MujocoSceneComponent

class · namespace Hazel · Component

Inherits Component

public class MujocoSceneComponent : Component

Properties

IsControlledManually

public bool IsControlledManually { get; set; }

ModelNbody

public uint ModelNbody { get; }

ModelNgeom

public uint ModelNgeom { get; }

ModelNjnt

public uint ModelNjnt { get; }

ModelNq

public uint ModelNq { get; }

ModelNsite

public uint ModelNsite { get; }

ModelNu

public uint ModelNu { get; }

ModelNv

public uint ModelNv { get; }

MujocoTime

public double MujocoTime { get; }

Methods

GetActuator(string)

public MujocoActuator? GetActuator(string name)

GetActuatorCtrlRange(uint, float, float)

public bool GetActuatorCtrlRange(uint actuatorIndex, out float lo, out float hi)

GetActuatorGainPrms(uint, float, float)

public bool GetActuatorGainPrms(uint actuatorIndex, out float gainPrm0, out float biasPrm0)

GetActuatorID(string)

public int GetActuatorID(string name)

GetActuatorIndex(string)

public uint GetActuatorIndex(string actuatorName)

GetActuatorNameByIndex(uint)

public string GetActuatorNameByIndex(uint actuatorIndex)

GetActuatorTrnJointID(uint)

public int GetActuatorTrnJointID(uint actuatorIndex)

GetAngularVelocity(uint, bool)

public Vector3 GetAngularVelocity(uint bodyId, bool hazelSpace = true)

GetAxisHzToMj()

public Quaternion GetAxisHzToMj()

GetBodyFreeJointIndex(uint)

public uint GetBodyFreeJointIndex(uint bodyIndex)

GetBodyID(string)

public uint GetBodyID(string name)

GetBodyMass(uint)

public float GetBodyMass(uint bodyIndex)

GetBodyNameByIndex(uint)

public string GetBodyNameByIndex(uint bodyIndex)

GetBodyParentID(uint)

public int GetBodyParentID(uint bodyIndex)

GetBodyPoseMj(uint, Vector3, Quaternion, Vector3, Vector3)

public bool GetBodyPoseMj(uint bodyIndex, out Vector3 position, out Quaternion orientation, out Vector3 linearVel, out Vector3 angularVel)

GetBodyRootID(uint)

public int GetBodyRootID(uint bodyIndex)

GetDefaultFreeJointPosition(uint)

public Vector3 GetDefaultFreeJointPosition(uint freeJointId)

GetDefaultFreeJointQuaternion(uint)

public Quaternion GetDefaultFreeJointQuaternion(uint freeJointId)

GetFreeJointID()

public uint GetFreeJointID()

GetFullCtrl(float[])

public int GetFullCtrl(float[] outBuffer)

GetFullQpos(float[])

public int GetFullQpos(float[] outBuffer)

GetFullQvel(float[])

public int GetFullQvel(float[] outBuffer)

GetGeomContactForce(uint)

public float GetGeomContactForce(uint geomId)

GetGeomDescriptor(uint, int, int, int, int, int, Vector3)

public bool GetGeomDescriptor(uint geomIndex, out int parentBodyId, out int geomType, out int group, out int contype, out int conaffinity, out Vector3 size)

GetGeomID(string)

public uint GetGeomID(string name)

GetGeomNameByIndex(uint)

public string GetGeomNameByIndex(uint geomIndex)

GetGeomPoseMj(uint, Vector3, Quaternion)

public bool GetGeomPoseMj(uint geomIndex, out Vector3 position, out Quaternion orientation)

GetJointID(string)

public uint GetJointID(string jointName)

GetJointNameByIndex(uint)

public string GetJointNameByIndex(uint jointIndex)

GetJointPosition(uint)

public float GetJointPosition(uint qposAdr)

GetJointPositions(uint[], float[])

public void GetJointPositions(uint[] qposAdrs, float[] outPositions)

GetJointQposAdr(uint)

public uint GetJointQposAdr(uint jointId)

GetJointQvelAdr(uint)

public uint GetJointQvelAdr(uint jointId)

GetJointRange(uint, float, float)

public bool GetJointRange(uint jointIndex, out float lo, out float hi)

GetJointType(uint)

public int GetJointType(uint jointIndex)

GetJointVelocities(uint[], float[])

public void GetJointVelocities(uint[] qvelAdrs, float[] outVelocities)

GetJointVelocity(uint)

public float GetJointVelocity(uint qvelAdr)

GetOrientation(uint, bool)

public Quaternion GetOrientation(uint bodyId, bool hazelSpace = true)

GetPosition(uint, bool)

public Vector3 GetPosition(uint bodyID, bool hazelSpace = true)

GetSceneTranslation()

public Vector3 GetSceneTranslation()

GetSiteDescriptor(uint, int, int, Vector3)

public bool GetSiteDescriptor(uint siteIndex, out int parentBodyId, out int siteType, out Vector3 size)

GetSiteID(string)

public uint GetSiteID(string name)

GetSiteLinearVelocityMj(uint)

public Vector3 GetSiteLinearVelocityMj(uint siteId)

GetSiteNameByIndex(uint)

public string GetSiteNameByIndex(uint siteIndex)

GetSitePoseMj(uint, Vector3, Quaternion, Vector3)

public bool GetSitePoseMj(uint siteIndex, out Vector3 position, out Quaternion orientation, out Vector3 linearVel)

GetSitePositionMj(uint)

public Vector3 GetSitePositionMj(uint siteId)

GetVelocity(uint, bool)

public Vector3 GetVelocity(uint bodyId, bool hazelSpace = true)

HasNonFootGroundContact(uint[])

public bool HasNonFootGroundContact(uint[] footGeomIds)

IsActuatorClaimedByPolicy(uint)

public bool IsActuatorClaimedByPolicy(uint actuatorIndex)

IsGeomInContact(uint)

public bool IsGeomInContact(uint geomId)

ReseedPolicyPDTargets()

public void ReseedPolicyPDTargets()

ResetToInitialState(bool)

public void ResetToInitialState(bool preserveTime = true)

SetActuatorGainPrms(uint, float, float)

public bool SetActuatorGainPrms(uint actuatorIndex, float gainPrm0, float biasPrm0)

SetControlledManually(bool)

public void SetControlledManually(bool value)

SetCtrlByIndex(uint, float)

public bool SetCtrlByIndex(uint actuatorIndex, float value)

SetFullCtrl(float[])

public int SetFullCtrl(float[] values)

SetFullQpos(float[])

public int SetFullQpos(float[] values)

SetQfrcApplied(uint, float)

public bool SetQfrcApplied(uint dofIndex, float value)

SetQposByIndex(uint, float)

public bool SetQposByIndex(uint qposIndex, float value)

UnweldBody(uint)

public void UnweldBody(uint bodyID)

WeldBody(uint, Vector3, Quaternion, bool)

public void WeldBody(uint bodyID, Vector3 positionMj, Quaternion orientationMj, bool persistent = true)

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Source: Hazel/Scene/Components.cs