#include <mj_kdl_wrapper.hpp>

Public Attributes
const char *	path = nullptr
const char *	prefix = ""
AttachTarget	attach_to
double	pos [3] = { 0, 0, 0 }
double	euler [3] = { 0, 0, 0 }
std::vector< AttachmentSpec >	attachments

Detailed Description

One robot in a scene: a root MJCF (arm, mobile base, ...) with an ordered attachment chain and a placement target.

attachments is applied in order by build_scene() / attach_to_spec(): each entry's attach_to may reference any body, site, or frame in the accumulated spec (root + all prior attachments). This naturally supports: fixed arm, arm+gripper, arm+mount+FT+ gripper, mobile base, mobile manipulator (base root, arm as first attachment), etc.

attach_to selects where the robot root is placed in the scene; the default is the worldbody. Set it to e.g. { AttachKind::Site, "table_mount" } to place the robot on a tabletop site exported by a prior scene object. pos/euler are offsets in the resolved parent frame.

path is the root MJCF passed to build_scene(). prefix must be unique per robot in multi-robot scenes.

Definition at line 138 of file mj_kdl_wrapper.hpp.

Member Data Documentation

◆ attach_to

AttachTarget mj_kdl::RobotSpec::attach_to

Definition at line 142 of file mj_kdl_wrapper.hpp.

Referenced by admittance_ft::build_scene().

◆ attachments

std::vector<AttachmentSpec> mj_kdl::RobotSpec::attachments

Definition at line 145 of file mj_kdl_wrapper.hpp.

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

◆ euler

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

Definition at line 144 of file mj_kdl_wrapper.hpp.

◆ path

const char* mj_kdl::RobotSpec::path = nullptr

Definition at line 140 of file mj_kdl_wrapper.hpp.

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

◆ pos

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

Definition at line 143 of file mj_kdl_wrapper.hpp.

Referenced by main(), and main().

◆ prefix

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

Definition at line 141 of file mj_kdl_wrapper.hpp.

Referenced by main().

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

include/mj_kdl_wrapper/mj_kdl_wrapper.hpp

Public Attributes