Data Types

Structs and enums that describe the scene, robot, and visualization state. More...

Classes
struct	mj_kdl::AttachmentSpec
struct	mj_kdl::RobotSpec
struct	mj_kdl::TableSpec
struct	mj_kdl::SceneObject
struct	mj_kdl::SceneSpec
struct	mj_kdl::Robot

Enumerations
enum class	mj_kdl::Shape { mj_kdl::Shape::BOX , mj_kdl::Shape::SPHERE , mj_kdl::Shape::CYLINDER }
enum class	mj_kdl::CtrlMode { mj_kdl::CtrlMode::POSITION , mj_kdl::CtrlMode::TORQUE }

Detailed Description

Structs and enums that describe the scene, robot, and visualization state.

These are the primary configuration and runtime handle types. Populate them before calling any scene-building or robot-init function.

Enumeration Type Documentation

CtrlMode

enum class mj_kdl::CtrlMode

strong

Joint-space control mode for update(). POSITION - writes jnt_pos_cmd to actuator ctrl inputs. TORQUE - writes jnt_trq_cmd to qfrc_applied (generalized forces).

Enumerator
POSITION
TORQUE

Definition at line 178 of file mj_kdl_wrapper.hpp.

Shape

enum class mj_kdl::Shape

strong

Shape type for scene objects.

Enumerator
BOX
SPHERE
CYLINDER

Definition at line 127 of file mj_kdl_wrapper.hpp.