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*`
`geom_type`	`int`
`geom_contype`	`int`
`geom_conaffinity`	`int`
`geom_condim`	`int`
`geom_bodyid`	`int`
`geom_dataid`	`int`
`geom_matid`	`int`
`geom_group`	`int`
`geom_priority`	`int`
`geom_plugin`	`int`
`geom_sameframe`	`mjtByte*`
`geom_solmix`	`mjtNum*`
`geom_solref`	`mjtNum*`
`geom_solimp`	`mjtNum*`
`geom_size`	`mjtNum*`
`geom_aabb`	`mjtNum*`
`geom_rbound`	`mjtNum*`
`geom_pos`	`mjtNum*`
`geom_quat`	`mjtNum*`
`geom_friction`	`mjtNum*`
`geom_margin`	`mjtNum*`
`geom_gap`	`mjtNum*`
`geom_fluid`	`mjtNum*`
`geom_user`	`mjtNum*`
`geom_rgba`	`float*`
`geom_xpos`	`mjtNum*`
`geom_xmat`	`mjtNum*`

obj_type¶

Type: static constexpr mjtObj

id¶

Type: int

name¶

Type: const char*

geom_type¶

Type: int

geom_contype¶

Type: int

geom_conaffinity¶

Type: int

geom_condim¶

Type: int

geom_bodyid¶

Type: int

geom_dataid¶

Type: int

geom_matid¶

Type: int

geom_group¶

Type: int

geom_priority¶

Type: int

geom_plugin¶

Type: int

geom_sameframe¶

Type: mjtByte*

geom_solmix¶

Type: mjtNum*

geom_solref¶

Type: mjtNum*

geom_solimp¶

Type: mjtNum*

geom_size¶

Type: mjtNum*

geom_aabb¶

Type: mjtNum*

geom_rbound¶

Type: mjtNum*

geom_pos¶

Type: mjtNum*

geom_quat¶

Type: mjtNum*

geom_friction¶

Type: mjtNum*

geom_margin¶

Type: mjtNum*

geom_gap¶

Type: mjtNum*

geom_fluid¶

Type: mjtNum*

geom_user¶

Type: mjtNum*

geom_rgba¶

Type: float*

geom_xpos¶

Type: mjtNum*

geom_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)