ActuatorView¶

Lightweight wrapper around MuJoCo actuator data.

float GetPosition() const { return (qpos) ? (float)qpos[0] : 0.0f; } / @brief Directly sets the joint position. Warning: teleports the physics state. / void SetPosition(float Value) { if (qpos) qpos[0] = (mjtNum)Value; } FString ToString() const { return FString::Printf(TEXT("=== Joint ID: %d (%s) Type: %d ===\n"), id, name ? MjUtils::MjToString(name) : TEXT("None"), type); } }; /

Attribute	Value
Kind	`Struct`

Properties

Properties¶

Public Properties¶

Property	Type	Description
`obj_type`	`static constexpr mjtObj`
`id`	`int`
`name`	`const char*`
`trntype`	`int`
`dyntype`	`int`
`gaintype`	`int`
`biastype`	`int`
`gear`	`mjtNum*`
`cranklength`	`mjtNum*`
`acc0`	`mjtNum*`
`length0`	`mjtNum*`
`lengthrange`	`mjtNum*`
`ctrlrange`	`mjtNum*`
`forcerange`	`mjtNum*`
`actrange`	`mjtNum*`
`gainprm`	`mjtNum*`
`biasprm`	`mjtNum*`
`dynprm`	`mjtNum*`
`ctrl`	`mjtNum*`
`force`	`mjtNum*`
`length`	`mjtNum*`
`moment`	`mjtNum*`
`velocity`	`output: actuator moment mjtNum*`
`act`	`mjtNum*`

obj_type¶

Type: static constexpr mjtObj

id¶

Type: int

name¶

Type: const char*

trntype¶

Type: int

dyntype¶

Type: int

gaintype¶

Type: int

biastype¶

Type: int

gear¶

Type: mjtNum*

cranklength¶

Type: mjtNum*

acc0¶

Type: mjtNum*

length0¶

Type: mjtNum*

lengthrange¶

Type: mjtNum*

ctrlrange¶

Type: mjtNum*

forcerange¶

Type: mjtNum*

actrange¶

Type: mjtNum*

gainprm¶

Type: mjtNum*

biasprm¶

Type: mjtNum*

dynprm¶

Type: mjtNum*

ctrl¶

Type: mjtNum*

force¶

Type: mjtNum*

length¶

Type: mjtNum*

moment¶

Type: mjtNum*

velocity¶

Type: output: actuator moment mjtNum*

act¶

Type: mjtNum*