#include <mj_kdl_wrapper.hpp>

Public Attributes
std::string	name

std::string	mjcf_path

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} Ignored when mjcf_path is set.

pos: World-frame position. For MJCF assets, this is the placement frame for the asset's first root body.

fixed: If true the body is welded to the world (no freejoint); useful for static obstacles or fixtures. Ignored when mjcf_path is set.

Definition at line 104 of file mj_kdl_wrapper.hpp.

Member Data Documentation

◆ condim

int mj_kdl::SceneObject::condim = 3

Definition at line 114 of file mj_kdl_wrapper.hpp.

◆ fixed

bool mj_kdl::SceneObject::fixed = false

Definition at line 112 of file mj_kdl_wrapper.hpp.

◆ friction

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

Definition at line 115 of file mj_kdl_wrapper.hpp.

◆ mass

double mj_kdl::SceneObject::mass = 0.1

Definition at line 113 of file mj_kdl_wrapper.hpp.

◆ mjcf_path

std::string mj_kdl::SceneObject::mjcf_path

Definition at line 107 of file mj_kdl_wrapper.hpp.

◆ name

std::string mj_kdl::SceneObject::name

Definition at line 106 of file mj_kdl_wrapper.hpp.

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

◆ pos

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

Definition at line 110 of file mj_kdl_wrapper.hpp.

◆ rgba

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

Definition at line 111 of file mj_kdl_wrapper.hpp.

◆ shape

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

Definition at line 108 of file mj_kdl_wrapper.hpp.

◆ size

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

Definition at line 109 of file mj_kdl_wrapper.hpp.

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

include/mj_kdl_wrapper/mj_kdl_wrapper.hpp

Public Attributes