MJCFCompiler

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

class MJCFCompiler

Compiler settings that affect how the MJCF model is processed.

Contains flags and settings that control various aspects of model compilation including angle units, coordinate systems, automatic limit generation, and file path specifications for assets.

Public Functions

inline MJCFCompiler()

Public Members

bool angleInRad

Whether angles are specified in radians (true) or degrees (false).

bool inertiafromgeom

Whether to automatically compute inertia from geometry.

bool coordinateInLocal

Whether coordinates are in local frame (true) or global frame (false).

bool autolimits

Whether to automatically generate joint limits.

std::string eulerseq

Euler angle sequence for rotations (e.g., “xyz”, “zyx”).

std::string meshDir

Directory path for mesh files.

std::string textureDir

Directory path for texture files.