mj_kdl::SceneSpec Struct Reference

#include <mj_kdl_wrapper.hpp>

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

Detailed Description

Full scene description passed to build_scene(). timestep, add_floor, and add_skybox have no defaults: the caller must choose a physics step and an explicit yes/no for each decoration so the resulting scene is never silently misconfigured. gravity_z defaults to Earth gravity.

Definition at line 234 of file mj_kdl_wrapper.hpp.

Member Data Documentation

add_floor

bool mj_kdl::SceneSpec::add_floor

Definition at line 239 of file mj_kdl_wrapper.hpp.

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

add_skybox

bool mj_kdl::SceneSpec::add_skybox

Definition at line 240 of file mj_kdl_wrapper.hpp.

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

cameras

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

Definition at line 242 of file mj_kdl_wrapper.hpp.

Referenced by main().

gravity_z

double mj_kdl::SceneSpec::gravity_z = -9.81

Definition at line 238 of file mj_kdl_wrapper.hpp.

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

objects

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

Definition at line 241 of file mj_kdl_wrapper.hpp.

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

robots

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

Definition at line 236 of file mj_kdl_wrapper.hpp.

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

timestep

double mj_kdl::SceneSpec::timestep

Definition at line 237 of file mj_kdl_wrapper.hpp.

Referenced by admittance_ft::build_scene(), main(), main(), admittance_ft::run_gui(), admittance_ft::run_selfcheck(), DualArmTest::SetUp(), MjcfFtSensorTest::SetUp(), MjcfGripperTest::SetUp(), MjcfLoadTest::SetUp(), MjcfPickTest::SetUp(), MjcfPosCtrlTest::SetUp(), MjcfTrqCtrlTest::SetUp(), and MjcfVelCtrlTest::SetUp().

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

• include/mj_kdl_wrapper/mj_kdl_wrapper.hpp