mj_kdl::SceneSpec Struct Reference

#include <mj_kdl_wrapper.hpp>

Public Attributes
std::vector< RobotSpec >	robots
double	timestep = 0.002
double	gravity_z = -9.81
bool	add_floor = true
bool	add_skybox = true
std::vector< SceneObject >	objects
std::vector< CameraSpec >	cameras

Detailed Description

Full scene description passed to build_scene().

Definition at line 134 of file mj_kdl_wrapper.hpp.

Member Data Documentation

add_floor

bool mj_kdl::SceneSpec::add_floor = true

Definition at line 139 of file mj_kdl_wrapper.hpp.

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

add_skybox

bool mj_kdl::SceneSpec::add_skybox = true

Definition at line 140 of file mj_kdl_wrapper.hpp.

Referenced by MjcfLoadTest::SetUp().

cameras

std::vector<CameraSpec> mj_kdl::SceneSpec::cameras

Definition at line 142 of file mj_kdl_wrapper.hpp.

Referenced by main().

gravity_z

double mj_kdl::SceneSpec::gravity_z = -9.81

Definition at line 138 of file mj_kdl_wrapper.hpp.

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

objects

std::vector<SceneObject> mj_kdl::SceneSpec::objects

Definition at line 141 of file mj_kdl_wrapper.hpp.

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

robots

std::vector<RobotSpec> mj_kdl::SceneSpec::robots

Definition at line 136 of file mj_kdl_wrapper.hpp.

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

timestep

double mj_kdl::SceneSpec::timestep = 0.002

Definition at line 137 of file mj_kdl_wrapper.hpp.

Referenced by DualArmTest::SetUp().

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

• include/mj_kdl_wrapper/mj_kdl_wrapper.hpp