MJCFSite

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

class MJCFSite : public isaacsim::asset::importer::mjcf::MJCFVisualElement

Site element for marking specific locations and orientations in the model.

Sites are special objects that mark locations and orientations but do not participate in collisions or dynamics. They are commonly used for sensors, cameras, or as attachment points for other elements.

Public Types

enum Type

Enumeration of geometric shape types for site visualization.

Values:

enumerator CAPSULE

Capsule shape (cylinder with hemispherical caps).

enumerator SPHERE

Sphere shape.

enumerator ELLIPSOID

Ellipsoid shape.

enumerator CYLINDER

Cylinder shape.

enumerator BOX

Box (rectangular cuboid) shape.

Public Functions

inline MJCFSite()

Public Members

int group

Group identifier for site organization.

Vec3 friction

Friction coefficients for the site.

Vec3 from

Start point for sites defined by two points.

Vec3 to

End point for sites defined by two points.

bool hasFromTo

Whether the site is defined by from-to points.

Vec3 pos

Position offset in the parent body frame.

Quat quat

Quaternion orientation relative to parent body.

Vec3 zaxis

Z-axis direction for orientation specification.

bool hasGeom

Whether the site has associated geometry for visualization.

std::string name

Name identifier for the visual element.

std::string material

Name of the material applied to this element.

Vec4 rgba

RGBA color values [red, green, blue, alpha].

Vec3 size

Size dimensions of the geometric shape.

Type type

Type of geometric shape for this visual element.