Skip to content

UMjEquality

Component representing a MuJoCo equality constraint.

Equality constraints (connect, weld, joint, tendon) enforce kinematic relationships between bodies, joints, or tendons.

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

Properties

Public Properties

Property Type Description
EqualityType EMjEqualityType The type of equality constraint.
Obj1 FString Name of the first object (body, joint, or tendon).
Obj2 FString Name of the second object (body, joint, or tendon).
bActive bool Whether the equality constraint is initially active.
SolRef TArray<float> Constraint solver reference (timeconst, dampratio).
SolImp TArray<float> Constraint solver impedance (dmin, dmax, width).
Anchor FVector Position of the connection point, in body2 frame.
RelPose FTransform Relative position and orientation of body1 in body2 frame.
PolyCoef TArray<float> Coefficients of the cubic polynomial: y = a + bx + cx^2 + d*x^3.
TorqueScale float Torque-to-force scaling ratio for weld constraint (mjSpec weld data[7]).

EqualityType

The type of equality constraint.

  • Type: EMjEqualityType
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: Mj Equality

Obj1

Name of the first object (body, joint, or tendon).

  • Type: FString
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: Mj Equality

Obj2

Name of the second object (body, joint, or tendon).

  • Type: FString
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: Mj Equality

bActive

Whether the equality constraint is initially active.

  • Type: bool
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: Mj Equality

SolRef

Constraint solver reference (timeconst, dampratio).

  • Type: TArray
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: Mj Equality|Physics
  • Notes: Override-enabled (bOverride_SolRef)

SolImp

Constraint solver impedance (dmin, dmax, width).

  • Type: TArray
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: Mj Equality|Physics
  • Notes: Override-enabled (bOverride_SolImp)

Anchor

Position of the connection point, in body2 frame.

  • Type: FVector
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: Mj Equality|Parameters
  • Notes: Override-enabled (bOverride_Anchor)

RelPose

Relative position and orientation of body1 in body2 frame.

  • Type: FTransform
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: Mj Equality|Parameters
  • Notes: Override-enabled (bOverride_RelPose)

PolyCoef

Coefficients of the cubic polynomial: y = a + bx + cx^2 + d*x^3.

  • Type: TArray
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: Mj Equality|Parameters
  • Notes: Override-enabled (bOverride_PolyCoef)

TorqueScale

Torque-to-force scaling ratio for weld constraint (mjSpec weld data[7]).

  • Type: float
  • Editor: ✏️ EditAnywhere
  • Blueprint: 🔵 ReadWrite
  • Category: Mj Equality|Parameters
  • Notes: Override-enabled (bOverride_TorqueScale)

Functions

Public Functions

General

Function Returns Description
ExportTo() void Exports properties to a pre-created MuJoCo spec equality structure.
RegisterToSpec() void Registers this equality constraint to the MuJoCo spec.
ImportFromXml() void Imports properties from a raw XML node.
ExportTo

Exports properties to a pre-created MuJoCo spec equality structure.

  • Signature: ExportTo(mjsEquality* Eq)
RegisterToSpec

Registers this equality constraint to the MuJoCo spec.

ImportFromXml

Imports properties from a raw XML node.

  • Signature: ImportFromXml(const class FXmlNode* Node)