# Objects¶

## Body types¶

There are three available body types.

1. DYNAMIC: can have a velocity, has a finite mass

2. KINEMATIC: can have a velocity, has an infinite mass (e.g., conveyor belt)

3. STATIC: cannot have a velocity, has an infinite mass (e.g., wall)

SingleBodyObjects can be of any type. ArticulatedSystems can only be DYNAMIC except the fixed base which can be STATIC.

You can get/set the body type using

• setBodyType(BodyType type)

• getBodyType() or getBodyType(body_index)

getBodyType() for ArticulatedSystems always returns DYNAMIC.

## Name¶

All objects can be named. These names are used by visualizers. raisim::World has a functionality to retrieve an object by name. Here is an example.

auto sphere = world.addSphere(1,1);
sphere->setName("sphere");
std::string name = sphere->getName();
auto same_sphere = world.getObject("sphere");


## Types¶

All objects can be specified as either a SingleBodyObject or an ArticulatedSystem.