Graph data stream types

Graphs can record various types of data streams. Following data stream types are directly supported:

Graph data streams related to objects

Object: absolute x-position Records the absolute x-position of an object
Object: absolute y-position Records the absolute y-position of an object
Object: absolute z-position Records the absolute z-position of an object
Object: x-position relative to graph
Records the x-position of an object relative to the graph
Object: y-position relative to graph
Records the y-position of an object relative to the graph
Object: z-position relative to graph
Records the z-position of an object relative to the graph
Object: absolute velocity Records the absolute velocity of an object
Object: absolute x-velocity Records the absolute x-velocity of an object
Object: absolute y-velocity Records the absolute y-velocity of an object
Object: absolute z-velocity Records the absolute z-velocity of an object
Object: absolute alpha-orientation
Records the absolute alpha-orientation of an object. An object's orientation is specified by its Euler angles (alpha, beta, gamma)
Object: absolute beta-orientation
Records the absolute beta-orientation of an object. An object's orientation is specified by its Euler angles (alpha, beta, gamma)
Object: absolute gamma-orientation Records the absolute gamma-orientation of an object. An object's orientation is specified by its Euler angles (alpha, beta, gamma)
Object: alpha-orientation relative to graph Records the alpha-orientation of an object relative to the graph. An object's orientation is specified by its Euler angles (alpha, beta, gamma)
Object: beta-orientation relative to graph
Records the beta-orientation of an object relative to the graph. An object's orientation is specified by its Euler angles (alpha, beta, gamma)
Object: gamma-orientation relative to graph
Records the gamma-orientation of an object relative to the graph. An object's orientation is specified by its Euler angles (alpha, beta, gamma)
Object: angular velocity Records the angular velocity of an object

Graph data streams related to proximity sensors

Proximity sensor: absolute detection position x Records the absolute x-position of a detected point
Proximity sensor: absolute detection position y Records the absolute y-position of a detected point
Proximity sensor: absolute detection position z Records the absolute z-position of a detected point
Proximity sensor: detection position x relative to graph Records the x-position of a detected point relative to the graph
Proximity sensor: detection position y relative to graph Records the y-position of a detected point relative to the graph
Proximity sensor: detection position z relative to graph Records the z-position of a detected point relative to the graph
Proximity sensor: detection position x relative to sensor Records the x-position of a detected point relative to the sensor
Proximity sensor: detection position y relative to sensor Records the y-position of a detected point relative to the sensor
Proximity sensor: detection position z relative to sensor Records the z-position of a detected point relative to the sensor
Proximity sensor: detection distance Records the detection distance to the sensor (i.e. the detection segment length)
Proximity sensor: detection azimuth Records the detection azimuth to the sensor (i.e. azimuth of the detection segment)
Proximity sensor: detection elevation Records the detection elevation to the sensor (i.e. elevation of the detection segment)
Proximity sensor: detection state Records the detection state of the sensor (i.e. detected something or didn't detect anything)
Proximity sensor: calculation time Records the calculation time of the sensor
Proximity sensor: overall calculation time Records the calculation time of all proximity sensors that were handled during a simulation step

Graph data streams related to vision sensors

Vision sensor: minimum red value Records the minimum red-component value of the sensor's image content
Vision sensor: minimum green value Records the minimum green-component value of the sensor's image content
Vision sensor: minimum blue value Records the minimum blue-component value of the sensor's image content
Vision sensor: minimum intensity value Records the minimum intensity-component (greyscale) value of the sensor's image content
Vision sensor: minimum depth value Records the minimum depth-component value of the sensor's depth map content
Vision sensor: maximum red value Records the maximum red-component value of the sensor's image content
Vision sensor: maximum green value Records the maximum green-component value of the sensor's image content
Vision sensor: maximum blue value Records the maximum blue-component value of the sensor's image content
Vision sensor: maximum intensity value Records the maximum intensity-component (greyscale) value of the sensor's image content
Vision sensor: maximum depth value Records the maximum depth-component value of the sensor's depth map content
Vision sensor: average red value Records the average red-component value of the sensor's image content
Vision sensor: average green value Records the average green-component value of the sensor's image content
Vision sensor: average blue value Records the average blue-component value of the sensor's image content
Vision sensor: average intensity value Records the average intensity-component (greyscale) value of the sensor's image content
Vision sensor: average depth value Records the average depth-component value of the sensor's depth map content
Vision sensor: detection state Records the detection state of the sensor (i.e. detected something or didn't detect anything)
Vision sensor: calculation time Records the calculation time of the sensor
Vision sensor: overall calculation time Records the calculation time of all vision sensors that were handled during a simulation step

Graph data streams related to force sensors

Force sensor: force Records the amplitude of the force vector acting on the sensor
Force sensor: force along x-axis Records the force acting along the sensor's x-axis
Force sensor: force along y-axis Records the force acting along the sensor's y-axis
Force sensor: force along z-axis Records the force acting along the sensor's z-axis
Force sensor: torque Records the amplitude of the torque vector acting on the sensor
Force sensor: torque about x-axis Records the torque acting about the sensor's x-axis
Force sensor: torque about y-axis Records the torque acting about the sensor's y-axis
Force sensor: torque about z-axis Records the torque acting about the sensor's z-axis
Force sensor: internal position error Records the sensor's internal position error (due to its compliant nature)
Force sensor: internal orientation error Records the sensor's internal orientation error (due to its compliant nature)
Force sensor: broken state Records the sensor's broken state (0=intact, 1=broken)

Graph data streams related to mills

Mill: cut surface Records the amount of surface that was cut (removed)
Mill: cut volume Records the amount of volume that was cut (removed)
Mill: overall cut surface Records the amount of surface that was cut (removed) for all mills that were handled during a simulation step
Mill: overall cut volume Records the amount of volume that was cut (removed) for all mills that were handled during a simulation step
Mill: calculation time Records the calculation time of the mill
Mill: overall calculation time Records the calculation time of all mills that were handled during a simulation step

Graph data streams related to joints

Joint: position Records the joint position (i.e. its linear or angular value)
Joint: velocity Records the joint velocity (i.e. its linear or angular velocity value)
Joint: internal position error Records the joint's internal position error when dynamically enabled (dynamically enabled joints have compliance)
Joint: internal orientation error Records the joint's internal orientation error when dynamically enabled (dynamically enabled joints have compliance)
Joint: force or torque Records the joint's force/torque along/about its z-axis when dynamically enabled

Graph data streams related to paths

Path: position Records the path position. The calculation of the path position depends on the path position/length calculation method (see how a path position is defined for more details)
Path: position, linear component only Records the path position, but only its linear component
Path: position, angular component only Records the path position, but only its angular component

Graph data streams related to collision objects

Collision: collision state Records the colliding state of a collision object (i.e. colliding or not colliding)
Collision: number of collisions Records the number of collisions that were detected for all collision objects that were handled during a simulation step
Collision: calculation time Records the calculation time of a collision object
Collision: overall calculation time Records the overall calculation time of all collision objects that were handled during a simulation step

Graph data streams related to distance objects

Distance: segment length Records the length of a distance object segment
Distance: segment side 1 absolute x-position Records the absolute x-position of a distance object segment's first side
Distance: segment side 1 absolute y-position Records the absolute y-position of a distance object segment's first side
Distance: segment side 1 absolute z-position Records the absolute z-position of a distance object segment's first side
Distance: segment side 2 absolute x-position Records the absolute x-position of a distance object segment's second side
Distance: segment side 2 absolute y-position Records the absolute y-position of a distance object segment's second side
Distance: segment side 2 absolute z-position Records the absolute z-position of a distance object segment's second side
Distance: segment side 1 x-position relative to graph Records the x-position of a distance object segment's first side, relative to the graph
Distance: segment side 1 y-position relative to graph Records the y-position of a distance object segment's first side, relative to the graph
Distance: segment side 1 z-position relative to graph Records the z-position of a distance object segment's first side, relative to the graph
Distance: segment side 2 x-position relative to graph Records the x-position of a distance object segment's second side, relative to the graph
Distance: segment side 2 y-position relative to graph Records the y-position of a distance object segment's second side, relative to the graph
Distance: segment side 2 z-position relative to graph Records the z-position of a distance object segment's second side, relative to the graph
Distance: calculation time Records the calculation time of a distance object
Distance: overall calculation time Records the overall calculation time of all distance objects that were handled during a simulation step

Graph data streams related to inverse kinematics objects

Inverse kinematics: calculation time Records the calculation time of an inverse kinematics object
Inverse kinematics: overall calculation time Records the overall calculation time of all inverse kinematics objects that were handled during a simulation step

Graph data streams related to geometric constraint solver objects

Constraint solver: calculation time Records the calculation time of a geometric constraint solver object
Constraint solver: overall calculation time Records the overall calculation time of all geometric constraint solver objects that were handled during a simulation step

Graph data streams related to the dynamics functionality

Dynamics: overall calculation time Records the overall calculation time of the dynamics module during a simulation step

Graph data streams related to script execution

Main script: execution time Records the execution time of the main script for one simulation step. This will include all other calculation times too that are handled through a call to the main script (e.g. collision detection, distance calculation, etc.). Child script execution time is also included, except when they run in a thread and are not explicitely resumed..

Other Graph data streams

Work threads: execution time Records the execution time use by the work threads
Rendering: rendering time Records the time needed to render the openGl content
Simulation pass: execution time Records the execution time of one simulation pass (including rendering time)
Simulation: time Records the simulation time
Various: user-defined Records a user-defined data stream. Refer to the simSetGraphUserData function for more details

Recommended topics

  • Graphs
  • Graph properties