David Leins

The standard in MuJoCo is defined [here](https://mujoco.readthedocs.io/en/stable/programming/simulation.html#data-layout-and-buffer-allocation) ``` To represent 3D orientations and rotations, MuJoCo uses unit quaternions - namely 4D unit vectors arranged as q = (w, x, y,...

Depends on where the lists of plugin names is configured. The idea was not to cause too much overhead to enable/disable rendering plugin output and keep configurations as genericly applicable...

@balandbal, this is what I came up with based on our discussion. Could you take a look and tell me what you think? I'd also appreciate your take on the...

> > * Sensors used in compound sensors are not separately published > > I'd say this is reasonable behaviour. I don't remember a case when I needed the components...

Thanks for the suggestion! When I implemented the sensors this was bothering me, too. I see no issues with your implementation, however, maybe it makes sense to go even one...

> In any case, if I understood correctly, you suggest registering only the combined sensor (and not the single sensors of which it consists) and publishing the values for the...

> @DavidPL1, you mentioned a segfault when introducing this, right? I didn't observe anything so far. I only had a naive implementation and probably had a stupid mistake that I...

To make this PR compatible with rebasing newer changes into it and later cleanly rebasing it into the main branch, I had to fix the history of your PR branch...

You can take a look at https://github.com/ubi-agni/franka_ros_mujoco as an example. There are 3 things you have to consider: 1. you have to load a URDF into ROS 2. the joint...

Could you please share the model file, plugin configuration and other necessary ROS packages to run your setup (e.g. robot description)?