mj-kdl-wrapper  0.1.0
MuJoCo + KDL bridge for robot kinematics and dynamics
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Public Attributes | List of all members
mj_kdl::AttachmentSpec Struct Reference
Data Types

#include <mj_kdl_wrapper.hpp>

Public Attributes

const char * mjcf_path = nullptr
 
const char * attach_to = nullptr
 
double pos [3] = { 0, 0, 0 }
 
double euler [3] = { 0, 0, 0 }
 
const char * prefix = ""
 
std::vector< std::pair< std::string, std::string > > contact_exclusions
 

Detailed Description

One link in an ordered attachment chain for a robot. An attachment is any MJCF body (end effector, mount, FT sensor, tool, additional arm on a mobile base, etc.) attached under a named body in the accumulated robot spec. Attachments are applied in declaration order; attach_to may reference any body present after all prior attachments have been applied.

Definition at line 74 of file mj_kdl_wrapper.hpp.

Member Data Documentation

◆ attach_to

const char* mj_kdl::AttachmentSpec::attach_to = nullptr

Definition at line 77 of file mj_kdl_wrapper.hpp.

Referenced by main(), MjcfGripperTest::SetUp(), MjcfPickTest::SetUp(), and MjcfTrqCtrlTest::SetUp().

◆ contact_exclusions

std::vector<std::pair<std::string, std::string> > mj_kdl::AttachmentSpec::contact_exclusions

Definition at line 83 of file mj_kdl_wrapper.hpp.

◆ euler

double mj_kdl::AttachmentSpec::euler[3] = { 0, 0, 0 }

Definition at line 79 of file mj_kdl_wrapper.hpp.

Referenced by main(), MjcfGripperTest::SetUp(), MjcfPickTest::SetUp(), and MjcfTrqCtrlTest::SetUp().

◆ mjcf_path

const char* mj_kdl::AttachmentSpec::mjcf_path = nullptr

Definition at line 76 of file mj_kdl_wrapper.hpp.

Referenced by main(), MjcfGripperTest::SetUp(), MjcfPickTest::SetUp(), and MjcfTrqCtrlTest::SetUp().

◆ pos

double mj_kdl::AttachmentSpec::pos[3] = { 0, 0, 0 }

Definition at line 78 of file mj_kdl_wrapper.hpp.

Referenced by main(), MjcfGripperTest::SetUp(), MjcfPickTest::SetUp(), and MjcfTrqCtrlTest::SetUp().

◆ prefix

const char* mj_kdl::AttachmentSpec::prefix = ""

Definition at line 80 of file mj_kdl_wrapper.hpp.

Referenced by main(), MjcfGripperTest::SetUp(), MjcfPickTest::SetUp(), and MjcfTrqCtrlTest::SetUp().

The documentation for this struct was generated from the following file: