UMjKeyframeController

Cycles through a list of keyframe poses on an MjArticulation.

Add this component to any actor, set the TargetArticulation reference, define Keyframes in the Details panel, and hit Play. The component lerps between poses automatically. Works for any robot — Franka Panda, UR5e, or anything with actuators.

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

Properties Functions

Properties

Public Properties

Property	Type	Description
Keyframes	TArray<FMjKeyframePose>	List of poses to cycle through.
Preset	FString	Load a built-in preset sequence. Overwrites the Keyframes array.
bLoadPreset	bool	Tick this to apply the selected Preset to the Keyframes array.
bLoop	bool	If true, loops back to the first keyframe after the last.
bAutoPlay	bool	If true, starts playing automatically on BeginPlay.
StartDelay	float	Delay before starting playback (seconds).

Keyframes

List of poses to cycle through.

• Type: TArray<FMjKeyframePose>
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Keyframes

Preset

Load a built-in preset sequence. Overwrites the Keyframes array.

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

bLoadPreset

Tick this to apply the selected Preset to the Keyframes array.

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

bLoop

If true, loops back to the first keyframe after the last.

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

bAutoPlay

If true, starts playing automatically on BeginPlay.

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

StartDelay

Delay before starting playback (seconds).

• Type: float
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: MuJoCo|Keyframes
• Notes: Override-enabled (bAutoPlay)

Functions

Public Functions

General

Function	Returns	Description
GetPresetNames()	TArray<FString>	Returns available preset names (for editor dropdown).

GetPresetNames

Returns available preset names (for editor dropdown).

• Signature: GetPresetNames()
• Returns: TArray

MuJoCo|Keyframes

Function	Returns	Description
LoadPreset()	void	Load a preset by name into the Keyframes array.

LoadPreset

Load a preset by name into the Keyframes array.

• Signature: LoadPreset(const FString& PresetName)
• Blueprint: 🔵 Callable