The MujocoPhysicsWorld class encapsulates the whole physics simulation and the corresponding data. More...

#include <ArmarXSimulation/components/Simulator/MujocoPhysicsWorld.h>

Inheritance diagram for MujocoPhysicsWorld:

Public Member Functions
virtual void	actuateRobotJoints (const std::string &robotName, const std::map< std::string, float > &angles, const std::map< std::string, float > &velocities) override

virtual void	actuateRobotJointsPos (const std::string &robotName, const std::map< std::string, float > &angles) override

virtual void	actuateRobotJointsTorque (const std::string &robotName, const std::map< std::string, float > &torques) override

virtual void	actuateRobotJointsVel (const std::string &robotName, const std::map< std::string, float > &velocities) override

virtual void	applyForceObject (const std::string &objectName, const Eigen::Vector3f &force) override

virtual void	applyForceRobotNode (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &force) override

virtual void	applyTorqueObject (const std::string &objectName, const Eigen::Vector3f &torque) override

virtual void	applyTorqueRobotNode (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &torque) override

virtual std::vector< SimDynamics::DynamicsEngine::DynamicsContactInfo >	copyContacts () override

virtual DistanceInfo	getDistance (const std::string &robotName, const std::string &robotNodeName, const std::string &worldObjectName) override

virtual int	getFixedTimeStepMS () override

virtual Eigen::Matrix4f	getObjectPose (const std::string &objectName) override

virtual std::vector< VirtualRobot::SceneObjectPtr >	getObjects () override

virtual std::vector< std::string >	getObstacleNames () override

virtual VirtualRobot::RobotPtr	getRobot (const std::string &robotName) override

virtual Eigen::Vector3f	getRobotAngularVelocity (const std::string &robotName, const std::string &nodeName) override

virtual ForceTorqueDataSeq	getRobotForceTorqueSensors (const std::string &robotName) override

virtual float	getRobotJointAngle (const std::string &robotName, const std::string &nodeName) override

virtual std::map< std::string, float >	getRobotJointAngles (const std::string &robotName) override

virtual float	getRobotJointLimitHi (const std::string &robotName, const std::string &nodeName) override

virtual float	getRobotJointLimitLo (const std::string &robotName, const std::string &nodeName) override

virtual std::map< std::string, float >	getRobotJointTorques (const std::string &robotName) override

virtual std::map< std::string, float >	getRobotJointVelocities (const std::string &robotName) override

virtual float	getRobotJointVelocity (const std::string &robotName, const std::string &nodeName) override

virtual Eigen::Vector3f	getRobotLinearVelocity (const std::string &robotName, const std::string &nodeName) override

virtual float	getRobotMass (const std::string &robotName) override

virtual float	getRobotMaxTorque (const std::string &robotName, const std::string &nodeName) override

virtual std::vector< std::string >	getRobotNames () override

virtual DistanceInfo	getRobotNodeDistance (const std::string &robotName, const std::string &robotNodeName1, const std::string &robotNodeName2) override

virtual Eigen::Matrix4f	getRobotNodePose (const std::string &robotName, const std::string &robotNodeName) override

virtual Eigen::Matrix4f	getRobotPose (const std::string &robotName) override

virtual std::map< std::string, VirtualRobot::RobotPtr >	getRobots () override

virtual bool	hasObject (const std::string &instanceName) override

virtual bool	hasRobot (const std::string &robotName) override

virtual bool	hasRobotNode (const std::string &robotName, const std::string &robotNodeName) override

void	initialize (int stepTimeMs, bool floorEnabled, const std::string &floorTexture)
	Initialize `*this`. More...

	MujocoPhysicsWorld ()

virtual void	setObjectPose (const std::string &objectName, const Eigen::Matrix4f &globalPose) override

virtual void	setObjectSimType (const std::string &objectName, VirtualRobot::SceneObject::Physics::SimulationType simType) override

virtual void	setRobotAngularVelocity (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &vel) override

virtual void	setRobotAngularVelocityRobotRootFrame (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &vel) override

virtual void	setRobotLinearVelocity (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &vel) override

virtual void	setRobotLinearVelocityRobotRootFrame (const std::string &robotName, const std::string &robotNodeName, const Eigen::Vector3f &vel) override

virtual void	setRobotMaxTorque (const std::string &robotName, const std::string &nodeName, float maxTorque) override

virtual void	setRobotNodeSimType (const std::string &robotName, const std::string &robotNodeName, VirtualRobot::SceneObject::Physics::SimulationType simType) override

virtual void	setRobotPose (const std::string &robotName, const Eigen::Matrix4f &globalPose) override

virtual void	stepPhysicsFixedTimeStep () override
	Perform one simulation step. More...

virtual void	stepPhysicsRealTime () override
	Perform one simulation step. More...

virtual FramedPosePtr	toFramedPose (const Eigen::Matrix4f &globalPose, const std::string &robotName, const std::string &frameName) override
	toFramedPose Constructs a framed pose More...

virtual	~MujocoPhysicsWorld () override=default

Public Member Functions inherited from SimulatedWorld
virtual void	activateObject (const std::string &objectName)

virtual VirtualRobot::RobotPtr	adaptRobotToWorld (VirtualRobot::RobotPtr)

virtual bool	addObstacle (const std::string &filename, const Eigen::Matrix4f &pose=Eigen::Matrix4f::Identity(), VirtualRobot::SceneObject::Physics::SimulationType simType=VirtualRobot::SceneObject::Physics::eUnknown, const std::string &localFilename="")
	Load and add an Obstacle (VirtualRobot xml file). More...

virtual bool	addObstacle (VirtualRobot::SceneObjectPtr o, VirtualRobot::SceneObject::Physics::SimulationType simType=VirtualRobot::SceneObject::Physics::eUnknown, const std::string &filename="", const std::string &objectClassName="", ObjectVisuPrimitivePtr primitiveData={}, const std::string &project="")

virtual bool	addRobot (std::string &robotInstanceName, const std::string &filename, Eigen::Matrix4f pose=Eigen::Matrix4f::Identity(), const std::string &filenameLocal="", double pid_p=10.0, double pid_i=0, double pid_d=0, bool staticRobot=false, float scaling=1.0f, bool colModel=false, const std::map< std::string, float > &initConfig={}, bool selfCollisions=false)
	Load and add a robot. More...

virtual bool	addRobot (VirtualRobot::RobotPtr robot, double pid_p, double pid_i, double pid_d, const std::string &filename, bool staticRobot=false, float scaling=1.0f, bool colModel=false, bool selfCollisions=false)

virtual bool	addScene (const std::string &filename, VirtualRobot::SceneObject::Physics::SimulationType simType=VirtualRobot::SceneObject::Physics::eUnknown)
	Load and add an Scene (VirtualRobot xml file). More...

virtual bool	addScene (VirtualRobot::ScenePtr scene, VirtualRobot::SceneObject::Physics::SimulationType simType=VirtualRobot::SceneObject::Physics::eUnknown)

virtual SimulatedWorldData	copyReportData ()

virtual SceneVisuData	copySceneVisuData ()
	copySceneVisuData Creates a copy of the visualization data More...

virtual void	enableLogging (const std::string &robotName, const std::string &logFile)

virtual double	getCurrentSimTime ()

virtual int	getObjectCount ()

virtual SimulatedWorldData &	getReportData ()

virtual int	getRobotJointAngleCount ()

virtual ScopedRecursiveLockPtr	getScopedEngineLock (const std::string &callStr)

virtual ScopedRecursiveLockPtr	getScopedSyncLock (const std::string &callStr)

virtual float	getSimTime ()

virtual float	getSimulationStepDuration ()
	getSimulationStepDuration More...

virtual float	getSimulationStepTimeMeasured ()
	getSimulationStepTimeMeasured More...

virtual float	getSyncEngineTime ()

virtual void	objectGrasped (const std::string &robotName, const std::string &robotNodeName, const std::string &objectName)
	create a joint More...

virtual void	objectReleased (const std::string &robotName, const std::string &robotNodeName, const std::string &objectName)
	remove a joint More...

virtual bool	removeObstacle (const std::string &name)

virtual bool	removeObstacles ()

virtual bool	removeRobot (const std::string &robotName)

virtual bool	removeRobots ()

virtual bool	resetData ()
	resetData Clears all data More...

virtual void	resetSimTime ()

virtual void	setupFloor (bool enable, const std::string &floorTexture)

	SimulatedWorld ()

virtual bool	synchronizeSimulationData ()
	synchronizeSimulationData Update the sim data according to the internal physics models. More...

virtual void	updateContacts (bool enable)

virtual	~SimulatedWorld () override=default

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Protected Member Functions
virtual bool	addObstacleEngine (VirtualRobot::SceneObjectPtr o, VirtualRobot::SceneObject::Physics::SimulationType simType) override

virtual bool	addRobotEngine (VirtualRobot::RobotPtr robot, double pid_p, double pid_i, double pid_d, const std::string &filename, bool staticRobot, bool selfCollisions) override

virtual int	getContactCount () override

virtual VirtualRobot::SceneObjectPtr	getFloor () override

virtual bool	getRobotStatus (const std::string &robotName, NameValueMap &jointAngles, NameValueMap &jointVelocities, NameValueMap &jointTorques, Eigen::Vector3f &linearVelocity, Eigen::Vector3f &angularVelocity) override

virtual bool	objectGraspedEngine (const std::string &robotName, const std::string &robotNodeName, const std::string &objectName, Eigen::Matrix4f &storeLocalTransform) override
	create a joint More...

virtual bool	objectReleasedEngine (const std::string &robotName, const std::string &robotNodeName, const std::string &objectName) override
	remove a joint More...

virtual void	onLoadModel (mujoco::Model &model) override
	Sets time step and fetches entity IDs. More...

virtual void	onMakeData (mujoco::Model &model, mujoco::Data &data) override

virtual bool	removeObstacleEngine (const std::string &name) override

virtual bool	removeRobotEngine (const std::string &robotName) override

virtual void	setupFloorEngine (bool enable, const std::string &floorTexture) override

virtual bool	synchronizeObjects () override

virtual bool	synchronizeRobotNodePoses (const std::string &robotName, std::map< std::string, PoseBasePtr > &objMap) override

virtual bool	synchronizeSceneObjectPoses (VirtualRobot::SceneObjectPtr currentObjEngine, std::map< std::string, PoseBasePtr > &objMap) override

virtual bool	synchronizeSimulationDataEngine () override
	According to other SimulatedWorlds, this method's only job is to update contacts. More...

virtual bool	updateForceTorqueSensor (ForceTorqueInfo &ftInfo) override

Protected Member Functions inherited from SimulatedWorld
virtual bool	synchronizeRobotNodePoses (const std::string &robotName, std::map< std::string, armarx::PoseBasePtr > &objMap)=0

virtual bool	synchronizeRobots ()

virtual bool	synchronizeSceneObjectPoses (VirtualRobot::SceneObjectPtr currentObjEngine, std::map< std::string, armarx::PoseBasePtr > &objMap)=0

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Additional Inherited Members
Public Types inherited from SimulatedWorld
using	MutexPtrType = typename argType< setMutexFunc >::type

using	MutexType = MutexPtrType::element_type

using	ScopedRecursiveLock = std::scoped_lock< MutexType >

using	ScopedRecursiveLockPtr = std::shared_ptr< ScopedRecursiveLock >

using	setMutexFunc = decltype(&SimDynamics::DynamicsEngine::setMutex)

Protected Attributes inherited from SimulatedWorld
std::vector< GraspingInfo >	attachedObjects

bool	collectContacts

double	currentSimTimeSec = 0.0

double	currentSyncTimeSec = 0.0

std::map< std::string, int >	engineMtxAccCalls

std::map< std::string, float >	engineMtxAccTime

std::map< std::string, IceUtil::Time >	engineMtxLastTime

MutexPtrType	engineMutex

float	maxRealTimeSimSpeed = 1

SimulatedWorldData	simReportData

float	simStepExecutionDurationMS

float	simTimeStepMS

SceneVisuData	simVisuData

float	synchronizeDurationMS

MutexPtrType	synchronizeMutex

std::map< std::string, int >	syncMtxAccCalls

std::map< std::string, float >	syncMtxAccTime

std::map< std::string, IceUtil::Time >	syncMtxLastTime

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

The MujocoPhysicsWorld class encapsulates the whole physics simulation and the corresponding data.

Definition at line 47 of file MujocoPhysicsWorld.h.

Constructor & Destructor Documentation

◆ MujocoPhysicsWorld()

MujocoPhysicsWorld ( )

◆ ~MujocoPhysicsWorld()

virtual ~MujocoPhysicsWorld ( )

overridevirtualdefault

Member Function Documentation

◆ actuateRobotJoints()

virtual void actuateRobotJoints	(	const std::string &	robotName,
		const std::map< std::string, float > &	angles,
		const std::map< std::string, float > &	velocities
	)

overridevirtual

Implements SimulatedWorld.

◆ actuateRobotJointsPos()

virtual void actuateRobotJointsPos	(	const std::string &	robotName,
		const std::map< std::string, float > &	angles
	)

overridevirtual

Implements SimulatedWorld.

◆ actuateRobotJointsTorque()

virtual void actuateRobotJointsTorque	(	const std::string &	robotName,
		const std::map< std::string, float > &	torques
	)

overridevirtual

Implements SimulatedWorld.

◆ actuateRobotJointsVel()

virtual void actuateRobotJointsVel	(	const std::string &	robotName,
		const std::map< std::string, float > &	velocities
	)

overridevirtual

Implements SimulatedWorld.

◆ addObstacleEngine()

virtual bool addObstacleEngine	(	VirtualRobot::SceneObjectPtr	o,
		VirtualRobot::SceneObject::Physics::SimulationType	simType
	)

overrideprotectedvirtual

Implements SimulatedWorld.

◆ addRobotEngine()

virtual bool addRobotEngine	(	VirtualRobot::RobotPtr	robot,
		double	pid_p,
		double	pid_i,
		double	pid_d,
		const std::string &	filename,
		bool	staticRobot,
		bool	selfCollisions
	)

overrideprotectedvirtual

Implements SimulatedWorld.

◆ applyForceObject()

virtual void applyForceObject	(	const std::string &	objectName,
		const Eigen::Vector3f &	force
	)

overridevirtual

Implements SimulatedWorld.

◆ applyForceRobotNode()

virtual void applyForceRobotNode	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Eigen::Vector3f &	force
	)

overridevirtual

Implements SimulatedWorld.

◆ applyTorqueObject()

virtual void applyTorqueObject	(	const std::string &	objectName,
		const Eigen::Vector3f &	torque
	)

overridevirtual

Implements SimulatedWorld.

◆ applyTorqueRobotNode()

virtual void applyTorqueRobotNode	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Eigen::Vector3f &	torque
	)

overridevirtual

Implements SimulatedWorld.

◆ copyContacts()

virtual std::vector<SimDynamics::DynamicsEngine::DynamicsContactInfo> copyContacts ( )

overridevirtual

Implements SimulatedWorld.

◆ getContactCount()

virtual int getContactCount ( )

overrideprotectedvirtual

Reimplemented from SimulatedWorld.

◆ getDistance()

virtual DistanceInfo getDistance	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const std::string &	worldObjectName
	)

overridevirtual

Implements SimulatedWorld.

◆ getFixedTimeStepMS()

virtual int getFixedTimeStepMS ( )

overridevirtual

Returns: The number of steps * the timestep in MS

Implements SimulatedWorld.

◆ getFloor()

virtual VirtualRobot::SceneObjectPtr getFloor ( )

overrideprotectedvirtual

Implements SimulatedWorld.

◆ getObjectPose()

virtual Eigen::Matrix4f getObjectPose ( const std::string & objectName )

overridevirtual

Implements SimulatedWorld.

◆ getObjects()

virtual std::vector<VirtualRobot::SceneObjectPtr> getObjects ( )

overridevirtual

Implements SimulatedWorld.

◆ getObstacleNames()

virtual std::vector<std::string> getObstacleNames ( )

overridevirtual

Implements SimulatedWorld.

◆ getRobot()

virtual VirtualRobot::RobotPtr getRobot ( const std::string & robotName )

overridevirtual

Implements SimulatedWorld.

◆ getRobotAngularVelocity()

virtual Eigen::Vector3f getRobotAngularVelocity	(	const std::string &	robotName,
		const std::string &	nodeName
	)

overridevirtual

Implements SimulatedWorld.

◆ getRobotForceTorqueSensors()

virtual ForceTorqueDataSeq getRobotForceTorqueSensors ( const std::string & robotName )

overridevirtual

Implements SimulatedWorld.

◆ getRobotJointAngle()

virtual float getRobotJointAngle	(	const std::string &	robotName,
		const std::string &	nodeName
	)

overridevirtual

Implements SimulatedWorld.

◆ getRobotJointAngles()

virtual std::map<std::string, float> getRobotJointAngles ( const std::string & robotName )

overridevirtual

Implements SimulatedWorld.

◆ getRobotJointLimitHi()

virtual float getRobotJointLimitHi	(	const std::string &	robotName,
		const std::string &	nodeName
	)

overridevirtual

Implements SimulatedWorld.

◆ getRobotJointLimitLo()

virtual float getRobotJointLimitLo	(	const std::string &	robotName,
		const std::string &	nodeName
	)

overridevirtual

Implements SimulatedWorld.

◆ getRobotJointTorques()

virtual std::map<std::string, float> getRobotJointTorques ( const std::string & robotName )

overridevirtual

Implements SimulatedWorld.

◆ getRobotJointVelocities()

virtual std::map<std::string, float> getRobotJointVelocities ( const std::string & robotName )

overridevirtual

Implements SimulatedWorld.

◆ getRobotJointVelocity()

virtual float getRobotJointVelocity	(	const std::string &	robotName,
		const std::string &	nodeName
	)

overridevirtual

Implements SimulatedWorld.

◆ getRobotLinearVelocity()

virtual Eigen::Vector3f getRobotLinearVelocity	(	const std::string &	robotName,
		const std::string &	nodeName
	)

overridevirtual

Implements SimulatedWorld.

◆ getRobotMass()

virtual float getRobotMass ( const std::string & robotName )

overridevirtual

Implements SimulatedWorld.

◆ getRobotMaxTorque()

virtual float getRobotMaxTorque	(	const std::string &	robotName,
		const std::string &	nodeName
	)

overridevirtual

Implements SimulatedWorld.

◆ getRobotNames()

virtual std::vector<std::string> getRobotNames ( )

overridevirtual

Implements SimulatedWorld.

◆ getRobotNodeDistance()

virtual DistanceInfo getRobotNodeDistance	(	const std::string &	robotName,
		const std::string &	robotNodeName1,
		const std::string &	robotNodeName2
	)

overridevirtual

Implements SimulatedWorld.

◆ getRobotNodePose()

virtual Eigen::Matrix4f getRobotNodePose	(	const std::string &	robotName,
		const std::string &	robotNodeName
	)

overridevirtual

Implements SimulatedWorld.

◆ getRobotPose()

virtual Eigen::Matrix4f getRobotPose ( const std::string & robotName )

overridevirtual

Implements SimulatedWorld.

◆ getRobots()

virtual std::map<std::string, VirtualRobot::RobotPtr> getRobots ( )

overridevirtual

Implements SimulatedWorld.

◆ getRobotStatus()

virtual bool getRobotStatus	(	const std::string &	robotName,
		NameValueMap &	jointAngles,
		NameValueMap &	jointVelocities,
		NameValueMap &	jointTorques,
		Eigen::Vector3f &	linearVelocity,
		Eigen::Vector3f &	angularVelocity
	)

overrideprotectedvirtual

Implements SimulatedWorld.

◆ hasObject()

virtual bool hasObject ( const std::string & instanceName )

overridevirtual

Implements SimulatedWorld.

◆ hasRobot()

virtual bool hasRobot ( const std::string & robotName )

overridevirtual

Implements SimulatedWorld.

◆ hasRobotNode()

virtual bool hasRobotNode	(	const std::string &	robotName,
		const std::string &	robotNodeName
	)

overridevirtual

Implements SimulatedWorld.

◆ initialize()

void initialize	(	int	stepTimeMs,
		bool	floorEnabled,
		const std::string &	floorTexture
	)

Initialize *this.

To be called after construction.

Sets up simulation model document and requests a reload.

Parameters

stepTimeMs	The step time in ms.
floorEnabled	Whether to add a floor.
floorTexture	The floor texture file.

◆ objectGraspedEngine()

virtual bool objectGraspedEngine	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const std::string &	objectName,
		Eigen::Matrix4f &	storeLocalTransform
	)

overrideprotectedvirtual

create a joint

Implements SimulatedWorld.

◆ objectReleasedEngine()

virtual bool objectReleasedEngine	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const std::string &	objectName
	)

overrideprotectedvirtual

remove a joint

Implements SimulatedWorld.

◆ onLoadModel()

virtual void onLoadModel ( mujoco::Model & model )

overrideprotectedvirtual

Sets time step and fetches entity IDs.

◆ onMakeData()

virtual void onMakeData	(	mujoco::Model &	model,
		mujoco::Data &	data
	)

overrideprotectedvirtual

◆ removeObstacleEngine()

virtual bool removeObstacleEngine ( const std::string & name )

overrideprotectedvirtual

Implements SimulatedWorld.

◆ removeRobotEngine()

virtual bool removeRobotEngine ( const std::string & robotName )

overrideprotectedvirtual

Implements SimulatedWorld.

◆ setObjectPose()

virtual void setObjectPose	(	const std::string &	objectName,
		const Eigen::Matrix4f &	globalPose
	)

overridevirtual

Implements SimulatedWorld.

◆ setObjectSimType()

virtual void setObjectSimType	(	const std::string &	objectName,
		VirtualRobot::SceneObject::Physics::SimulationType	simType
	)

overridevirtual

Implements SimulatedWorld.

◆ setRobotAngularVelocity()

virtual void setRobotAngularVelocity	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Eigen::Vector3f &	vel
	)

overridevirtual

Implements SimulatedWorld.

◆ setRobotAngularVelocityRobotRootFrame()

virtual void setRobotAngularVelocityRobotRootFrame	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Eigen::Vector3f &	vel
	)

overridevirtual

Implements SimulatedWorld.

◆ setRobotLinearVelocity()

virtual void setRobotLinearVelocity	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Eigen::Vector3f &	vel
	)

overridevirtual

Implements SimulatedWorld.

◆ setRobotLinearVelocityRobotRootFrame()

virtual void setRobotLinearVelocityRobotRootFrame	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		const Eigen::Vector3f &	vel
	)

overridevirtual

Implements SimulatedWorld.

◆ setRobotMaxTorque()

virtual void setRobotMaxTorque	(	const std::string &	robotName,
		const std::string &	nodeName,
		float	maxTorque
	)

overridevirtual

Implements SimulatedWorld.

◆ setRobotNodeSimType()

virtual void setRobotNodeSimType	(	const std::string &	robotName,
		const std::string &	robotNodeName,
		VirtualRobot::SceneObject::Physics::SimulationType	simType
	)

overridevirtual

Implements SimulatedWorld.

◆ setRobotPose()

virtual void setRobotPose	(	const std::string &	robotName,
		const Eigen::Matrix4f &	globalPose
	)

overridevirtual

Implements SimulatedWorld.

◆ setupFloorEngine()

virtual void setupFloorEngine	(	bool	enable,
		const std::string &	floorTexture
	)

overrideprotectedvirtual

Implements SimulatedWorld.

◆ stepPhysicsFixedTimeStep()

virtual void stepPhysicsFixedTimeStep ( )

overridevirtual

Perform one simulation step.

This updates all models.

Implements SimulatedWorld.

◆ stepPhysicsRealTime()

virtual void stepPhysicsRealTime ( )

overridevirtual

Perform one simulation step.

Calculates the delta update time from the time that has passed since the last call. This updates all models.

Implements SimulatedWorld.

◆ synchronizeObjects()

virtual bool synchronizeObjects ( )

overrideprotectedvirtual

Implements SimulatedWorld.

◆ synchronizeRobotNodePoses()

virtual bool synchronizeRobotNodePoses	(	const std::string &	robotName,
		std::map< std::string, PoseBasePtr > &	objMap
	)

overrideprotectedvirtual

◆ synchronizeSceneObjectPoses()

virtual bool synchronizeSceneObjectPoses	(	VirtualRobot::SceneObjectPtr	currentObjEngine,
		std::map< std::string, PoseBasePtr > &	objMap
	)

overrideprotectedvirtual

◆ synchronizeSimulationDataEngine()

virtual bool synchronizeSimulationDataEngine ( )

overrideprotectedvirtual

According to other SimulatedWorlds, this method's only job is to update contacts.

Implements SimulatedWorld.

◆ toFramedPose()

virtual FramedPosePtr toFramedPose	(	const Eigen::Matrix4f &	globalPose,
		const std::string &	robotName,
		const std::string &	frameName
	)

overridevirtual

toFramedPose Constructs a framed pose

Parameters

globalPose
robotName
frameName

Returns

Implements SimulatedWorld.

◆ updateForceTorqueSensor()

virtual bool updateForceTorqueSensor ( ForceTorqueInfo & ftInfo )

overrideprotectedvirtual

Implements SimulatedWorld.

The documentation for this class was generated from the following file:

ArmarXSimulation/components/Simulator/MujocoPhysicsWorld.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MujocoPhysicsWorld()

◆ ~MujocoPhysicsWorld()

Member Function Documentation

◆ actuateRobotJoints()

◆ actuateRobotJointsPos()

◆ actuateRobotJointsTorque()

◆ actuateRobotJointsVel()

◆ addObstacleEngine()

◆ addRobotEngine()

◆ applyForceObject()

◆ applyForceRobotNode()

◆ applyTorqueObject()

◆ applyTorqueRobotNode()

◆ copyContacts()

◆ getContactCount()

◆ getDistance()

◆ getFixedTimeStepMS()

◆ getFloor()

◆ getObjectPose()

◆ getObjects()

◆ getObstacleNames()

◆ getRobot()

◆ getRobotAngularVelocity()

◆ getRobotForceTorqueSensors()

◆ getRobotJointAngle()

◆ getRobotJointAngles()

◆ getRobotJointLimitHi()

◆ getRobotJointLimitLo()

◆ getRobotJointTorques()

◆ getRobotJointVelocities()

◆ getRobotJointVelocity()

◆ getRobotLinearVelocity()

◆ getRobotMass()

◆ getRobotMaxTorque()

◆ getRobotNames()

◆ getRobotNodeDistance()

◆ getRobotNodePose()

◆ getRobotPose()

◆ getRobots()

◆ getRobotStatus()

◆ hasObject()

◆ hasRobot()

◆ hasRobotNode()

◆ initialize()

◆ objectGraspedEngine()

◆ objectReleasedEngine()

◆ onLoadModel()

◆ onMakeData()

◆ removeObstacleEngine()

◆ removeRobotEngine()

◆ setObjectPose()

◆ setObjectSimType()

◆ setRobotAngularVelocity()

◆ setRobotAngularVelocityRobotRootFrame()

◆ setRobotLinearVelocity()

◆ setRobotLinearVelocityRobotRootFrame()

◆ setRobotMaxTorque()

◆ setRobotNodeSimType()

◆ setRobotPose()

◆ setupFloorEngine()

◆ stepPhysicsFixedTimeStep()

◆ stepPhysicsRealTime()

◆ synchronizeObjects()

◆ synchronizeRobotNodePoses()

◆ synchronizeSceneObjectPoses()

◆ synchronizeSimulationDataEngine()

◆ toFramedPose()

◆ updateForceTorqueSensor()