xml/assets/*.stl")),
+ ("share/" + package_name + "/xml/assets/ball", glob.glob("xml/assets/ball/*.png")),
+ ("share/" + package_name + "/xml/assets/backgrounds", glob.glob("xml/assets/backgrounds/*.png")),
+ ],
+ install_requires=["setuptools"],
+ zip_safe=True,
+ maintainer="22maschal",
+ maintainer_email="22maschal@todo.todo",
+ description="TODO: Package description",
+ license="TODO: License declaration",
+ extras_require={
+ "test": [
+ "pytest",
+ ],
+ },
+ entry_points={
+ "console_scripts": ["sim = bitbots_mujoco_sim.main:main"],
+ },
+)
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/xml/adult_field.xml b/src/bitbots_simulation/bitbots_mujoco_sim/xml/adult_field.xml
new file mode 100644
index 0000000000..f4677f966c
--- /dev/null
+++ b/src/bitbots_simulation/bitbots_mujoco_sim/xml/adult_field.xml
@@ -0,0 +1,36 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/adult_field.png b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/adult_field.png
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diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_back.hdr b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_back.hdr
new file mode 100644
index 0000000000..47bfb3b044
--- /dev/null
+++ b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_back.hdr
@@ -0,0 +1,145 @@
+#?RADIANCE
+SOFTWARE=gegl 0.4.14
+FORMAT=32-bit_rle_rgbe
+
+-Y 256 +X 256
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\ No newline at end of file
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_back.png b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_back.png
new file mode 100644
index 0000000000..e33af4f686
Binary files /dev/null and b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_back.png differ
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_bottom.hdr b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_bottom.hdr
new file mode 100644
index 0000000000..5a841150c4
--- /dev/null
+++ b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_bottom.hdr
@@ -0,0 +1,6 @@
+#?RADIANCE
+SOFTWARE=gegl 0.4.14
+FORMAT=32-bit_rle_rgbe
+
+-Y 256 +X 256
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\ No newline at end of file
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_bottom.png b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_bottom.png
new file mode 100644
index 0000000000..80fc4ac84e
Binary files /dev/null and b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_bottom.png differ
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_front.hdr b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_front.hdr
new file mode 100644
index 0000000000..fd8ec8fa6c
--- /dev/null
+++ b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_front.hdr
@@ -0,0 +1,102 @@
+#?RADIANCE
+SOFTWARE=gegl 0.4.14
+FORMAT=32-bit_rle_rgbe
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\ No newline at end of file
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_front.png b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_front.png
new file mode 100644
index 0000000000..5a909a94bf
Binary files /dev/null and b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_front.png differ
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_left.hdr b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_left.hdr
new file mode 100644
index 0000000000..2808100cdd
--- /dev/null
+++ b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_left.hdr
@@ -0,0 +1,96 @@
+#?RADIANCE
+SOFTWARE=gegl 0.4.14
+FORMAT=32-bit_rle_rgbe
+
+-Y 256 +X 256
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Binary files /dev/null and b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_left.png differ
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_right.hdr b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_right.hdr
new file mode 100644
index 0000000000..bf6156e2c4
--- /dev/null
+++ b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_right.hdr
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\ No newline at end of file
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_right.png b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_right.png
new file mode 100644
index 0000000000..9f70977a68
Binary files /dev/null and b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_right.png differ
diff --git a/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_top.hdr b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_top.hdr
new file mode 100644
index 0000000000..2466b571a5
--- /dev/null
+++ b/src/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_top.hdr
@@ -0,0 +1,5 @@
+#?RADIANCE
+FORMAT=32-bit_rle_rgbe
+
+-Y 256 +X 256
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