BodyView¶
Lightweight wrapper around MuJoCo body data.
Can spawn children views for traversal.
| Attribute | Value |
|---|---|
| Kind | Struct |
Properties¶
Public Properties¶
| Property | Type | Description |
|---|---|---|
obj_type |
static constexpr mjtObj |
|
id |
int |
|
name |
const char* |
|
body_parentid |
int |
|
body_rootid |
int |
|
body_weldid |
int |
|
body_mocapid |
int |
|
body_jntnum |
int |
|
body_jntadr |
int |
|
body_dofnum |
int |
|
body_dofadr |
int |
|
body_treeid |
int |
|
body_geomnum |
int |
|
body_geomadr |
int |
|
body_simple |
mjtByte* |
|
body_sameframe |
mjtByte* |
|
body_pos |
mjtNum* |
|
body_quat |
mjtNum* |
|
body_ipos |
mjtNum* |
|
body_iquat |
mjtNum* |
|
body_mass |
mjtNum* |
|
body_subtreemass |
mjtNum* |
|
body_inertia |
mjtNum* |
|
body_invweight0 |
mjtNum* |
|
body_gravcomp |
mjtNum* |
|
body_margin |
mjtNum* |
|
body_user |
mjtNum* |
|
body_plugin |
int |
|
body_contype |
int |
|
body_conaffinity |
int |
|
body_bvhadr |
int |
|
body_bvhnum |
int |
|
tree_bodyadr |
int |
|
tree_bodynum |
int |
|
tree_dofadr |
int |
|
tree_dofnum |
int |
|
tree_sleep_policy |
int |
|
xpos |
mjtNum* |
|
xquat |
mjtNum* |
|
xmat |
mjtNum* |
|
cvel |
mjtNum* |
|
cinert |
mjtNum* |
|
xfrc_applied |
mjtNum* |
|
const |
`` | |
const |
`` | |
const |
`` |
obj_type¶
- Type: static constexpr mjtObj
id¶
- Type: int
name¶
- Type: const char*
body_parentid¶
- Type: int
body_rootid¶
- Type: int
body_weldid¶
- Type: int
body_mocapid¶
- Type: int
body_jntnum¶
- Type: int
body_jntadr¶
- Type: int
body_dofnum¶
- Type: int
body_dofadr¶
- Type: int
body_treeid¶
- Type: int
body_geomnum¶
- Type: int
body_geomadr¶
- Type: int
body_simple¶
- Type: mjtByte*
body_sameframe¶
- Type: mjtByte*
body_pos¶
- Type: mjtNum*
body_quat¶
- Type: mjtNum*
body_ipos¶
- Type: mjtNum*
body_iquat¶
- Type: mjtNum*
body_mass¶
- Type: mjtNum*
body_subtreemass¶
- Type: mjtNum*
body_inertia¶
- Type: mjtNum*
body_invweight0¶
- Type: mjtNum*
body_gravcomp¶
- Type: mjtNum*
body_margin¶
- Type: mjtNum*
body_user¶
- Type: mjtNum*
body_plugin¶
- Type: int
body_contype¶
- Type: int
body_conaffinity¶
- Type: int
body_bvhadr¶
- Type: int
body_bvhnum¶
- Type: int
tree_bodyadr¶
- Type: int
tree_bodynum¶
- Type: int
tree_dofadr¶
- Type: int
tree_dofnum¶
- Type: int
tree_sleep_policy¶
- Type: int
xpos¶
- Type: mjtNum*
xquat¶
- Type: mjtNum*
xmat¶
- Type: mjtNum*
cvel¶
- Type: mjtNum*
cinert¶
- Type: mjtNum*
xfrc_applied¶
- Type: mjtNum*
const¶
- Type:
const¶
- Type:
const¶
- Type: