UMjSubtreeComSensor

Specific SubtreeCom Sensor component.

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

Properties Functions

Properties

Public Properties

Property	Type	Description
Type	EMjSensorType	The type of sensor (Touch, Accelerometer, JointPos, etc.).
TargetName	FString	Name of the object this sensor is attached to or referencing (e.g. site name, joint name).
ReferenceName	FString	Optional: Referenced object name (e.g. for reftype/refname pairs in MuJoCo).
Dim	int	Dimension of the sensor output.
Noise	float	Noise standard deviation added to the sensor reading.
Cutoff	float	Cutoff frequency for the sensor filter.
UserAdr	int32	Output address override for user sensors (mjsSensor::adr). -1 = let MuJoCo assign.
MjClassName	FString	Optional MuJoCo class name to inherit defaults from.
ObjType	EMjObjType	Type of object this sensor is attached to (e.g. Site, Joint, Body).
RefType	EMjObjType	Type of reference object (e.g. Camera for camprojection, Body/Geom for distance).
IntParams	TArray<int32>	Integer parameters for sensor configuration (e.g. rangefinder flags, contact flags). Maps to sensor->intprm.
UserParams	TArray<double>	User data for custom sensors. Maps to sensor->userdata.
m_SensorView	SensorView	The runtime view of the MuJoCo sensor.

Type

The type of sensor (Touch, Accelerometer, JointPos, etc.).

• Type: EMjSensorType
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: Mj Sensor

TargetName

Name of the object this sensor is attached to or referencing (e.g. site name, joint name).

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

ReferenceName

Optional: Referenced object name (e.g. for reftype/refname pairs in MuJoCo).

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

Dim

Dimension of the sensor output.

• Type: int
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: Mj Sensor

Noise

Noise standard deviation added to the sensor reading.

• Type: float
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: Mj Sensor
• Notes: Override-enabled (bOverride_Noise)

Cutoff

Cutoff frequency for the sensor filter.

• Type: float
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: Mj Sensor
• Notes: Override-enabled (bOverride_Cutoff)

UserAdr

Output address override for user sensors (mjsSensor::adr). -1 = let MuJoCo assign.

• Type: int32
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: Mj Sensor

MjClassName

Optional MuJoCo class name to inherit defaults from.

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

ObjType

Type of object this sensor is attached to (e.g. Site, Joint, Body).

• Type: EMjObjType
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: Mj Sensor

RefType

Type of reference object (e.g. Camera for camprojection, Body/Geom for distance).

• Type: EMjObjType
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: Mj Sensor

IntParams

Integer parameters for sensor configuration (e.g. rangefinder flags, contact flags). Maps to sensor->intprm.

• Type: TArray
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: Mj Sensor

UserParams

User data for custom sensors. Maps to sensor->userdata.

• Type: TArray
• Editor: ✏️ EditAnywhere
• Blueprint: 🔵 ReadWrite
• Category: Mj Sensor

m_SensorView

The runtime view of the MuJoCo sensor.

• Type: SensorView

Functions

Public Functions

General

Function	Returns	Description
ImportFromXml()	void	Imports properties and override flags directly from the raw XML node.
RegisterToSpec()	void	Registers this sensor to the MuJoCo spec.
GetMjName()	FString	Gets the full prefixed name of this sensor as it appears in the compiled MuJoCo model.
GetMj()	SensorView&	Semantic accessor for raw MuJoCo data and helper methods.

ImportFromXml

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

• Signature: ImportFromXml(const class FXmlNode* Node)

RegisterToSpec

Registers this sensor to the MuJoCo spec.

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

GetMjName

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

• Signature: GetMjName()
• Returns: FString

GetMj

Semantic accessor for raw MuJoCo data and helper methods.

• Signature: GetMj()
• Returns: SensorView&

MuJoCo|Runtime

Function	Returns	Description
GetReading()	TArray<float>	Gets the full array reading.
GetScalarReading()	float	Gets the first scalar reading (index 0).
GetDimension()	int	Gets the sensor output dimension (number of values in GetReading()).

GetReading

Gets the full array reading.

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

GetScalarReading

Gets the first scalar reading (index 0).

• Signature: GetScalarReading()
• Blueprint: 🔵 Callable
• Returns: float

GetDimension

Gets the sensor output dimension (number of values in GetReading()).

• Signature: GetDimension()
• Blueprint: 🔵 Callable
• Returns: int