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UMjAdhesionActuator

Specific Adhesion Actuator component.

Attribute Value
Kind Class
UE Macro UCLASS
Inherits UMjActuator
Blueprint Spawnable ✅ Yes

Properties

Public Properties

Property Type Description
gain float
Kp float Proportional gain (Kp) for position servos.
group int32
nsample int32
interp int32
delay float
ctrllimited bool
forcelimited bool
actlimited bool
armature float
cranklength float
actdim int32
Type EMjActuatorType The type of actuator dynamics (e.g. Motor, Position).
TransmissionType EMjActuatorTrnType The transmission type connecting the actuator to the system.
GainType EMjGainType
BiasType EMjBiasType
DynType EMjDynType
MjClassName FString Optional MuJoCo class name to inherit defaults from (string fallback).
DefaultClass UMjDefault* Reference to a UMjDefault component for default class inheritance.
TargetName FString Name of the target element (Joint, Tendon, Site, etc.) this actuator acts upon.
SliderSite FString Name of the slider site for slider-crank transmission.
RefSite FString Reference site name.

gain

Override-enabled (bOverride_gain)

  • Type: float
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|MjActuator

Kp

Proportional gain (Kp) for position servos.

  • Type: float
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|Actuator|Parameters
  • Notes: Override-enabled (bOverride_Kp)

group

Override-enabled (bOverride_group)

  • Type: int32
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|MjActuator

nsample

Override-enabled (bOverride_nsample)

  • Type: int32
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|MjActuator

interp

Override-enabled (bOverride_interp)

  • Type: int32
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|MjActuator

delay

Override-enabled (bOverride_delay)

  • Type: float
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|MjActuator

ctrllimited

Override-enabled (bOverride_ctrllimited)

  • Type: bool
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|MjActuator

forcelimited

Override-enabled (bOverride_forcelimited)

  • Type: bool
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|MjActuator

actlimited

Override-enabled (bOverride_actlimited)

  • Type: bool
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|MjActuator

armature

Override-enabled (bOverride_armature)

  • Type: float
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|MjActuator

cranklength

Override-enabled (bOverride_cranklength)

  • Type: float
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|MjActuator

actdim

Override-enabled (bOverride_actdim)

  • Type: int32
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|MjActuator

Type

The type of actuator dynamics (e.g. Motor, Position).

  • Type: EMjActuatorType
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|Actuator

TransmissionType

The transmission type connecting the actuator to the system.

  • Type: EMjActuatorTrnType
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|Actuator

GainType

Override-enabled (bOverride_GainType)

  • Type: EMjGainType
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|Actuator

BiasType

Override-enabled (bOverride_BiasType)

  • Type: EMjBiasType
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|Actuator

DynType

Override-enabled (bOverride_DynType)

  • Type: EMjDynType
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|Actuator

MjClassName

Optional MuJoCo class name to inherit defaults from (string fallback).

  • Type: FString
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|Actuator

DefaultClass

Reference to a UMjDefault component for default class inheritance.

  • Type: UMjDefault*
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|Actuator

TargetName

Name of the target element (Joint, Tendon, Site, etc.) this actuator acts upon.

  • Type: FString
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|Actuator

SliderSite

Name of the slider site for slider-crank transmission.

  • Type: FString
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|Actuator

RefSite

Reference site name.

  • Type: FString
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: MuJoCo|Actuator

Functions

Public Functions

General

Function Returns Description
ImportFromXml() void Imports properties and override flags directly from the raw XML node.
RegisterToSpec() void Registers this actuator to the MuJoCo spec.
Bind() void Binds this component to the live MuJoCo simulation.
GetMjName() FString Gets the full prefixed name of this actuator as it appears in the compiled MuJoCo model.
ResolveDesiredControl() float Resolves the final control value to apply based on the specified source.
SetNetworkControl() void Sets the control value from the ZMQ networked stream.
ImportFromXml

Imports properties and override flags directly from the raw XML node.

  • Signature: ImportFromXml(const class FXmlNode* Node, const struct FMjCompilerSettings& CompilerSettings)
RegisterToSpec

Registers this actuator to the MuJoCo spec.

Bind

Binds this component to the live MuJoCo simulation.

  • Signature: Bind(mjModel* Model, mjData* Data, const FString& Prefix)
GetMjName

Gets the full prefixed name of this actuator as it appears in the compiled MuJoCo model.

  • Signature: GetMjName()
  • Returns: FString
ResolveDesiredControl

Resolves the final control value to apply based on the specified source.

  • Signature: ResolveDesiredControl(uint8 Source)
  • Returns: float
SetNetworkControl

Sets the control value from the ZMQ networked stream.

  • Signature: SetNetworkControl(float Value)

MuJoCo|Runtime

Function Returns Description
SetControl() void Sets the internal control input (ctrl) for this actuator.
ResetControl() void Resets the control input (ctrl) for this actuator to zero.
GetControl() float Gets the current resolved control value being applied.
GetForce() float Gets the current force generated by this actuator.
GetLength() float Gets the current length of the actuator.
GetVelocity() float Gets the current velocity of the actuator.
GetControlRange() FVector2D Gets the control range [min, max] from the compiled model. Returns ZeroVector if ctrl is not limited.
GetActivation() float Gets the current activation state (for stateful actuators like muscle/intvelocity). Returns 0 if stateless.
SetGear() void Sets the gear ratio (expert use).
GetGear() TArray<float> Gets the gear ratio.
SetControl

Sets the internal control input (ctrl) for this actuator.

  • Signature: SetControl(float Value)
  • Blueprint: 🔵 Callable
ResetControl

Resets the control input (ctrl) for this actuator to zero.

  • Signature: ResetControl()
  • Blueprint: 🔵 Callable
GetControl

Gets the current resolved control value being applied.

  • Signature: GetControl()
  • Blueprint: 🔵 Callable
  • Returns: float
GetForce

Gets the current force generated by this actuator.

  • Signature: GetForce()
  • Blueprint: 🔵 Callable
  • Returns: float
GetLength

Gets the current length of the actuator.

  • Signature: GetLength()
  • Blueprint: 🔵 Callable
  • Returns: float
GetVelocity

Gets the current velocity of the actuator.

  • Signature: GetVelocity()
  • Blueprint: 🔵 Callable
  • Returns: float
GetControlRange

Gets the control range [min, max] from the compiled model. Returns ZeroVector if ctrl is not limited.

  • Signature: GetControlRange()
  • Blueprint: 🔵 Callable
  • Returns: FVector2D
GetActivation

Gets the current activation state (for stateful actuators like muscle/intvelocity). Returns 0 if stateless.

  • Signature: GetActivation()
  • Blueprint: 🔵 Callable
  • Returns: float
SetGear

Sets the gear ratio (expert use).

  • Signature: SetGear(const TArray<float>& NewGear)
  • Blueprint: 🔵 Callable
GetGear

Gets the gear ratio.

  • Signature: GetGear()
  • Blueprint: 🔵 Callable
  • Returns: TArray