#include <mj_kdl_wrapper.hpp>

Public Attributes
const char *	tool_body = nullptr
const char *	tcp_site = nullptr
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. 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 typically {"g_base", "g_pinch"}.

Definition at line 288 of file mj_kdl_wrapper.hpp.

Member Data Documentation

◆ ft_sensors

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

Definition at line 293 of file mj_kdl_wrapper.hpp.

Referenced by admittance_ft::build_scene().

◆ tcp_frame

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

Definition at line 292 of file mj_kdl_wrapper.hpp.

◆ tcp_site

const char* mj_kdl::ToolFrameSpec::tcp_site = nullptr

Definition at line 291 of file mj_kdl_wrapper.hpp.

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

◆ tool_body

const char* mj_kdl::ToolFrameSpec::tool_body = nullptr

Definition at line 290 of file mj_kdl_wrapper.hpp.