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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

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