#include <mj_kdl_wrapper.hpp>

Public Attributes
SceneSpec	spec
mjModel *	model = nullptr
mjData *	data = nullptr
std::vector< Robot * >	robots
ResetHook	on_reset

Detailed Description

Runtime environment instance: declarative SceneSpec plus compiled MuJoCo model/data and Robot handles that should be synchronised after reset.

Env owns model/data created by init_env(); registered Robot pointers are borrowed and are never deleted by cleanup(Env *). Robot::model/data remain borrowed aliases for compatibility with the existing robot-centric API.

Definition at line 449 of file mj_kdl_wrapper.hpp.

Member Data Documentation

◆ data

mjData* mj_kdl::Env::data = nullptr

Definition at line 453 of file mj_kdl_wrapper.hpp.

Referenced by admittance_ft::build_scene(), main(), main(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), and TEST_F().

◆ model

mjModel* mj_kdl::Env::model = nullptr

Definition at line 452 of file mj_kdl_wrapper.hpp.

Referenced by admittance_ft::build_scene(), main(), main(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), and TEST_F().

◆ on_reset

ResetHook mj_kdl::Env::on_reset

Definition at line 455 of file mj_kdl_wrapper.hpp.

Referenced by main(), main(), admittance_ft::run(), TEST_F(), and TEST_F().

◆ robots

std::vector<Robot *> mj_kdl::Env::robots

Definition at line 454 of file mj_kdl_wrapper.hpp.

◆ spec

SceneSpec mj_kdl::Env::spec

Definition at line 451 of file mj_kdl_wrapper.hpp.

Referenced by admittance_ft::build_scene(), main(), main(), TEST_F(), and TEST_F().

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

include/mj_kdl_wrapper/mj_kdl_wrapper.hpp