mj_kdl::RobotSpec Struct Reference

#include <mj_kdl_wrapper.hpp>

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

Detailed Description

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

attachments is applied in order by build_scene() / attach_to_spec(): each entry's attach_to may reference any body 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), and so on.

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

Definition at line 99 of file mj_kdl_wrapper.hpp.

Member Data Documentation

attachments

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

Definition at line 102 of file mj_kdl_wrapper.hpp.

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

euler

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

Definition at line 105 of file mj_kdl_wrapper.hpp.

Referenced by DualArmTest::SetUp().

path

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

Definition at line 101 of file mj_kdl_wrapper.hpp.

Referenced by main(), DualArmTest::SetUp(), InitTest::SetUp(), MjcfLoadTest::SetUp(), MjcfGripperTest::SetUp(), MjcfPickTest::SetUp(), MjcfPosCtrlTest::SetUp(), MjcfTrqCtrlTest::SetUp(), MjcfVelCtrlTest::SetUp(), and TableSceneTest::SetUp().

pos

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

Definition at line 104 of file mj_kdl_wrapper.hpp.

Referenced by main(), DualArmTest::SetUp(), and TableSceneTest::SetUp().

prefix

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

Definition at line 103 of file mj_kdl_wrapper.hpp.

Referenced by main(), DualArmTest::SetUp(), and TableSceneTest::SetUp().

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

• include/mj_kdl_wrapper/mj_kdl_wrapper.hpp