#include <mj_kdl_wrapper.hpp>

Public Attributes
std::string	tool_body
std::string	tcp_site
KDL::Frame	tcp_frame = KDL::Frame::Identity()
std::vector< ForceTorqueSensorSpec >	ft_sensors

Detailed Description

Optional tool/end-effector description used while building the KDL chain.

tool_body names the root of the attached tool subtree whose mass/inertia is lumped into the arm dynamics, once, at the tool's pose at init (a 2F-85's finger opening then is what the chain keeps). tcp_site names an authored MuJoCo site that becomes the KDL terminal frame for FK/IK (takes priority when set). When the model has no suitable site, tcp_frame provides an equivalent manual transform expressed in the tip body's local frame. For the prefixed Robotiq 2F-85 this is {"g_base_mount", "g_pinch"}: the mount carries mass too.

Definition at line 374 of file mj_kdl_wrapper.hpp.

Member Data Documentation

◆ ft_sensors

std::vector<ForceTorqueSensorSpec> mj_kdl::ToolFrameSpec::ft_sensors

Definition at line 379 of file mj_kdl_wrapper.hpp.

Referenced by MjcfFtSensorTest::tool_with().

◆ tcp_frame

KDL::Frame mj_kdl::ToolFrameSpec::tcp_frame = KDL::Frame::Identity()

Definition at line 378 of file mj_kdl_wrapper.hpp.

◆ tcp_site

std::string mj_kdl::ToolFrameSpec::tcp_site

Definition at line 377 of file mj_kdl_wrapper.hpp.

Referenced by mj_kdl_examples::gripper_tool(), main(), ex_achd_table_slide.Slide::measure(), and TEST_F().

◆ tool_body

std::string mj_kdl::ToolFrameSpec::tool_body

Definition at line 376 of file mj_kdl_wrapper.hpp.

Referenced by mj_kdl_examples::gripper_tool().

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

include/mj_kdl_wrapper/mj_kdl_wrapper.hpp