MJCFVisualElement#

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

class MJCFVisualElement#

Base class for visual elements in MJCF models.

Represents a geometric shape that can be rendered visually in the simulation. Contains basic properties like name, material, color, size, and shape type that are common to all visual geometry elements.

Subclassed by isaacsim::asset::importer::mjcf::MJCFGeom, isaacsim::asset::importer::mjcf::MJCFSite

Public Types

enum Type#

Enumeration of geometric shape types for visual elements.

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.

enumerator MESH#: Mesh shape loaded from file.

enumerator PLANE#: Infinite plane shape.

enumerator OTHER#: Other or unspecified shape type.

Public Members

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.