MuJoCo ROS: Integrating ROS with the MuJoCo Engine for Accurate and Scalable Robotic Simulation

Abstract

Robotic simulation is a critical tool in research, enabling rapid prototyping, testing, and iterative development in controlled environments. Numerous simulation engines are available, each with unique strengths and limitations; however, only a select few are compatible with ROS or provide direct integration with its ecosystem. Recent work has identified MuJoCo as one of the most promising engines for high-fidelity simulation due to its advanced contact modeling, numerical stability, and computational performance. Despite these advantages, MuJoCo has lacked a dedicated ROS-compatible interface, limiting its use in ROS-based pipelines where precise physics and efficient dynamics are crucial. This work introduces MuJoCo ROS, a high-performance framework that combines MuJoCo’s advanced physics with ROS’s modular environment. By integrating ROS without modifying the core MuJoCo engine, MuJoCo ROS enables researchers to leverage sophisticated physics and customizable ROS-compatible functionality for robotics applications requiring precise dynamics and control.