MJGeomInfo

struct MJGeomInfo

#include <MJGeomInfo.h>

Describes the geometry (shape, size, position, orientation, color) of a single MuJoCo geom, suitable for visualization.

The type field stores a mjtGeom integer value from mujoco/mujoco.h. Common values: mjGEOM_SPHERE=2, mjGEOM_CAPSULE=3, mjGEOM_ELLIPSOID=4, mjGEOM_CYLINDER=5, mjGEOM_BOX=6.

Public Members

std::string bodyName: Name of the body this geom belongs to.

int type = mjGEOM_NONE: MuJoCo geom type (mjtGeom value).

std::vector<double> size = std::vector<double>(3): Size parameters (3 elements).

std::vector<double> pos = std::vector<double>(3): Position in body frame (3 elements).

std::vector<double> quat = std::vector<double>(4): Quaternion in body frame (4 elements: w, x, y, z).

std::vector<double> rgba = std::vector<double>(4): Color (4 elements, 0-1 range).