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

BakeLidarMaterial(float)

public bool BakeLidarMaterial(float cellSize)

BakeLidarMaterialEx(float, int, int, int)

public bool BakeLidarMaterialEx(float cellSize = 0.0f, int maxDim = 0, int splatRadius = 0, int includeHidden = 0)

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)

GetCameraConfig(ulong, int[], float[])

public bool GetCameraConfig(ulong cameraEntityId, int[] outInts, float[] outFloats)

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)

GetLidarBakeStatus(int[], ulong[], float)

public bool GetLidarBakeStatus(int[] outInts, ulong[] outLongs, out float cellSize)

GetLidarBeamAngles(int, float[], float[])

public int GetLidarBeamAngles(int sensorIndex, float[] outAz, float[] outEl)

GetLidarBeamCount(int)

public int GetLidarBeamCount(int sensorIndex)

GetLidarConfig(int, int[], float[])

public bool GetLidarConfig(int sensorIndex, int[] outInts, float[] outFloats)

GetLidarReturnParams(float[])

public int GetLidarReturnParams(float[] outParams)

GetLidarScan(int, float[], bool)

public int GetLidarScan(int sensorIndex, float[] outRanges, bool material = false)

GetLidarScanChannels(int, float[], float[], float[], bool)

public int GetLidarScanChannels(int sensorIndex, float[] outRanges, float[] outIntensity, float[] outReflectivityCalibrated, bool material = true)

GetLidarScanSecondary(int, float[])

public int GetLidarScanSecondary(int sensorIndex, float[] outSecondary)

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)

LoadLidarBake(string)

public bool LoadLidarBake(string bakeName = "scene")

ReseedPolicyPDTargets()

public void ReseedPolicyPDTargets()

ResetToInitialState(bool)

public void ResetToInitialState(bool preserveTime = false)

SaveLidarBake(string)

public bool SaveLidarBake(string bakeName = "scene")

SetActuatorGainPrms(uint, float, float)

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

SetCameraConfig(ulong, int, int, bool, int, bool, int, float, float, float, float, float, float)

public void SetCameraConfig(ulong cameraEntityId, int width, int height, bool recordMask, int depthMode, bool enabled, int sensorModel, float depthScale, float maxRange, float minRange, float detectFloor, float baseline, float subpixelSigma)

SetCameraDepthDebugChannel(ulong, int)

public void SetCameraDepthDebugChannel(ulong cameraEntityId, int channel)

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)

SetLidarConfig(int, int, int, int, float, float, float, float, float, int, int)

public void SetLidarConfig(int sensorIndex, int scanPattern, int channels, int azimuthBins, float vfovMinDeg, float vfovMaxDeg, float minRange, float maxRange, float rotationHz, int geomGroupMask, int selfIgnore)

SetLidarLive(bool)

public void SetLidarLive(bool live)

SetLidarPreset(int)

public void SetLidarPreset(int preset)

SetLidarReturnParams(float, float, float, float, float, float, float, float, float)

public void SetLidarReturnParams(float maxRangeAtRef, float refReflectivity, float rangeExp, float noiseSigma0, float grazingCosCutoff, float intensityRefRange, float detectFloor, float nearRangeR0, float noiseSlopePerM)

SetLidarReturnParamsEx(float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, float, int)

public void SetLidarReturnParamsEx(float maxRangeAtRef, float refReflectivity, float rangeExp, float noiseSigma0, float grazingCosCutoff, float intensityRefRange, float detectFloor, float nearRangeR0, float noiseSlopePerM, float specSlopeFloor, float specPeakMax, float retroGain, float retroCosExp, float foldMaxSlope, float rangeFloor, float minReturnSeparation, int maxReturns)

SetLidarSecondaryCapture(int, int, int)

public void SetLidarSecondaryCapture(int sensorIndex, int capture, int scope)

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