Overview
Physics Simulator provides a MuJoCo-based physics simulation environment for robotics applications.
Core Components
PhysicsSimulator (MujocoSimulator) Main simulation class that provides physics simulation, robot control, and sensor management.
GalbotInterface High-level interface for controlling robots with modular components:
- Arms:
left_arm,right_arm- Joint position and trajectory control - Grippers:
left_gripper,right_gripper- Gripper width control and state - Cameras:
left_wrist_camera,right_wrist_camera,front_head_camera- RGB/depth sensing - Chassis: Mobile base control for navigation
- Head/Leg: Additional joint control modules
Available modules: chassis, left_arm, right_arm, leg, head, left_gripper, right_gripper, left_wrist_camera, right_wrist_camera, front_head_camera
MujocoRobot Low-level robot control interface providing:
- Joint position/velocity control
- Forward kinematics and Jacobian computation
- Robot state monitoring
Sensors Camera system supporting:
- RGB image capture
- Depth sensing and point cloud generation
- Segmentation masks
Objects Support for primitive shapes (boxes, spheres) and mesh objects from MJCF files.
Key Features
- Real-time Physics: MuJoCo engine with accurate dynamics and contact handling
- Modular Control: Configure only needed robot modules (arms, grippers, cameras)
- Sensor Integration: RGB/depth cameras with real-time data access
- Asset Management: Automatic discovery of robot and object assets
- Configuration System: Code-based configuration for all simulation elements
- Physics Callbacks: Custom behavior injection during simulation
Applications
- Robotics Research: Simulate and test robot kinematics, dynamics, and control algorithms in a realistic environment.
- Algorithm Prototyping: Rapidly prototype and validate motion planning, manipulation, and navigation algorithms.
- Sensor Data Generation: Generate synchronized RGB, depth, and segmentation data for computer vision and machine learning tasks.