MJCFBody

Fully qualified name: isaacsim::asset::importer::mjcf::MJCFBody

class MJCFBody

Represents a rigid body in the MJCF model hierarchy.

A body is the fundamental element in the kinematic tree that can contain geometry for collision/visualization, joints for articulation, sites for sensors, and child bodies for hierarchical structure. Bodies have inertial properties and spatial positioning within their parent’s coordinate frame.

Public Functions

inline MJCFBody()

inline ~MJCFBody()

Public Members

std::string name

Name identifier for the body.

Vec3 pos

Position offset relative to the parent body frame.

Quat quat

Quaternion orientation relative to the parent body frame.

Vec3 zaxis

Z-axis direction for orientation specification.

MJCFInertial *inertial

Pointer to inertial properties of this body.

std::vector<MJCFGeom*> geoms

Collection of geometry elements attached to this body.

std::vector<MJCFJoint*> joints

Collection of joints that connect this body to its children.

std::vector<MJCFBody*> bodies

Collection of child bodies in the kinematic hierarchy.

std::vector<MJCFSite*> sites

Collection of sites (reference points) attached to this body.

bool hasVisual

Whether this body has visual elements for rendering.