raisim::rscene::Articulated
struct · #include <raisim/Rscene.hpp>
An articulated record: one articulated system in the scene (Engine 2's robot node). load() fills source, resourceDirectory, modules, jointOrder and the collision options from the referenced ArticulatedResource where the record leaves them out, as Engine 2 does. RaiSim builds the system at unit scale and, like Engine 2's RaiSim bridge, ignores the record's fluid and contact-tuning keys.
Public attributes
id
std::string idNode id (Engine 2 writes "articulation_" + path when the record has none) and path.
path
std::string pathresourceId
std::string resourceIdThe articulated_resource id; may be empty when the record names its own source.
source
std::string sourceresourceDirectory
std::string resourceDirectorymodules
std::vector<std::string> modulesjointOrder
std::vector<std::string> jointOrderdoNotCollideWithParent
bool doNotCollideWithParentconvexifyCollisionMeshes
bool convexifyCollisionMeshestransform
Transform transformBase pose. It replaces the first seven generalized coordinates of a floating base.
visible
bool visiblecollidable
bool collidablecollisionGroup
std::uint64_t collisionGroupcollisionMask
std::uint64_t collisionMaskgeneralizedCoordinate
std::vector<double> generalizedCoordinateInitial state; empty keeps the source's nominal configuration and zero velocity.
generalizedVelocity
std::vector<double> generalizedVelocitysemanticClass
std::string semanticClassSegmentation class (semanticClass key) of the whole system, as for Object::semanticClass.