raisim::World::SingleBodySnapshot
struct · #include <raisim/World.hpp>
Snapshot of a single-body object's runtime state and collision properties. It is intended for fast RL reset/randomization workflows between simulation steps.
Public attributes
objectId
cpp
ObjectId objectIdStable id of the captured object.
objectType
cpp
ObjectType objectTypeObject type; restore fails if the target's type differs.
bodyType
cpp
BodyType bodyTypeBody type (static/kinematic/dynamic).
position
cpp
Vec<3> positionPosition in the world frame (m).
quaternion
cpp
Vec<4> quaternionOrientation quaternion (w, x, y, z), body to world.
linearVelocity
cpp
Vec<3> linearVelocityLinear velocity in the world frame (m/s).
angularVelocity
cpp
Vec<3> angularVelocityAngular velocity in the world frame (rad/s).
material
cpp
std::string materialCollision material name.
collisionGroup
cpp
CollisionGroup collisionGroupCollision group.
collisionMask
cpp
CollisionGroup collisionMaskCollision mask.