armarx::SimulatorInterface

Overview

interface SimulatorInterface extends TimeServerInterface

Operation Index

actuateRobotJoints

actuateRobotJointsVel

actuateRobotJointsPos

actuateRobotJointsTorque

setRobotPose

applyForceRobotNode

applyTorqueRobotNode

applyForceObject

applyTorqueObject

addRobot

addScaledRobot

addScaledRobotName

removeRobot

addObject

addRobotFromFile

addObjectFromFile

addBox

removeObject

hasObject

setObjectPose

setObjectSimulationType

activateObject

getRobotNames

hasRobot

hasRobotNode

getRobotMass

getRobotJointAngles

getRobotJointAngle

getRobotJointVelocities

getRobotJointTorques

getRobotForceTorqueSensors

getRobotJointVelocity

getRobotJointLimitLo

getRobotJointLimitHi

getRobotMaxTorque

setRobotMaxTorque

getRobotState

getRobotPose

getRobotNodePose

getRobotLinearVelocity

getRobotAngularVelocity

setRobotLinearVelocity

setRobotAngularVelocity

setRobotLinearVelocityRobotRootFrame

setRobotAngularVelocityRobotRootFrame

objectGrasped

objectReleased

getObjectPose

getDistance

getRobotNodeDistance

showContacts

getContacts

updateContacts

getObjectClassPoses

getScene

getFixedTimeStepMS

getSimTime

getSimulatorInformation

pause

isRunning

reInitialize

Operations

void actuateRobotJoints(string robotName, NameValueMap angles, NameValueMap velocities)

void actuateRobotJointsVel(string robotName, NameValueMap velocities)

void actuateRobotJointsPos(string robotName, NameValueMap angles)

void actuateRobotJointsTorque(string robotName, NameValueMap torques)

void setRobotPose(string robotName, PoseBase globalPose)

void applyForceRobotNode(string robotName, string robotNodeName, Vector3Base force)

void applyTorqueRobotNode(string robotName, string robotNodeName, Vector3Base torque)

void applyForceObject(string objectName, Vector3Base force)

void applyTorqueObject(string objectName, Vector3Base torque)

string addRobot(string filename)

string addScaledRobot(string filename, float scale)

string addScaledRobotName(string instanceName, string filename, float scale)

bool removeRobot(string robotName)

void addObject(::memoryx::ObjectClassBase objectClassBase, string instanceName, PoseBase globalPose, bool isStatic)

string addRobotFromFile(data::PackagePath packagePath)

void addObjectFromFile(data::PackagePath packagePath, string instanceName, PoseBase globalPose, bool isStatic)

void addBox(float width, float height, float depth, float massKG, DrawColor color, string instanceName, PoseBase globalPose, bool isStatic)

void removeObject(string instanceName)

bool hasObject(string instanceName)

void setObjectPose(string objectName, PoseBase globalPose)

void setObjectSimulationType(string objectName, SimulationType type)

void activateObject(string objectName)

::Ice::StringSeq getRobotNames()

bool hasRobot(string robotName)

bool hasRobotNode(string robotName, string robotNodeName)

float getRobotMass(string robotName)

NameValueMap getRobotJointAngles(string robotName)

float getRobotJointAngle(string robotName, string nodeName)

NameValueMap getRobotJointVelocities(string robotName)

NameValueMap getRobotJointTorques(string robotName)

ForceTorqueDataSeq getRobotForceTorqueSensors(string robotName)

float getRobotJointVelocity(string robot, string nodeName)

float getRobotJointLimitLo(string robot, string nodeName)

float getRobotJointLimitHi(string robot, string nodeName)

float getRobotMaxTorque(string robotName, string nodeName)

void setRobotMaxTorque(string robotName, string nodeName, float maxTorque)

SimulatedRobotState getRobotState(string robotName)

PoseBase getRobotPose(string robotName)

PoseBase getRobotNodePose(string robotName, string robotNodeName)

Vector3Base getRobotLinearVelocity(string robotName, string nodeName)

Vector3Base getRobotAngularVelocity(string robotName, string nodeName)

void setRobotLinearVelocity(string robotName, string nodeName, Vector3Base vel)

void setRobotAngularVelocity(string robotName, string nodeName, Vector3Base vel)

void setRobotLinearVelocityRobotRootFrame(string robotName, string nodeName, Vector3Base vel)

void setRobotAngularVelocityRobotRootFrame(string robotName, string nodeName, Vector3Base vel)

void objectGrasped(string robotName, string robotNodeName, string objectName)

void objectReleased(string robotName, string robotNodeName, string objectName)

PoseBase getObjectPose(string objectName)

DistanceInfo getDistance(string robotName, string robotNodeName, string worldObjectName)

DistanceInfo getRobotNodeDistance(string robotName, string robotNodeName1, string robotNodeName2)

void showContacts(bool enable, string layerName)

ContactInfoSequence getContacts()

void updateContacts(bool enable)

ObjectClassInformationSequence getObjectClassPoses(string robotName, string frameName, string className)

SceneVisuData getScene()

int getFixedTimeStepMS()

float getSimTime()

SimulatorInformation getSimulatorInformation()

void pause()

bool isRunning()

void reInitialize()