raisim::rscene::ArticulatedResource
struct · #include <raisim/Rscene.hpp>
An articulated_resource record: a URDF, MJCF or RaiSim XML source that articulated records share (Engine 2's robot asset).
Public attributes
id
cpp
std::string idReferenced by Articulated::resourceId.
name
cpp
std::string nameDisplay name.
source
cpp
std::string sourceFile reference, or an inline description that starts with '<'.
resourceDirectory
cpp
std::string resourceDirectoryMesh directory reference; empty resolves meshes against the source's directory.
modules
cpp
std::vector<std::string> modulesURDF module fragments and a joint order; empty keeps the source's own.
jointOrder
cpp
std::vector<std::string> jointOrderdoNotCollideWithParent
cpp
bool doNotCollideWithParentconvexifyCollisionMeshes
cpp
bool convexifyCollisionMeshes