Forked by Hokyun-Lee

import KSY hand (https://github.com/roro07ksy/hand_urdf_discription) to mujoco

mujoco_ros_sim

Simple connect between mujoco with ros.

Mujoco sends joint and sensor data via rostopic, and receives torque or position command data via rostopic.

mujoco is based on 2.1 // Mujoco is free now!

position/torque command available

※ubuntu 18.04 is recommended since graphical issue at 16.04

Installation

clone this git to your_catkin_ws/src, then compile with catkin_make

with tocabi_ecat package, mujoco can send status , receive commands via shared memory

how to start

you can test mujoco_ros_sim with dyros_red or dyros_jet

• DYROS_RED
• DYROS_JET
• DYROS_TOCABI
• DYROS_TOCABI_V2

ROS TOPIC LIST

Publisher

• /mujoco_ros_interface/sim_command_sim2con <std_msgs::String> : simulator <-> controller connector
• /mujoco_ros_interface/joint_states <sensor_msgs::JointState> : publish joint states(d->qpos, d->qvel, d->qacc)
• /mujoco_ros_interface/sensor_states <mujoco_ros_msgs::SensorState> : publish sensor states
• /mujoco_ros_interface/sim_time <std_msgs::Float32> : publish simulation time

Subscriber

• /mujoco_ros_interface/sim_command_con2sim <std_msgs::String> : simulator <-> controller connector
• /mujoco_ros_interface/joint_set <mujoco_ros_msgs::JointSet> : position/torque command from controller