#include <mj_kdl_wrapper.hpp>

Public Attributes
mjModel *	model = nullptr

mjData *	data = nullptr

KDL::Chain	chain

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:

Call init_robot_from_mjcf() - populates configuration and sizes port vectors to n_joints.
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 190 of file mj_kdl_wrapper.hpp.

Member Data Documentation

◆ chain

KDL::Chain mj_kdl::Robot::chain

Definition at line 195 of file mj_kdl_wrapper.hpp.

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

◆ ctrl_mode

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

Definition at line 201 of file mj_kdl_wrapper.hpp.

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

◆ data

mjData* mj_kdl::Robot::data = nullptr

Definition at line 194 of file mj_kdl_wrapper.hpp.

Referenced by MjcfLoadTest::SetUp().

◆ jnt_pos_cmd

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

Definition at line 206 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 203 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 207 of file mj_kdl_wrapper.hpp.

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

◆ jnt_trq_msr

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

Definition at line 205 of file mj_kdl_wrapper.hpp.

◆ jnt_vel_msr

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

Definition at line 204 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 198 of file mj_kdl_wrapper.hpp.

◆ joint_names

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

Definition at line 197 of file mj_kdl_wrapper.hpp.

Referenced by main().

◆ kdl_to_mj_ctrl

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

Definition at line 212 of file mj_kdl_wrapper.hpp.

◆ kdl_to_mj_dof

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

Definition at line 211 of file mj_kdl_wrapper.hpp.

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

◆ kdl_to_mj_qpos

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

Definition at line 210 of file mj_kdl_wrapper.hpp.

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

◆ model

mjModel* mj_kdl::Robot::model = nullptr

Definition at line 193 of file mj_kdl_wrapper.hpp.

◆ n_joints

int mj_kdl::Robot::n_joints = 0

Definition at line 196 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 202 of file mj_kdl_wrapper.hpp.

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

include/mj_kdl_wrapper/mj_kdl_wrapper.hpp

Public Attributes