Struct MjcfBody

Struct Documentation

struct MjcfBody

All Bodies informations extracted from mjcf model.

Public Members

std::string bodyName
std::string bodyParent
std::string bodyClassName
std::string childClass
SE3 bodyPlacement = SE3::Identity()
Inertia bodyInertia = Inertia::Identity()
std::vector<MjcfJoint> jointChildren
std::vector<MjcfGeom> geomChildren
std::vector<MjcfSite> siteChildren