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::SceneObject Struct Reference
Data Types

#include <mj_kdl_wrapper.hpp>

Public Attributes

std::string name
 
Shape shape = Shape::BOX
 
double size [3] = { 0.03, 0.03, 0.03 }
 
double pos [3] = { 0.0, 0.0, 0.0 }
 
float rgba [4] = { 1.0f, 0.0f, 0.0f, 1.0f }
 
bool fixed = false
 
double mass = 0.1
 
int condim = 3
 
double friction [3] = { 0.5, 0.005, 0.0001 }
 

Detailed Description

A free-floating or fixed rigid body to place in the scene.

size: BOX - half-extents (x, y, z) SPHERE - {radius, 0, 0} CYLINDER - {radius, half-length, 0}

pos: World-frame position. To rest on the table set pos[2] = table.pos[2] + half-height (e.g. box: pos[2] = surface_z + size[2]).

fixed: If true the body is welded to the world (no freejoint); useful for static obstacles or fixtures on the table.

Definition at line 146 of file mj_kdl_wrapper.hpp.

Member Data Documentation

◆ condim

int mj_kdl::SceneObject::condim = 3

Definition at line 155 of file mj_kdl_wrapper.hpp.

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

◆ fixed

bool mj_kdl::SceneObject::fixed = false

Definition at line 153 of file mj_kdl_wrapper.hpp.

◆ friction

double mj_kdl::SceneObject::friction[3] = { 0.5, 0.005, 0.0001 }

Definition at line 156 of file mj_kdl_wrapper.hpp.

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

◆ mass

double mj_kdl::SceneObject::mass = 0.1

Definition at line 154 of file mj_kdl_wrapper.hpp.

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

◆ name

std::string mj_kdl::SceneObject::name

Definition at line 148 of file mj_kdl_wrapper.hpp.

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

◆ pos

double mj_kdl::SceneObject::pos[3] = { 0.0, 0.0, 0.0 }

Definition at line 151 of file mj_kdl_wrapper.hpp.

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

◆ rgba

float mj_kdl::SceneObject::rgba[4] = { 1.0f, 0.0f, 0.0f, 1.0f }

Definition at line 152 of file mj_kdl_wrapper.hpp.

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

◆ shape

Shape mj_kdl::SceneObject::shape = Shape::BOX

Definition at line 149 of file mj_kdl_wrapper.hpp.

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

◆ size

double mj_kdl::SceneObject::size[3] = { 0.03, 0.03, 0.03 }

Definition at line 150 of file mj_kdl_wrapper.hpp.

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

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