UMjKeyframe

Component representing a MuJoCo keyframe.

Keyframes store simulation state (time, qpos, qvel, act, ctrl, mocap) at a specific moment.

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

Properties Functions

Properties

Public Properties

Property	Type	Description
Time	float	Simulation time for this keyframe.
Qpos	TArray<float>	Joint positions.
Qvel	TArray<float>	Joint velocities.
Act	TArray<float>	Actuator activations.
Ctrl	TArray<float>	Actuator controls.
Mpos	TArray<float>	Mocap body positions.
Mquat	TArray<float>	Mocap body quaternions.

Time

Simulation time for this keyframe.

• Type: float
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: Mj Keyframe

Qpos

Joint positions.

• Type: TArray
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: Mj Keyframe
• Notes: Override-enabled (bOverride_Qpos)

Qvel

Joint velocities.

• Type: TArray
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: Mj Keyframe
• Notes: Override-enabled (bOverride_Qvel)

Act

Actuator activations.

• Type: TArray
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: Mj Keyframe
• Notes: Override-enabled (bOverride_Act)

Ctrl

Actuator controls.

• Type: TArray
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: Mj Keyframe
• Notes: Override-enabled (bOverride_Ctrl)

Mpos

Mocap body positions.

• Type: TArray
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: Mj Keyframe
• Notes: Override-enabled (bOverride_Mpos)

Mquat

Mocap body quaternions.

• Type: TArray
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: Mj Keyframe
• Notes: Override-enabled (bOverride_Mquat)

Functions

Public Functions

General

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

ExportTo

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

• Signature: ExportTo(mjsKey* Key)

RegisterToSpec

Registers this keyframe to the MuJoCo spec.

• Signature: RegisterToSpec(class FMujocoSpecWrapper& Wrapper, mjsBody* ParentBody)

ImportFromXml

Imports properties from a raw XML node.

• Signature: ImportFromXml(const class FXmlNode* Node)