feat: added support for MuJoCo 2.3.7

.github/workflows/ci.yaml

@@ -20,15 +20,15 @@ jobs:
       fail-fast: false
       matrix:
         distro: [noetic, one]
-        mujoco: [2.3.6]
+        mujoco: [2.3.7]
         include:
           - distro: noetic
-            mujoco: 2.3.6
+            mujoco: 2.3.7
             env:
               CATKIN_LINT: true
               CCOV: true
           - distro: one
-            mujoco: 2.3.6
+            mujoco: 2.3.7
             env:
               CLANG_TIDY: pedantic
 

README.md

@@ -18,15 +18,15 @@ CodeCov | [![codecov](https://codecov.io/gh/ubi-agni/mujoco_ros_pkgs/branch/noet
 
 
 # Build Instructions
-1. Make sure MuJoCo is installed (the current build uses version 2.3.6) and runs on your machine.
+1. Make sure MuJoCo is installed (the current build uses version 2.3.7) and runs on your machine.
 2. Create a new ROS workspace or include this repository into an existing workspace.
 3. Before building, make sure that your compiler knows where to find the MuJoCo library, e.g. by running
 ```bash
 export MUJOCO_DIR=PATH/TO/MUJOCO/DIR
 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$MUJOCO_DIR/lib
 export LIBRARY_PATH=$LIBRARY_PATH:$MUJOCO_DIR/lib
 ```
-where `PATH/TO/MUJOCO/DIR` is `~/.mujoco/mujoco-2.3.6` if you used the recommended location to install mujoco (if downloaded as tarball). If you built MuJoCo from source and the install path is known to catkin, you can skip this step.
+where `PATH/TO/MUJOCO/DIR` is `~/.mujoco/mujoco-2.3.7` if you used the recommended location to install mujoco (if downloaded as tarball). If you built MuJoCo from source and the install path is known to catkin, you can skip this step.
 
 4. Build with `catkin_build`, `catkin b` or `colcon build`.
 5. Source your workspace and try `roslaunch mujoco_ros launch_server.launch use_sim_time:=true` to test if it runs.

mujoco_ros/CHANGELOG.md

@@ -14,6 +14,8 @@
 * replaced `boost::shared_ptr` with `std::shared_ptr` or `std::unique_ptr` wherever possible (ROS 1 fast intra-process message-passing requires boost::shared_ptr).
 * replaced `shared_ptr` with `unique_ptr` wherever possible.
 * replaced smart pointer constructor initialization with `make_shared` or `make_unique` wherever possible.
+* Updated to MuJoCo library version 2.3.7.
+* * Added [jointactuatorfrc](https://mujoco.readthedocs.io/en/2.3.7/XMLreference.html#sensor-jointactuatorfrc) support in `mujoco_ros_sensors`.
 
 Contributors: @DavidPL1, @acodeodyssey
 
@@ -48,7 +50,7 @@ Contributors: @DavidPL1, @LeroyR, @rhaschke
 
 ### Added
 * Updated to MuJoCo library version 2.3.6.
-* Added a `step(num_steps=1, blocking=true)` public function./
+* Added a `step(num_steps=1, blocking=true)` public function.
 * Unit tests for plugin loading and resetting and running callbacks correctly.
 * Now automatically building with AVX instructions, if possible.
 * CMake tooling borrowed from deepminds MuJoCo repo and https://github.com/osjacky430/ros_pkg_template/.

mujoco_ros/CMakeLists.txt

@@ -58,7 +58,7 @@ configure_project_option(
 )
 
 # Find MuJoCo
-find_package(mujoco 2.3.6 REQUIRED)
+find_package(mujoco 2.3.7 REQUIRED)
 find_library(GLFW libglfw.so.3)
 
 # ###############################################

mujoco_ros_sensors/src/mujoco_sensor_handler_plugin.cpp

@@ -84,6 +84,7 @@ bool MujocoRosSensorsPlugin::load(const mjModel *model, mjData *data)
 	SENSOR_STRING[mjSENS_ACTUATORFRC]    = "actuatorfrc";
 	SENSOR_STRING[mjSENS_BALLQUAT]       = "ballquat";
 	SENSOR_STRING[mjSENS_BALLANGVEL]     = "ballangvel";
+	SENSOR_STRING[mjSENS_JOINTACTFRC]    = "jointactfrc";
 	SENSOR_STRING[mjSENS_JOINTLIMITPOS]  = "jointlimitpos";
 	SENSOR_STRING[mjSENS_JOINTLIMITVEL]  = "jointlimitvel";
 	SENSOR_STRING[mjSENS_JOINTLIMITFRC]  = "jointlimitfrc";
@@ -335,6 +336,7 @@ void MujocoRosSensorsPlugin::lastStageCallback(const mjModel *model, mjData *dat
 					case mjSENS_ACTUATORPOS:
 					case mjSENS_ACTUATORVEL:
 					case mjSENS_ACTUATORFRC:
+					case mjSENS_JOINTACTFRC:
 					case mjSENS_JOINTLIMITPOS:
 					case mjSENS_JOINTLIMITVEL:
 					case mjSENS_JOINTLIMITFRC:
@@ -572,6 +574,7 @@ void MujocoRosSensorsPlugin::initSensors(const mjModel *model, mjData *data)
 			case mjSENS_ACTUATORPOS:
 			case mjSENS_ACTUATORVEL:
 			case mjSENS_ACTUATORFRC:
+			case mjSENS_JOINTACTFRC:
 			case mjSENS_JOINTLIMITPOS:
 			case mjSENS_JOINTLIMITVEL:
 			case mjSENS_JOINTLIMITFRC: