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# ARSkeleton3D

The skeleton of a human body that ARKit tracks in 3D space.

```
class ARSkeleton3D
```

## Overview

An [`ARBodyAnchor`](/documentation/ARKit/ARBodyAnchor) contains one instance of this [`ARSkeleton`](/documentation/ARKit/ARSkeleton) subclass to provide its joint positions in 3D space. The [`jointLocalTransforms`](/documentation/ARKit/ARSkeleton3D/jointLocalTransforms-1m5a1) property describes a joint’s 3D offset from its parent joint. The [`jointModelTransforms`](/documentation/ARKit/ARSkeleton3D/jointModelTransforms-dno4) property describes a joint’s 3D offset from the body anchor’s [`transform`](/documentation/ARKit/ARAnchor/transform).

## Topics

### Getting a Joint’s Pose

[`jointLocalTransforms`](/documentation/ARKit/ARSkeleton3D/jointLocalTransforms-66gbm)

The local space transforms for each joint.

[`jointModelTransforms`](/documentation/ARKit/ARSkeleton3D/jointModelTransforms-i6yu)

The model space transforms for each joint.

[`localTransform(for:)`](/documentation/ARKit/ARSkeleton3D/localTransform(for:))

Returns the local transform for a joint with a given name.

[`modelTransform(for:)`](/documentation/ARKit/ARSkeleton3D/modelTransform(for:))

Returns the model transform for a joint with a given name.

[`jointLocalTransforms`](/documentation/ARKit/ARSkeleton3D/jointLocalTransforms-1m5a1)

The local space transforms for each joint.

[`jointModelTransforms`](/documentation/ARKit/ARSkeleton3D/jointModelTransforms-dno4)

The model space transforms for each joint.

[`localTransformForJointName:`](/documentation/ARKit/ARSkeleton3D/localTransformForJointName:)

Returns the local transform for a joint with a given name.

[`modelTransformForJointName:`](/documentation/ARKit/ARSkeleton3D/modelTransformForJointName:)

Returns the model transform for a joint with a given name.


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