GeomView¶

Lightweight wrapper around MuJoCo geom data (model and data).

provides easy access to configuration and state.

Attribute	Value
Kind	`Struct`

Properties Functions

Properties¶

Public Properties¶

Property	Type	Description
`obj_type`	`static constexpr mjtObj`
`id`	`int`
`name`	`const char*`
`type`	`int`
`size`	`mjtNum*`
`pos_offset`	`mjtNum*`
`quat_offset`	`mjtNum*`
`rgba`	`float*`
`mat_id`	`int`
`body_id`	`int`
`dataid`	`int`
`friction`	`mjtNum*`
`solref`	`mjtNum*`
`solimp`	`mjtNum*`
`solmix`	`mjtNum*`
`margin`	`mjtNum*`
`gap`	`mjtNum*`
`contype`	`int`
`conaffinity`	`int`
`priority`	`int`
`fluid_coef`	`mjtNum*`
`user`	`mjtNum*`
`xpos`	`mjtNum*`
`xmat`	`mjtNum*`

obj_type¶

Type: static constexpr mjtObj

id¶

Type: int

name¶

Type: const char*

type¶

Type: int

size¶

Type: mjtNum*

pos_offset¶

Type: mjtNum*

quat_offset¶

Type: mjtNum*

rgba¶

Type: float*

mat_id¶

Type: int

body_id¶

Type: int

dataid¶

Type: int

friction¶

Type: mjtNum*

solref¶

Type: mjtNum*

solimp¶

Type: mjtNum*

solmix¶

Type: mjtNum*

margin¶

Type: mjtNum*

gap¶

Type: mjtNum*

contype¶

Type: int

conaffinity¶

Type: int

priority¶

Type: int

fluid_coef¶

Type: mjtNum*

user¶

Type: mjtNum*

xpos¶

Type: mjtNum*

xmat¶

Type: mjtNum*

Functions¶

Public Functions¶

General¶

Function	Returns	Description
`SetFriction()`	void	Sets the friction coefficient (tangential) for this geom.
`SetSolRef()`	void	Sets the contact solver reference parameters (time constant, damping ratio).
`SetSolImp()`	void	Sets the contact solver impedance parameters.

SetFriction¶

Sets the friction coefficient (tangential) for this geom.

Signature: SetFriction(float Value)

SetSolRef¶

Sets the contact solver reference parameters (time constant, damping ratio).

Signature: SetSolRef(float TimeConst, float DampRatio)

SetSolImp¶

Sets the contact solver impedance parameters.

Signature: SetSolImp(float Dmin, float Dmax, float Width)