Data Structures

Here are the data structures with brief descriptions:

ChxCommand	Motor command data
ChxRobotInfo	Robot information
ChxsBody	Information about bodies
ChxsContact	Information about contacts
ChxsDeviceInfo	Simulated device information, beyond the information provided in hxDeviceInfo
ChxSensor	Sensor data
ChxsJoint	Information about joints
ChxTime	A representation of time