Data Types

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

Classes
struct	mj_kdl::AttachTarget
struct	mj_kdl::AttachmentSpec
struct	mj_kdl::RobotSpec
struct	mj_kdl::SceneObject
struct	mj_kdl::CameraSpec
struct	mj_kdl::SceneSpec
struct	mj_kdl::ForceTorqueSensorSpec
struct	mj_kdl::ForceTorqueSensor
struct	mj_kdl::ToolFrameSpec
struct	mj_kdl::Robot

Enumerations
enum class	mj_kdl::AttachKind { mj_kdl::AttachKind::World , mj_kdl::AttachKind::Body , mj_kdl::AttachKind::Site , mj_kdl::AttachKind::Frame }
enum class	mj_kdl::Shape { mj_kdl::Shape::Unspecified , mj_kdl::Shape::BOX , mj_kdl::Shape::SPHERE , mj_kdl::Shape::CYLINDER }
enum class	mj_kdl::Condim : int { mj_kdl::Condim::Tangential = 3 , mj_kdl::Condim::Torsional = 4 , mj_kdl::Condim::Rolling = 6 }
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

AttachKind

enum class mj_kdl::AttachKind

strong

Kind of element an AttachTarget references in the accumulated scene spec. World selects the worldbody (the default); Body, Site, and Frame each look up a named element of the corresponding type.

Enumerator
World
Body
Site
Frame

Definition at line 84 of file mj_kdl_wrapper.hpp.

Condim

enum class mj_kdl::Condim : int

strong

Contact-friction dimensionality, matching MuJoCo's condim integer values. Tangential (3) - sliding friction only (default). Torsional (4) - +torsion about the contact normal. Rolling (6) - +torsion and +rolling resistance. Values 1 (frictionless) and 2 (1D friction) exist in MuJoCo but are uncommon; if needed, pass static_cast<Condim>(1) etc.

Enumerator
Tangential
Torsional
Rolling

Definition at line 162 of file mj_kdl_wrapper.hpp.

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 302 of file mj_kdl_wrapper.hpp.

Shape

enum class mj_kdl::Shape

strong

Shape type for scene objects. Unspecified is the sentinel value; build_scene rejects a primitive SceneObject whose shape is Unspecified.

Enumerator
Unspecified
BOX
SPHERE
CYLINDER

Definition at line 151 of file mj_kdl_wrapper.hpp.