├── .clang-format ├── .clang-tidy ├── .codecov.yaml ├── .docker ├── Dockerfile └── mujoco_installer.sh ├── .dockerignore ├── .github ├── CODEOWNERS ├── PULL_REQUEST_TEMPLATE.md └── workflows │ ├── ci.yaml │ ├── docker.yaml │ ├── format.yaml │ └── upstream.rosinstall ├── .gitignore ├── .housekeeping ├── check_unique_version └── git-commit-template.txt ├── .pre-commit-config.yaml ├── CHANGELOG.md ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── commitlint.config.js ├── mujoco_ros ├── CMakeLists.txt ├── README.md ├── THIRD_PARTY_NOTICES ├── assets │ └── pendulum_world.xml ├── cfg │ └── SimParams.cfg ├── cmake │ ├── CheckAVXSupport.cmake │ ├── CompilerCache.cmake │ ├── CompilerWarning.cmake │ ├── ConfigureRenderBackend.cmake │ ├── FindOSMesa.cmake │ ├── Findmujoco.cmake │ ├── GenerateBackendHeader.cmake │ ├── Linker.cmake │ ├── Optimization.cmake │ ├── ProjectOption.cmake │ ├── Sanitizers.cmake │ ├── StandardProjectSetting.cmake │ ├── Utility.cmake │ └── render_backend.h.in ├── config │ ├── initial_joint_states.yaml │ └── rosconsole.config ├── include │ └── mujoco_ros │ │ ├── array_safety.h │ │ ├── common_types.h │ │ ├── glfw_adapter.h │ │ ├── glfw_dispatch.h │ │ ├── lodepng.h │ │ ├── mujoco_env.h │ │ ├── offscreen_camera.h │ │ ├── platform_ui_adapter.h │ │ ├── plugin_utils.h │ │ ├── util.h │ │ └── viewer.h ├── launch │ └── launch_server.launch ├── package.xml ├── src │ ├── CMakeLists.txt │ ├── callbacks.cpp │ ├── glfw_adapter.cc │ ├── glfw_dispatch.cc │ ├── lodepng.cpp │ ├── main.cpp │ ├── mujoco_env.cpp │ ├── offscreen_camera.cpp │ ├── offscreen_rendering.cpp │ ├── physics.cpp │ ├── platform_ui_adapter.cc │ ├── plugin_utils.cpp │ └── viewer.cpp └── test │ ├── CMakeLists.txt │ ├── camera_world.xml │ ├── empty_world.xml │ ├── equality_world.xml │ ├── launch │ ├── mujoco_env.test │ ├── mujoco_render.test │ ├── mujoco_ros_plugin.test │ └── ros_interface.test │ ├── mujoco_env_fixture.h │ ├── mujoco_env_test.cpp │ ├── mujoco_render_test.cpp │ ├── mujoco_ros_plugin_test.cpp │ ├── pendulum_world.xml │ ├── ros_interface_test.cpp │ ├── test_plugin │ ├── CMakeLists.txt │ ├── test_plugin.cpp │ ├── test_plugin.h │ └── test_plugin.xml │ └── test_util.h ├── mujoco_ros_control ├── CMakeLists.txt ├── LICENSE-ORIGINAL ├── README.md ├── default_mujoco_ros_robot_hw_sim_plugin.xml ├── include │ └── mujoco_ros_control │ │ ├── default_robot_hw_sim.h │ │ ├── mujoco_ros_control_plugin.h │ │ └── robot_hw_sim.h ├── mujoco_ros_control_plugin.xml ├── package.xml └── src │ ├── default_robot_hw_sim.cpp │ └── mujoco_ros_control_plugin.cpp ├── mujoco_ros_laser ├── CMakeLists.txt ├── README.md ├── assets │ └── laser_world.xml ├── config │ └── laser_example_config.yaml ├── include │ └── mujoco_ros_laser │ │ └── laser.h ├── launch │ └── laser_plugin_example.launch ├── mujoco_laser_plugin.xml ├── package.xml ├── src │ └── laser.cpp └── test │ ├── CMakeLists.txt │ ├── launch │ └── mujoco_ros_laser.test │ ├── mujoco_env_wrapper.h │ └── mujoco_ros_laser_test.cpp ├── mujoco_ros_mocap_plugin ├── CMakeLists.txt ├── README.md ├── assets │ └── mocap_world.xml ├── config │ └── mocap_example_config.yaml ├── include │ └── mujoco_ros_mocap │ │ └── mocap_plugin.h ├── launch │ └── mocap_example.launch ├── mocap_plugin.xml ├── package.xml ├── src │ └── mocap_plugin.cpp └── test │ ├── CMakeLists.txt │ ├── launch │ └── mocap_test.test │ ├── mocap_test.cpp │ └── mujoco_env_fixture.h ├── mujoco_ros_msgs ├── CMakeLists.txt ├── LICENSE ├── action │ └── Step.action ├── msg │ ├── BodyState.msg │ ├── EqualityConstraintParameters.msg │ ├── EqualityConstraintType.msg │ ├── GeomProperties.msg │ ├── GeomType.msg │ ├── MocapState.msg │ ├── PluginStats.msg │ ├── ScalarStamped.msg │ ├── SensorNoiseModel.msg │ ├── SimInfo.msg │ ├── SolverParameters.msg │ └── StateUint.msg ├── package.xml └── srv │ ├── GetBodyState.srv │ ├── GetEqualityConstraintParameters.srv │ ├── GetGeomProperties.srv │ ├── GetGravity.srv │ ├── GetPluginStats.srv │ ├── 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