#include <mj_kdl_wrapper.hpp>

Public Attributes
std::vector< RobotSpec >	robots
double	timestep = NAN
double	gravity_z = -9.81
bool	add_floor
double	floor_z = 0.0
bool	add_skybox
std::vector< SceneObject >	objects
std::vector< SiteSpec >	sites
std::vector< CameraSpec >	cameras

Detailed Description

Full scene description passed to build_scene(). timestep (unset: NaN), 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 308 of file mj_kdl_wrapper.hpp.

Member Data Documentation

◆ add_floor

bool mj_kdl::SceneSpec::add_floor

Definition at line 313 of file mj_kdl_wrapper.hpp.

Referenced by mj_kdl_examples::scene_spec(), DualArmTest::SetUp(), MjcfFtSensorTest::SetUp(), MjcfPickTest::SetUp(), MjcfPosCtrlTest::SetUp(), MjcfTrqCtrlTest::SetUp(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST(), and TEST().

◆ add_skybox

bool mj_kdl::SceneSpec::add_skybox

Definition at line 315 of file mj_kdl_wrapper.hpp.

Referenced by mj_kdl_examples::scene_spec(), DualArmTest::SetUp(), MjcfFtSensorTest::SetUp(), MjcfPickTest::SetUp(), MjcfPosCtrlTest::SetUp(), MjcfTrqCtrlTest::SetUp(), TEST(), TEST(), TEST(), TEST(), TEST(), and TEST().

◆ cameras

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

Definition at line 318 of file mj_kdl_wrapper.hpp.

Referenced by main(), and TEST().

◆ floor_z

double mj_kdl::SceneSpec::floor_z = 0.0

Definition at line 314 of file mj_kdl_wrapper.hpp.

Referenced by TEST().

◆ gravity_z

double mj_kdl::SceneSpec::gravity_z = -9.81

Definition at line 312 of file mj_kdl_wrapper.hpp.

Referenced by main(), main(), TEST(), and TEST_P().

◆ objects

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

Definition at line 316 of file mj_kdl_wrapper.hpp.

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

◆ robots

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

Definition at line 310 of file mj_kdl_wrapper.hpp.

Referenced by main(), main(), DualArmTest::SetUp(), MjcfFtSensorTest::SetUp(), MjcfLoadTest::SetUp(), MjcfPickTest::SetUp(), MjcfPosCtrlTest::SetUp(), MjcfTrqCtrlTest::SetUp(), TEST(), TEST(), TEST(), TEST(), TEST(), TEST_F(), and TEST_P().

◆ sites

std::vector<SiteSpec> mj_kdl::SceneSpec::sites

Definition at line 317 of file mj_kdl_wrapper.hpp.

◆ timestep

double mj_kdl::SceneSpec::timestep = NAN

Definition at line 311 of file mj_kdl_wrapper.hpp.