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"), jnt_type); } }; /
| Attribute | Value |
|---|---|
| Kind | Struct |
Properties¶
Public Properties¶
| Property | Type | Description |
|---|---|---|
obj_type |
static constexpr mjtObj |
|
id |
int |
|
name |
const char* |
|
actuator_trntype |
int |
|
actuator_dyntype |
int |
|
actuator_gaintype |
int |
|
actuator_biastype |
int |
|
actuator_trnid |
int* |
|
actuator_damping |
mjtNum* |
|
actuator_dampingpoly |
mjtNum* |
|
actuator_armature |
mjtNum* |
|
actuator_actadr |
int |
|
actuator_actnum |
int |
|
actuator_group |
int |
|
actuator_history |
int* |
|
actuator_historyadr |
int |
|
actuator_delay |
mjtNum* |
|
actuator_ctrllimited |
mjtBool* |
|
actuator_forcelimited |
mjtBool* |
|
actuator_actlimited |
mjtBool* |
|
actuator_dynprm |
mjtNum* |
|
actuator_gainprm |
mjtNum* |
|
actuator_biasprm |
mjtNum* |
|
actuator_actearly |
mjtBool* |
|
actuator_ctrlrange |
mjtNum* |
|
actuator_forcerange |
mjtNum* |
|
actuator_actrange |
mjtNum* |
|
actuator_gear |
mjtNum* |
|
actuator_cranklength |
mjtNum* |
|
actuator_acc0 |
mjtNum* |
|
actuator_length0 |
mjtNum* |
|
actuator_lengthrange |
mjtNum* |
|
actuator_user |
mjtNum* |
|
actuator_plugin |
int |
|
ctrl |
mjtNum* |
|
actuator_force |
mjtNum* |
|
actuator_length |
mjtNum* |
|
actuator_velocity |
mjtNum* |
|
actuator_moment |
mjtNum* |
|
act |
mjtNum* |
obj_type¶
- Type: static constexpr mjtObj
id¶
- Type: int
name¶
- Type: const char*
actuator_trntype¶
- Type: int
actuator_dyntype¶
- Type: int
actuator_gaintype¶
- Type: int
actuator_biastype¶
- Type: int
actuator_trnid¶
- Type: int*
actuator_damping¶
- Type: mjtNum*
actuator_dampingpoly¶
- Type: mjtNum*
actuator_armature¶
- Type: mjtNum*
actuator_actadr¶
- Type: int
actuator_actnum¶
- Type: int
actuator_group¶
- Type: int
actuator_history¶
- Type: int*
actuator_historyadr¶
- Type: int
actuator_delay¶
- Type: mjtNum*
actuator_ctrllimited¶
- Type: mjtBool*
actuator_forcelimited¶
- Type: mjtBool*
actuator_actlimited¶
- Type: mjtBool*
actuator_dynprm¶
- Type: mjtNum*
actuator_gainprm¶
- Type: mjtNum*
actuator_biasprm¶
- Type: mjtNum*
actuator_actearly¶
- Type: mjtBool*
actuator_ctrlrange¶
- Type: mjtNum*
actuator_forcerange¶
- Type: mjtNum*
actuator_actrange¶
- Type: mjtNum*
actuator_gear¶
- Type: mjtNum*
actuator_cranklength¶
- Type: mjtNum*
actuator_acc0¶
- Type: mjtNum*
actuator_length0¶
- Type: mjtNum*
actuator_lengthrange¶
- Type: mjtNum*
actuator_user¶
- Type: mjtNum*
actuator_plugin¶
- Type: int
ctrl¶
- Type: mjtNum*
actuator_force¶
- Type: mjtNum*
actuator_length¶
- Type: mjtNum*
actuator_velocity¶
- Type: mjtNum*
actuator_moment¶
- Type: mjtNum*
act¶
- Type: mjtNum*