Classes
struct	AttachmentSpec

struct	CameraSpec

struct	Env

struct	ResetContext

struct	ResetInfo

struct	ResetOptions

struct	Robot

struct	RobotSpec

struct	SceneObject

struct	SceneSpec

struct	ToolFrameSpec

struct	VideoRecorder

struct	Viewer

Typedefs
using	ResetHook = std::function< void(ResetContext *)>

Enumerations
enum class	LogLevel { LogLevel::NONE = 0 , LogLevel::INFO = 1 , LogLevel::WARN = 2 , LogLevel::ERROR = 3 }

enum class	Shape { Shape::BOX , Shape::SPHERE , Shape::CYLINDER }

enum class	CtrlMode { CtrlMode::POSITION , CtrlMode::TORQUE }

enum class	VideoResolution { VideoResolution::R360p = 360 , VideoResolution::R480p = 480 , VideoResolution::R720p = 720 , VideoResolution::R1080p = 1080 , VideoResolution::R2K = 1440 , VideoResolution::R4K = 2160 }

Functions
void	set_log_level (LogLevel level)

LogLevel	get_log_level ()

bool	save_model_xml (const mjModel model, const char path)

bool	init_robot_from_mjcf (Robot r, mjModel model, mjData data, const char base_body, const char tip_body, const char prefix="", const ToolFrameSpec *tool=nullptr)

bool	attach_to_spec (mjSpec robot_spec, const AttachmentSpec a)

bool	build_scene (mjModel out_model, mjData out_data, const SceneSpec *spec)

void	destroy_scene (mjModel model, mjData data)

bool	init_env (Env env, const SceneSpec spec)

void	env_add_robot (Env env, Robot robot)

ResetInfo	reset (Env env, const ResetOptions options=nullptr)

bool	init_window (Viewer v, Robot r, const char *title="MuJoCo", int width=1280, int height=720)

bool	init_window_sim (Viewer v, Robot r, const char *title="MuJoCo")

void	cleanup (Robot *r)

void	cleanup (Env *env)

void	cleanup (Viewer *v)

bool	init_video_recorder (VideoRecorder vr, mjModel model, const char *out_path, int width=1280, int height=720, int fps=60)

bool	init_video_recorder (VideoRecorder vr, mjModel model, const char *out_path, VideoResolution resolution, int fps=60)

bool	record_frame (VideoRecorder vr, mjModel model, mjData *data)

void	cleanup (VideoRecorder *vr)

bool	step (Robot *s)

bool	step_n (Robot *s, int n)

bool	step (Viewer v, mjModel m, mjData *d)

bool	is_running (const Viewer *v)

bool	render (Viewer v, const Robot r)

bool	render (Viewer v, mjModel m, mjData *d)

void	update (Robot *r)

void	set_joint_pos (Robot *r, const KDL::JntArray &q, bool call_forward=true)

void	set_body_pose (mjModel model, mjData data, const char body_name, const double pos[3], const double quat=nullptr)

bool	scene_add_object (mjModel model, mjData data, SceneSpec *spec, const SceneObject &obj)

bool	scene_add_object (Env *env, const SceneObject &obj)

bool	scene_remove_object (mjModel model, mjData data, SceneSpec *spec, const std::string &name)

bool	scene_remove_object (Env *env, const std::string &name)

std::string	scene_object_site_name (const SceneObject &obj, const char *site_name)

bool	get_site_frame (const mjModel model, mjData data, const char site_name, KDL::Frame out)

bool	get_body_frame (const mjModel model, mjData data, const char body_name, KDL::Frame out)

std::vector< std::string >	get_camera_names (const mjModel *model)

bool	use_camera (Viewer v, const mjModel model, const char *name)

bool	use_camera (VideoRecorder vr, const mjModel model, const char *name)

void	add_skybox_to_spec (mjSpec *spec)

void	add_floor_to_spec (mjSpec *spec)

void	add_objects_to_spec (mjSpec *spec, const std::vector< SceneObject > &objects)

void	configure_spec (mjSpec spec, const SceneSpec sc)

bool	compile_and_make_data (mjSpec spec, mjModel out_model, mjData *out_data)

void	ensure_plugins_loaded ()

Variables
LogLevel	g_log_level = LogLevel::ERROR

Typedef Documentation

◆ ResetHook

using mj_kdl::ResetHook = typedef std::function<void(ResetContext *)>

Definition at line 305 of file mj_kdl_wrapper.hpp.

Function Documentation

◆ cleanup()

void mj_kdl::cleanup ( Env * env )

Destroy model/data owned by Env and clear borrowed Robot registrations. Registered Robot objects are not deleted.

◆ env_add_robot()

void mj_kdl::env_add_robot	(	Env *	env,
		Robot *	robot
	)

Register a Robot handle to be synchronised after environment reset. The robot is borrowed; the Env does not delete or clean it up.

Referenced by main(), main(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), and TEST_F().

◆ init_env()

bool mj_kdl::init_env	(	Env *	env,
		const SceneSpec *	spec
	)

Build a runtime environment from a declarative SceneSpec. The resulting model/data are owned by env and freed by cleanup(Env *).

◆ reset()

ResetInfo mj_kdl::reset	(	Env *	env,
		const ResetOptions *	options = `nullptr`
	)

Reset the whole environment to a keyframe/default state, call Env::on_reset for user-specific robot/object/task restoration, then sync all registered Robot command ports and clear stale robot forces.

Referenced by main(), main(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), and TEST_F().

Classes

Typedefs

Enumerations

Functions