JointView¶

Lightweight wrapper around MuJoCo joint data.

void SetFriction(float Value) { if (geom_friction) geom_friction[0] = (mjtNum)Value; } / @brief Sets the contact solver reference parameters (time constant, damping ratio). */ void SetSolRef(float TimeConst, float DampRatio) { if (geom_solref) { geom_solref[0] = (mjtNum)TimeConst; geom_solref[1] = (mjtNum)DampRatio; } } / @brief Sets the contact solver impedance parameters. / void SetSolImp(float Dmin, float Dmax, float Width) { if (geom_solimp) { geom_solimp[0] = (mjtNum)Dmin; geom_solimp[1] = (mjtNum)Dmax; geom_solimp[2] = (mjtNum)Width; } } FString ToString() const { FString Info = FString::Printf(TEXT("=== Geom ID: %d (%s) ===\n"), id, name ? MjUtils::MjToString(name) : TEXT("None")); Info += FString::Printf(TEXT(" Type: %d | Size: %s\n"), geom_type, FormatVec3(geom_size)); Info += FString::Printf(TEXT(" World Pos: %s\n"), FormatVec3(geom_xpos)); return Info; } }; /**

Attribute	Value
Kind	`Struct`

Properties Functions

Properties¶

Public Properties¶

Property	Type	Description
`obj_type`	`static constexpr mjtObj`
`id`	`int`
`name`	`const char*`
`jnt_type`	`int`
`jnt_qposadr`	`int`
`jnt_dofadr`	`int`
`jnt_bodyid`	`int`
`jnt_actuatorid`	`int`
`jnt_group`	`int`
`jnt_limited`	`mjtBool*`
`jnt_actfrclimited`	`mjtBool*`
`jnt_actgravcomp`	`mjtBool*`
`jnt_solref`	`mjtNum*`
`jnt_solimp`	`mjtNum*`
`jnt_pos`	`mjtNum*`
`jnt_axis`	`mjtNum*`
`jnt_stiffness`	`mjtNum*`
`jnt_stiffnesspoly`	`mjtNum*`
`jnt_range`	`mjtNum*`
`jnt_actfrcrange`	`mjtNum*`
`jnt_margin`	`mjtNum*`
`jnt_user`	`mjtNum*`
`dof_bodyid`	`int`
`dof_jntid`	`int`
`dof_parentid`	`int`
`dof_treeid`	`int`
`dof_Madr`	`int`
`dof_simplenum`	`int`
`dof_solref`	`mjtNum*`
`dof_solimp`	`mjtNum*`
`dof_frictionloss`	`mjtNum*`
`dof_armature`	`mjtNum*`
`dof_damping`	`mjtNum*`
`dof_dampingpoly`	`mjtNum*`
`dof_invweight0`	`mjtNum*`
`dof_M0`	`mjtNum*`
`dof_length`	`mjtNum*`
`qpos`	`mjtNum*`
`qvel`	`mjtNum*`
`qacc`	`mjtNum*`
`xanchor`	`mjtNum*`
`xaxis`	`mjtNum*`

obj_type¶

Type: static constexpr mjtObj

id¶

Type: int

name¶

Type: const char*

jnt_type¶

Type: int

jnt_qposadr¶

Type: int

jnt_dofadr¶

Type: int

jnt_bodyid¶

Type: int

jnt_actuatorid¶

Type: int

jnt_group¶

Type: int

jnt_limited¶

Type: mjtBool*

jnt_actfrclimited¶

Type: mjtBool*

jnt_actgravcomp¶

Type: mjtBool*

jnt_solref¶

Type: mjtNum*

jnt_solimp¶

Type: mjtNum*

jnt_pos¶

Type: mjtNum*

jnt_axis¶

Type: mjtNum*

jnt_stiffness¶

Type: mjtNum*

jnt_stiffnesspoly¶

Type: mjtNum*

jnt_range¶

Type: mjtNum*

jnt_actfrcrange¶

Type: mjtNum*

jnt_margin¶

Type: mjtNum*

jnt_user¶

Type: mjtNum*

dof_bodyid¶

Type: int

dof_jntid¶

Type: int

dof_parentid¶

Type: int

dof_treeid¶

Type: int

dof_Madr¶

Type: int

dof_simplenum¶

Type: int

dof_solref¶

Type: mjtNum*

dof_solimp¶

Type: mjtNum*

dof_frictionloss¶

Type: mjtNum*

dof_armature¶

Type: mjtNum*

dof_damping¶

Type: mjtNum*

dof_dampingpoly¶

Type: mjtNum*

dof_invweight0¶

Type: mjtNum*

dof_M0¶

Type: mjtNum*

dof_length¶

Type: mjtNum*

qpos¶

Type: mjtNum*

qvel¶

Type: mjtNum*

qacc¶

Type: mjtNum*

xanchor¶

Type: mjtNum*

xaxis¶

Type: mjtNum*

Functions¶

Public Functions¶

General¶

Function	Returns	Description
`GetPosition()`	`float`	Gets the current joint position (radians for hinges, meters for sliders).
`SetPosition()`	void	Directly sets the joint position. Warning: teleports the physics state.

GetPosition¶

Gets the current joint position (radians for hinges, meters for sliders).

Signature: GetPosition()
Returns: float

SetPosition¶

Directly sets the joint position. Warning: teleports the physics state.

Signature: SetPosition(float Value)