Mujoco KDL Wrapper  0.1.0
MuJoCo + KDL bridge for robot kinematics and dynamics
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Public Attributes | List of all members
mj_kdl::Robot Struct Reference
Data Types

#include <mj_kdl_wrapper.hpp>

Public Attributes

mjModel * model = nullptr
 
mjData * data = nullptr
 
KDL::Chain chain
 
KDL::Frame tip_T_tcp = KDL::Frame::Identity()
 
bool has_tcp_frame = false
 
std::string tcp_site
 
int n_joints = 0
 
std::vector< std::string > joint_names
 
std::vector< std::pair< double, double > > joint_limits
 
CtrlMode ctrl_mode = CtrlMode::POSITION
 
bool paused = false
 
std::vector< double > jnt_pos_msr
 
std::vector< double > jnt_vel_msr
 
std::vector< double > jnt_trq_msr
 
std::vector< double > jnt_pos_cmd
 
std::vector< double > jnt_trq_cmd
 
std::vector< int > kdl_to_mj_qpos
 
std::vector< int > kdl_to_mj_dof
 
std::vector< int > kdl_to_mj_ctrl
 

Detailed Description

Runtime handle for one KDL-tracked articulation inside a MuJoCo scene. model/data are borrowed (never freed by cleanup()); call destroy_scene() separately.

Workflow:

  1. Call init_robot_from_mjcf() - populates configuration and sizes port vectors to n_joints.
  2. Each control step: read *_msr ports (updated by update()), fill *_cmd ports, call update() to apply commands to MuJoCo and read back sensor state.

Definition at line 181 of file mj_kdl_wrapper.hpp.

Member Data Documentation

◆ chain

KDL::Chain mj_kdl::Robot::chain

Definition at line 186 of file mj_kdl_wrapper.hpp.

Referenced by main(), main(), DualArmTest::SetUp(), MjcfLoadTest::SetUp(), MjcfGripperTest::SetUp(), MjcfPickTest::SetUp(), MjcfTrqCtrlTest::SetUp(), TableSceneTest::SetUp(), and TEST_F().

◆ ctrl_mode

CtrlMode mj_kdl::Robot::ctrl_mode = CtrlMode::POSITION

Definition at line 195 of file mj_kdl_wrapper.hpp.

Referenced by main(), main(), MjcfPickTest::reset_scene(), MjcfPosCtrlTest::SetUp(), and MjcfVelCtrlTest::SetUp().

◆ data

mjData* mj_kdl::Robot::data = nullptr

Definition at line 185 of file mj_kdl_wrapper.hpp.

Referenced by MjcfLoadTest::SetUp().

◆ has_tcp_frame

bool mj_kdl::Robot::has_tcp_frame = false

Definition at line 188 of file mj_kdl_wrapper.hpp.

◆ jnt_pos_cmd

std::vector<double> mj_kdl::Robot::jnt_pos_cmd

Definition at line 200 of file mj_kdl_wrapper.hpp.

Referenced by main(), MjcfPickTest::reset_scene(), MjcfPosCtrlTest::SetUp(), and MjcfVelCtrlTest::SetUp().

◆ jnt_pos_msr

std::vector<double> mj_kdl::Robot::jnt_pos_msr

Definition at line 197 of file mj_kdl_wrapper.hpp.

Referenced by main(), and MjcfPickTest::run_phase().

◆ jnt_trq_cmd

std::vector<double> mj_kdl::Robot::jnt_trq_cmd

Definition at line 201 of file mj_kdl_wrapper.hpp.

Referenced by main(), and MjcfPickTest::reset_scene().

◆ jnt_trq_msr

std::vector<double> mj_kdl::Robot::jnt_trq_msr

Definition at line 199 of file mj_kdl_wrapper.hpp.

◆ jnt_vel_msr

std::vector<double> mj_kdl::Robot::jnt_vel_msr

Definition at line 198 of file mj_kdl_wrapper.hpp.

Referenced by main().

◆ joint_limits

std::vector<std::pair<double, double> > mj_kdl::Robot::joint_limits

Definition at line 192 of file mj_kdl_wrapper.hpp.

◆ joint_names

std::vector<std::string> mj_kdl::Robot::joint_names

Definition at line 191 of file mj_kdl_wrapper.hpp.

◆ kdl_to_mj_ctrl

std::vector<int> mj_kdl::Robot::kdl_to_mj_ctrl

Definition at line 206 of file mj_kdl_wrapper.hpp.

◆ kdl_to_mj_dof

std::vector<int> mj_kdl::Robot::kdl_to_mj_dof

Definition at line 205 of file mj_kdl_wrapper.hpp.

Referenced by main(), MjcfPickTest::reset_scene(), and MjcfPickTest::SetUp().

◆ kdl_to_mj_qpos

std::vector<int> mj_kdl::Robot::kdl_to_mj_qpos

Definition at line 204 of file mj_kdl_wrapper.hpp.

Referenced by MjcfPickTest::reset_scene(), and MjcfLoadTest::SetUp().

◆ model

mjModel* mj_kdl::Robot::model = nullptr

Definition at line 184 of file mj_kdl_wrapper.hpp.

Referenced by main().

◆ n_joints

int mj_kdl::Robot::n_joints = 0

Definition at line 190 of file mj_kdl_wrapper.hpp.

Referenced by main(), DualArmTest::SetUp(), MjcfLoadTest::SetUp(), MjcfPosCtrlTest::SetUp(), MjcfVelCtrlTest::SetUp(), and TableSceneTest::SetUp().

◆ paused

bool mj_kdl::Robot::paused = false

Definition at line 196 of file mj_kdl_wrapper.hpp.

◆ tcp_site

std::string mj_kdl::Robot::tcp_site

Definition at line 189 of file mj_kdl_wrapper.hpp.

◆ tip_T_tcp

KDL::Frame mj_kdl::Robot::tip_T_tcp = KDL::Frame::Identity()

Definition at line 187 of file mj_kdl_wrapper.hpp.

Referenced by main(), and MjcfPickTest::SetUp().

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