#include <mj_kdl_wrapper.hpp>

Public Attributes
std::string	body
std::string	name
double	pos [3] = { 0.0, 0.0, 0.0 }
double	quat [4] = { 0.0, 0.0, 0.0, 1.0 }

Detailed Description

A frame to mark on a body of the assembled scene, as a MuJoCo site.

Sites are what a model's own frames become: the scene states where they sit, and the runtime can then address and draw them. Added after every robot and object, so body may name anything the assembled scene holds. A site the asset already declares under this name is left alone – the asset's own is authoritative.

Definition at line 222 of file mj_kdl_wrapper.hpp.

Member Data Documentation

◆ body

std::string mj_kdl::SiteSpec::body

Definition at line 224 of file mj_kdl_wrapper.hpp.

◆ name

std::string mj_kdl::SiteSpec::name

Definition at line 225 of file mj_kdl_wrapper.hpp.

◆ pos

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

Definition at line 226 of file mj_kdl_wrapper.hpp.

◆ quat

double mj_kdl::SiteSpec::quat[4] = { 0.0, 0.0, 0.0, 1.0 }

Definition at line 227 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