MJCFJoint

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

class MJCFJoint

Represents a joint in the MJCF (MuJoCo XML Format) model.

Defines a kinematic joint that connects two bodies with specified degrees of freedom. Supports various joint types including hinge (revolute), slide (prismatic), ball (spherical), and free joints with configurable limits, dynamics, and control parameters.

Public Types

enum Type

Enumeration of joint types supported in MJCF.

Values:

enumerator HINGE

Revolute joint with rotation about a single axis.

enumerator SLIDE

Prismatic joint with translation along a single axis.

enumerator BALL

Ball joint with rotation about all three axes.

enumerator FREE

Free joint with translation and rotation in all directions.

Public Functions

inline MJCFJoint()

Public Members

std::string name

Name identifier for the joint.

Type type = HINGE

Type of the joint (hinge, slide, ball, or free).

bool limited

Whether the joint has motion limits.

float armature

Armature inertia for numerical stability.

float stiffness

Stiffness coefficient for joint springs.

float damping

Damping coefficient for joint friction.

float friction

Dry friction force magnitude.

Vec3 axis

Axis of rotation or translation for the joint.

float ref

Reference angle or position for the joint.

Vec3 pos

Position offset for the joint in the parent body frame.

Vec2 range

Joint motion limits [lower, upper].

Vec2 forcerange = {0.0f, 0.0f}

Force limits [lower, upper] for the joint.

float velocityLimits[6]

Velocity limits for each degree of freedom.

float initVal

Initial value for the joint position or angle.