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Visualize virtual gantry in MuJoCo viewer#7

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lgulich merged 10 commits intoimpedence-control-supportfrom
lgulich/virtual-gantry-visualization-styling
May 4, 2026
Merged

Visualize virtual gantry in MuJoCo viewer#7
lgulich merged 10 commits intoimpedence-control-supportfrom
lgulich/virtual-gantry-visualization-styling

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@lgulich lgulich commented May 2, 2026 •
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Summary

  • Add MuJoCo viewer visualization hooks for plugin-provided decoration geoms.
  • Draw the virtual gantry as a lightweight rope/capsule plus a small red anchor marker when enabled.
  • Cover enabled, disabled, uncaptured, and max-geom behavior with plugin visualization tests.

@lgulich lgulich self-assigned this May 3, 2026
@lgulich lgulich requested a review from eraimondi-jpg May 3, 2026 10:47
eraimondi-jpg
eraimondi-jpg reviewed May 4, 2026
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Comment thread mujoco_ros2_control/src/mujoco_system_interface.cpp
Comment thread mujoco_ros2_control/CMakeLists.txt Outdated
Comment thread mujoco_ros2_control_plugins/test/test_plugin_visualization.cpp Outdated
Comment thread mujoco_ros2_control/CMakeLists.txt Outdated
eraimondi-jpg
eraimondi-jpg reviewed May 4, 2026
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Comment thread mujoco_ros2_control_plugins/src/virtual_gantry_plugin.cpp Outdated
@lgulich lgulich merged commit 9f3d58e into impedence-control-support May 4, 2026
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