# Introducing mujoco\_ros2\_control: High-fidelity simulation for ROS 2

**URL:** <https://discourse.openrobotics.org/t/introducing-mujoco-ros2-control-high-fidelity-simulation-for-ros-2/52683>\
**Category:** ros-controls Announcements and News\
**Tags:** ros2\
**Created:** [February 24, 2026, 10:03pm UTC](https://discourse.openrobotics.org/t/introducing-mujoco-ros2-control-high-fidelity-simulation-for-ros-2/52683 "2026-02-24T22:03:38Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![saikishor](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/saikishor/32/26420_2.png) [@saikishor](https://discourse.openrobotics.org/u/saikishor)\
**Post date:** [February 24, 2026, 10:03pm UTC](https://discourse.openrobotics.org/t/introducing-mujoco-ros2-control-high-fidelity-simulation-for-ros-2/52683/1 "2026-02-24T22:03:39Z")

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Hello everyone,

We are happy to introduce `mujoco_ros2_control`, a package designed to provide a seamless bridge between the **MuJoCo** physics engine and the **ROS 2** control stack. If you are looking for a bridge between the precision of the **MuJoCo** physics engine and the flexibility of the **ROS 2** control stack, this is for you. This package provides a robust `ros2_control` system interface that wraps MuJoCo’s simulation environment, allowing you to run standard ROS 2 controllers against simulated robots with the speed and contact stability MuJoCo is famous for.

**Feature Highlights & Videos**

We have prepared several tutorials in the `mujoco_ros2_control_demos` package to get you started:

- **Tutorial 1: Basic Robot** – Position control of a two-link arm.

- **Tutorial 2: MJCF Generation** – Watch the URDF to MJCF conversion tool handle mesh decomposition and sensor injection at runtime.

- **Tutorial 3/4: Advanced Control** – Demonstrations of PID tuning for motor actuators and mechanical transmissions.

**Key Capabilities:**

- **URDF to MuJoCo XML (MJCF):** An experimental tool to automate the conversion of URDFs to MJCF, including mesh decomposition and sensor mapping.

- **Comprehensive Sensor Support:** Native handling for IMUs, Force-Torque sensors, and RGB-D cameras.

- **Complex Mechanisms:** Support for mimic joints, tendons, and mechanical transmissions.

- **Headless Mode:** Support unit testing with the simulation on CI/CD

- **High-Speed Simulation:** Includes a `sim_speed_factor` parameter to run simulations faster than real-time (e.g., 500% speed) while maintaining synchronization.

- **Keyframe & State Management:** Supports loading specific MuJoCo keyframes or overriding start positions from saved MuJoCo state files.

- **Mimic Joints & Tendons:** Specialized handling for robot grippers and complex mechanisms using MuJoCo tendons and equality constraints.

- **Developer Workflows:** Pre-configured Pixi for isolated, consistent development on Jazzy.

**Acknowledgements**  
This package was originally developed at **[NASA Johnson Space Center’s iMETRO facility](https://github.com/NASA-JSC-Robotics)** by Erik Holum, Nathan Dunkelberger, and their team. It has now moved to the **[ros-controls](https://github.com/ros-controls/)** organization for community maintenance.

A massive thanks to all the contributors involved in the process.

**Contributors:** Erik Holum, Sai Kishor Kothakota, Nathan Dunkelberger, Christoph Fröhlich, Sergi de las Muelas, Louis LE LAY, Misha Savchenko, Nikki Hart, Paul Gesel, Yassine Cherni, Ortisa and Julia

**GitHub:** [[https://github.com/ros-controls/mujoco\_ros2\_control](https://github.com/ros-controls/mujoco_ros2_control)]  
**Robot Simulation Videos:** [[https://www.youtube.com/watch?v=HEKbP9oxmTs\](https://www.youtube.com/watch?v=HEKbP9oxmTs%5C)]

This package will be available on Humble, Jazzy, Kilted, and Rolling distros