MJCF 模式覆盖率
已与以下版本进行比对：
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MuJoCo 3.7.0（C API / mjSpec）
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插件版本：UnrealRoboticsLab 主分支，2026-04-18
Summary
| 类别 | 支持 | 仅限导入 | 丢失 | 全部 |
|---|---|---|---|---|
| 刚体（body） | 7 | 0 | 3 | 10 |
| 关节（joint） | 18 | 0 | 2 | 20 |
| 几何（geom） | 22 | 0 | 5 | 27 |
| 位点（site） | 10 | 0 | 2 | 12 |
| 执行器（actuator） (common) | 14 | 0 | 2 | 16 |
| 执行器类型 | 10 | 0 | 0 | 10 |
| 传感器类型 | 41 | 0 | 0 | 41 |
| 肌腱（tendon） | 16 | 0 | 1 | 17 |
| 等式约束（equality） | 10 | 0 | 0 | 10 |
| 默认 | 6 | 0 | 5 | 11 |
| 编译器 | 5 | 0 | 2 | 7 |
| 选项 | 17 | 0 | 3 | 20 |
| 关键帧（keyframe） | 6 | 0 | 0 | 6 |
| 接触（contact） | 2 | 0 | 0 | 2 |
| 资产（asset） | 3 | 0 | 1 | 4 |
| 柔性组件（flexible component, flexcomp） | 22 | 0 | 2 | 24 |
刚体（body）
| 属性 | 状态 | 备注 |
|---|---|---|
| name | SUPPORTED | Import: ReadAttrString("name"). Export: mjs_setName via Setup() |
| childclass | SUPPORTED | Import: ReadAttrString("childclass"). Export: mjs_setString(BodyToAttachTo->childclass) |
| pos | SUPPORTED | Import: ParseVector(pos) + coord convert. Export: UEToMjPosition in Setup() |
| quat | SUPPORTED | Import: via OrientationToMjQuat. Export: via Setup() transform |
| axisangle | SUPPORTED | Import: via OrientationToMjQuat (priority 2) |
| xyaxes | SUPPORTED | Import: via OrientationToMjQuat (priority 3) |
| zaxis | SUPPORTED | Import: via OrientationToMjQuat (priority 4) |
| euler | SUPPORTED | Import: via OrientationToMjQuat (priority 5, respects eulerseq) |
| mocap | SUPPORTED | Import: ReadAttrBool("mocap") -> bDrivenByUnreal. Export: BodyToAttachTo->mocap = 1 |
| gravcomp | SUPPORTED | Import: ReadAttrFloat("gravcomp"). Export: BodyToAttachTo->gravcomp = Gravcomp |
| sleep | SUPPORTED | Import: ReadAttrString("sleep") -> enum. Export: BodyToAttachTo->sleep |
| user | MISSING | Not parsed or exported |
joint
| Attribute | Status | Notes |
|---|---|---|
| name | SUPPORTED | Import: via MjComponent base. Export: mjs_setName in RegisterToSpec |
| class | SUPPORTED | Import: ReadAttrString("class"). Export: ResolveDefault |
| type | SUPPORTED | Import: parsed string -> enum. Export: Joint->type |
| group | SUPPORTED | Import: ReadAttrInt("group"). Export: Joint->group |
| pos | SUPPORTED | Import: ReadAttrString("pos") + coord convert. Export: UEToMjPosition |
| axis | SUPPORTED | Import: ReadAttrString("axis") + Y negate. Export: writes Joint->axis |
| springdamper | SUPPORTED | Import: ReadAttrFloatArray("springdamper") -> Stiffness + Damping |
| limited | SUPPORTED | Import: ReadAttrBool("limited"). Export: Joint->limited |
| solreflimit | SUPPORTED | Import + Export via Joint->solref_limit |
| solimplimit | SUPPORTED | Import + Export via Joint->solimp_limit |
| solreffriction | SUPPORTED | Import + Export via Joint->solref_friction |
| solimpfriction | SUPPORTED | Import + Export via Joint->solimp_friction |
| stiffness | SUPPORTED | Import: ReadAttrFloatArray (up to 3 polynomial coefficients). Export: Joint->stiffness[0..2] |
| range | SUPPORTED | Import + Export. Slide joints auto-convert m<->cm |
| actuatorfrcrange | SUPPORTED | Import: ReadAttrFloatArray. Export: Joint->actfrcrange |
| margin | SUPPORTED | Import: ReadAttrFloat. Export: Joint->margin |
| ref | SUPPORTED | Import: ReadAttrFloat. Export: Joint->ref. Slide: m<->cm |
| springref | SUPPORTED | Import: ReadAttrFloat. Export: Joint->springref |
| armature | SUPPORTED | Import: ReadAttrFloat. Export: Joint->armature |
| damping | SUPPORTED | Import: ReadAttrFloatArray (up to 3 polynomial coefficients). Export: Joint->damping[0..2] |
| frictionloss | SUPPORTED | Import: ReadAttrFloat. Export: Joint->frictionloss |
| actuatorgravcomp | MISSING | Not parsed |
| user | MISSING | Not parsed or exported |
geom
| Attribute | Status | Notes |
|---|---|---|
| name | SUPPORTED | Import: GetAttribute("name"). Export: SetSpecElementName |
| class | SUPPORTED | Import: ReadAttrString("class"). Export: ResolveDefault |
| type | SUPPORTED | Import: string -> enum (plane/hfield/sphere/capsule/ellipsoid/cylinder/box/mesh/sdf). Export: writes Geom->type. Primitives with a dedicated UE visualizer class: box (UMjBox), sphere (UMjSphere), cylinder (UMjCylinder), capsule (UMjCapsule, composite of engine cylinder + two sphere caps). Other types (ellipsoid, plane, hfield, sdf) use the base UMjGeom without a visualizer mesh. |
| contype | SUPPORTED | Import: ReadAttrInt. Export: Geom->contype |
| conaffinity | SUPPORTED | Import: ReadAttrInt. Export: Geom->conaffinity |
| condim | SUPPORTED | Import: ReadAttrInt. Export: Geom->condim |
| group | SUPPORTED | Import: ReadAttrInt. Export: Geom->group |
| priority | SUPPORTED | Import: ReadAttrInt. Export: Geom->priority |
| size | SUPPORTED | Import: ReadAttrFloatArray (handles 1/2/3 params). Export: writes per SizeParamsCount |
| material | SUPPORTED | Import: ReadAttrString("material"). Export: material instance created at import |
| friction | SUPPORTED | Import: ReadAttrFloatArray. Export: Geom->friction |
| mass | SUPPORTED | Import: ReadAttrFloat. Export: Geom->mass |
| density | SUPPORTED | Import: ReadAttrFloat. Export: Geom->density |
| solref | SUPPORTED | Import: ReadAttrFloatArray. Export: Geom->solref |
| solimp | SUPPORTED | Import: ReadAttrFloatArray. Export: Geom->solimp |
| margin | SUPPORTED | Import: ReadAttrFloat. Export: Geom->margin |
| gap | SUPPORTED | Import: ReadAttrFloat. Export: Geom->gap |
| fromto | SUPPORTED | Import: resolves to pos/quat/size. Export: raw fromto or decomposed |
| pos | SUPPORTED | Import: ParseVector + coord convert. Export: UEToMjPosition |
| quat | SUPPORTED | Import: via OrientationToMjQuat. Export: UEToMjRotation |
| axisangle | SUPPORTED | Import: via OrientationToMjQuat |
| xyaxes | SUPPORTED | Import: via OrientationToMjQuat |
| zaxis | SUPPORTED | Import: via OrientationToMjQuat |
| euler | SUPPORTED | Import: via OrientationToMjQuat |
| mesh | SUPPORTED | Import: ReadAttrString("mesh"). Export: mjs_setString(Geom->meshname) |
| rgba | SUPPORTED | Import: ReadAttrFloatArray. Export: Geom->rgba |
| hfield | MISSING | Geom type recognized; hfield asset not imported from XML <asset> |
| fitscale | MISSING | Not parsed |
| shellinertia | MISSING | Not parsed |
| solmix | MISSING | Bound in runtime view (geom_solmix) but not imported/exported via XML |
| fluidshape | MISSING | Not parsed |
| fluidcoef | MISSING | Not parsed |
| user | MISSING | Not parsed |
site
| Attribute | Status | Notes |
|---|---|---|
| name | SUPPORTED | Import: via MjComponent base. Export: SetSpecElementName |
| class | SUPPORTED | Import: via MjComponent base. Export: ResolveDefault |
| type | SUPPORTED | Import: string -> enum (sphere/capsule/ellipsoid/cylinder/box). Export: site->type |
| group | SUPPORTED | Import: ReadAttrInt. Export: site->group |
| pos | SUPPORTED | Import: parsed + coord convert. Export: UEToMjPosition |
| quat | SUPPORTED | Import: via OrientationToMjQuat. Export: UEToMjRotation |
| axisangle | SUPPORTED | Import: via OrientationToMjQuat |
| xyaxes | SUPPORTED | Import: via OrientationToMjQuat |
| zaxis | SUPPORTED | Import: via OrientationToMjQuat |
| euler | SUPPORTED | Import: via OrientationToMjQuat |
| size | SUPPORTED | Import: ReadAttrFloatArray. Export: site->size |
| fromto | SUPPORTED | Import: resolves to pos/quat/size. Export: raw fromto |
| rgba | SUPPORTED | Import: ReadAttrFloatArray. Export: site->rgba |
| material | MISSING | Not parsed |
| user | MISSING | Not parsed |
actuator (common attributes)
| Attribute | Status | Notes |
|---|---|---|
| name | SUPPORTED | Export: SetSpecElementName in RegisterToSpec |
| class | SUPPORTED | Import: ReadAttrString("class"). Export: ResolveDefault |
| group | SUPPORTED | Import: ReadAttrInt. Export: Actuator->group |
| ctrllimited | SUPPORTED | Import: ReadAttrBool. Export: Actuator->ctrllimited |
| forcelimited | SUPPORTED | Import: ReadAttrBool. Export: Actuator->forcelimited |
| ctrlrange | SUPPORTED | Import: ReadAttrFloatArray. Export: Actuator->ctrlrange |
| forcerange | SUPPORTED | Import: ReadAttrFloatArray. Export: Actuator->forcerange |
| lengthrange | SUPPORTED | Import: ReadAttrFloatArray. Export: Actuator->lengthrange |
| gear | SUPPORTED | Import: ReadAttrFloatArray. Export: Actuator->gear |
| cranklength | SUPPORTED | Import: ReadAttrFloat. Export: Actuator->cranklength |
| joint | SUPPORTED | Import: sets TransmissionType::Joint. Export: via trntype + target |
| tendon | SUPPORTED | Import: sets TransmissionType::Tendon. Export: via trntype + target |
| site | SUPPORTED | Import: sets TransmissionType::Site. Export: via trntype + target |
| body | SUPPORTED | Import: sets TransmissionType::Body. Export: via trntype + target |
| actearly | SUPPORTED | Import: ReadAttrBool. Export: Actuator->actearly |
| actlimited | SUPPORTED | Import: ReadAttrBool. Export: Actuator->actlimited |
| actrange | SUPPORTED | Import: ReadAttrFloatArray. Export: Actuator->actrange |
| damping | MISSING | Not parsed in base actuator (but subtype kv covers damper case) |
| armature | MISSING | Not parsed in base actuator |
| user | MISSING | Not parsed |
actuator types
| Type | Status | Notes |
|---|---|---|
| general | SUPPORTED | MjGeneralActuator. Exports raw gainprm/biasprm/dynprm directly |
| motor | SUPPORTED | MjMotorActuator. Uses mjs_setToMotor |
| position | SUPPORTED | MjPositionActuator. Parses kp. Uses mjs_setToPosition |
| velocity | SUPPORTED | MjVelocityActuator. Parses kv. Uses mjs_setToVelocity |
| intvelocity | SUPPORTED | MjIntVelocityActuator. Parses kp. Uses mjs_setToIntvelocity |
| damper | SUPPORTED | MjDamperActuator. Parses kv. Uses mjs_setToDamper |
| cylinder | SUPPORTED | MjCylinderActuator. Parses timeconst/bias/area/diameter. Uses mjs_setToCylinder |
| muscle | SUPPORTED | MjMuscleActuator. Uses mjs_setToMuscle |
| adhesion | SUPPORTED | MjAdhesionActuator. Parses gain. Uses mjs_setToAdhesion |
| dcmotor | SUPPORTED | MjDcMotorActuator. Parses motorconst, resistance, nominal, saturation, inductance, cogging, controller, thermal, lugre, input. Uses mjs_setToDCMotor (MuJoCo 3.7.0+). |
sensor types
All 41 sensor types are SUPPORTED (import via tag-name map, export via mjsSensor->type):
| Type | Status |
|---|---|
| touch | SUPPORTED |
| accelerometer | SUPPORTED |
| velocimeter | SUPPORTED |
| gyro | SUPPORTED |
| force | SUPPORTED |
| torque | SUPPORTED |
| magnetometer | SUPPORTED |
| camprojection | SUPPORTED |
| rangefinder | SUPPORTED |
| jointpos | SUPPORTED |
| jointvel | SUPPORTED |
| jointactfrc | SUPPORTED |
| tendonpos | SUPPORTED |
| tendonvel | SUPPORTED |
| tendonactfrc | SUPPORTED |
| actuatorpos | SUPPORTED |
| actuatorvel | SUPPORTED |
| actuatorfrc | SUPPORTED |
| ballquat | SUPPORTED |
| ballangvel | SUPPORTED |
| jointlimitpos | SUPPORTED |
| jointlimitvel | SUPPORTED |
| jointlimitfrc | SUPPORTED |
| tendonlimitpos | SUPPORTED |
| tendonlimitvel | SUPPORTED |
| tendonlimitfrc | SUPPORTED |
| framepos | SUPPORTED |
| framequat | SUPPORTED |
| framexaxis | SUPPORTED |
| frameyaxis | SUPPORTED |
| framezaxis | SUPPORTED |
| framelinvel | SUPPORTED |
| frameangvel | SUPPORTED |
| framelinacc | SUPPORTED |
| frameangacc | SUPPORTED |
| subtreecom | SUPPORTED |
| subtreelinvel | SUPPORTED |
| subtreeangmom | SUPPORTED |
| insidesite | SUPPORTED |
| geomdist | SUPPORTED |
| geomnormal | SUPPORTED |
| geomfromto | SUPPORTED |
| contact | SUPPORTED |
| e_potential | SUPPORTED |
| e_kinetic | SUPPORTED |
| clock | SUPPORTED |
| tactile | SUPPORTED |
| plugin | SUPPORTED |
| user | SUPPORTED |
Sensor common attributes:
| Attribute | Status | Notes |
|---|---|---|
| name | SUPPORTED | Via SetSpecElementName |
| noise | SUPPORTED | Import: ReadAttrFloat. Export: Sensor->noise |
| cutoff | SUPPORTED | Import: ReadAttrFloat. Export: Sensor->cutoff |
| objname/site/joint/etc | SUPPORTED | Import: tries each target attr. Export: Sensor->objname |
| refname | SUPPORTED | Import: GetAttribute("refname"). Export: Sensor->refname |
| objtype | SUPPORTED | Import: string -> enum. Export: Sensor->objtype |
| reftype | SUPPORTED | Import: string -> enum. Export: Sensor->reftype |
| dim | SUPPORTED | Import: parsed from attr. Export: Sensor->dim |
| class | SUPPORTED | Import: ReadAttrString("class") |
| user | MISSING | Not parsed |
tendon
| Attribute | Status | Notes |
|---|---|---|
| name | SUPPORTED | Import: via MjComponent. Export: mjs_setName |
| class | SUPPORTED | Import: ReadAttrString("class"). Export: ResolveDefault |
| stiffness | SUPPORTED | Import: ReadAttrFloatArray (up to 3 polynomial coefficients). Export: Tendon->stiffness[0..2] |
| springlength | SUPPORTED | Import + Export |
| damping | SUPPORTED | Import: ReadAttrFloatArray (up to 3 polynomial coefficients). Export: Tendon->damping[0..2] |
| frictionloss | SUPPORTED | Import + Export |
| armature | SUPPORTED | Import + Export |
| limited | SUPPORTED | Import + Export |
| range | SUPPORTED | Import + Export |
| margin | SUPPORTED | Import + Export |
| actfrclimited | SUPPORTED | Import + Export |
| actfrcrange | SUPPORTED | Import + Export |
| solreflimit | SUPPORTED | Import + Export |
| solimplimit | SUPPORTED | Import + Export |
| solreffriction | SUPPORTED | Import + Export |
| solimpfriction | SUPPORTED | Import + Export |
| width | SUPPORTED | Import + Export |
| rgba | SUPPORTED | Import + Export |
| group | SUPPORTED | Import + Export |
| user | MISSING | Not parsed |
Tendon wrap types:
| Wrap Type | Status | Notes |
|---|---|---|
| joint | SUPPORTED | mjs_wrapJoint with coef |
| site | SUPPORTED | mjs_wrapSite |
| geom | SUPPORTED | mjs_wrapGeom with sidesite |
| pulley | SUPPORTED | mjs_wrapPulley with divisor |
equality
| Type | Status | Notes |
|---|---|---|
| connect | SUPPORTED | Parses body1/body2, anchor. Exports via Eq->data[0..2] |
| weld | SUPPORTED | Parses body1/body2, relpos, relquat, torquescale. Exports via Eq->data[0..7] |
| joint | SUPPORTED | Parses joint1/joint2, polycoef. Exports via Eq->data |
| tendon | SUPPORTED | Parses tendon1/tendon2, polycoef. Exports via Eq->data |
| flex | SUPPORTED | Parses flex attribute into Obj1. Fixes all edge lengths of a flex (MuJoCo 3.5.0+). |
| flexvert | SUPPORTED | Parses flex attribute into Obj1. Fixes all vertex lengths of a flex (MuJoCo 3.5.0+). |
| flexstrain | SUPPORTED | Parses flex attribute into Obj1. Constrains strain of a trilinear/quadratic flex (MuJoCo 3.6.0+). |
Equality common attributes:
| Attribute | Status | Notes |
|---|---|---|
| active | SUPPORTED | Import: ReadAttrBool. Export: Eq->active |
| solref | SUPPORTED | Import + Export |
| solimp | SUPPORTED | Import + Export |
default
| Child Element | Status | Notes |
|---|---|---|
| class (attr) | SUPPORTED | Import: GetAttribute("class"). Nested defaults supported |
| geom | SUPPORTED | GeomComp->ExportTo(def->geom) |
| joint | SUPPORTED | JointComp->ExportTo(def->joint) |
| site | SUPPORTED | SiteComp->ExportTo(def->site) |
| camera | SUPPORTED | CameraComp->ExportTo(def->camera) |
| tendon | SUPPORTED | TendonComp->ExportTo(def->tendon) |
| general/motor/position/velocity/etc | SUPPORTED | ActuatorComp->ExportTo(def->actuator) (polymorphic) |
| mesh | MISSING | Not handled in default export |
| material | MISSING | Not handled in default export |
| pair | MISSING | Not handled in default export |
| equality | MISSING | Not handled in default export |
| light | MISSING | Not handled in default export |
compiler
| Attribute | Status | Notes |
|---|---|---|
| angle | SUPPORTED | ParseCompilerSettings -> bAngleInDegrees. Used by OrientationToMjQuat |
| eulerseq | SUPPORTED | ParseCompilerSettings -> EulerSeq. Used for euler decomposition |
| meshdir | SUPPORTED | Parsed from <compiler>, used for mesh path resolution |
| texturedir | SUPPORTED | Parsed from <compiler>, used for texture path resolution |
| assetdir | SUPPORTED | Parsed, overrides meshdir for asset lookups |
| autolimits | SUPPORTED | Parsed into bAutoLimits (deferred to MuJoCo spec compiler) |
| coordinate | MISSING | Always assumes "local" (MuJoCo 3.x default) |
| settotalmass | MISSING | Not parsed |
option
| Attribute | Status | Notes |
|---|---|---|
| timestep | SUPPORTED | Import from XML + ApplyToSpec. Runtime override supported |
| gravity | SUPPORTED | Import + coord convert (cm/s2, Y negate) |
| wind | SUPPORTED | Import + coord convert |
| magnetic | SUPPORTED | Import + coord convert |
| density | SUPPORTED | Import + export |
| viscosity | SUPPORTED | Import + export |
| impratio | SUPPORTED | Import + export |
| tolerance | SUPPORTED | Import + export |
| iterations | SUPPORTED | Import + export |
| ls_iterations | SUPPORTED | Import + export |
| integrator | SUPPORTED | Import: string -> enum (Euler/RK4/implicit/implicitfast) |
| cone | SUPPORTED | Import: string -> enum (pyramidal/elliptic) |
| solver | SUPPORTED | Import: string -> enum (PGS/CG/Newton) |
| noslip_iterations | SUPPORTED | Import + export (with override) |
| noslip_tolerance | SUPPORTED | Import + export (with override) |
| ccd_iterations | SUPPORTED | Import + export (with override) |
| ccd_tolerance | SUPPORTED | Import + export (with override) |
| flag (enableflags) | SUPPORTED | MultiCCD and Sleep flags handled |
| o_margin | MISSING | Not parsed |
| o_solref | MISSING | Not parsed |
| o_solimp | MISSING | Not parsed |
| mpr_iterations | MISSING | Not parsed |
| mpr_tolerance | MISSING | Not parsed |
| sdf_iterations | MISSING | Not parsed |
| sdf_initpoints | MISSING | Not parsed |
keyframe/key
| Attribute | Status | Notes |
|---|---|---|
| name | SUPPORTED | Import: via MjComponent. Export: mjs_setName |
| time | SUPPORTED | Import: ReadAttrFloat. Export: Key->time |
| qpos | SUPPORTED | Import + Export. Auto-pads for free joints |
| qvel | SUPPORTED | Import + Export |
| act | SUPPORTED | Import + Export |
| ctrl | SUPPORTED | Import + Export |
| mpos | SUPPORTED | Import + Export |
| mquat | SUPPORTED | Import + Export |
contact
| Element | Status | Notes |
|---|---|---|
| pair | SUPPORTED | Parses geom1/geom2/condim/friction/solref/solimp/gap/margin. Full import+export |
| exclude | SUPPORTED | Parses body1/body2/name. Full import+export |
asset
| Element | Status | Notes |
|---|---|---|
| mesh | SUPPORTED | Parsed recursively via ParseAssetsRecursive. GLB/STL/OBJ imported as UE StaticMesh |
| material | SUPPORTED | Parsed into FMuJoCoMaterialData. Creates UE MaterialInstance with texture params |
| texture | SUPPORTED | Imported from disk (PNG/JPG/BMP/TGA). Applied to material instances |
| hfield | MISSING | Not parsed from <asset>. Geom type=hfield recognized but asset data not imported |
flexcomp
URLab parses <flexcomp> into a UMjFlexcomp component and, at spec registration, serializes back to an MJCF fragment that MuJoCo's own parser expands via mjs_attach. All geometry types and DOF modes work without plugin-side reimplementation.
| Attribute | Status | Notes |
|---|---|---|
| name | SUPPORTED | Import: ReadAttrString("name") -> MjName. Export: written into generated <flexcomp> |
| type | SUPPORTED | Import: string -> EMjFlexcompType. grid/box/cylinder/ellipsoid/square/disc/circle/mesh/direct |
| dim | SUPPORTED | Import: ReadAttrInt. 1D lines / 2D triangles / 3D tetrahedra |
| dof | SUPPORTED | Import: string -> EMjFlexcompDof. full/radial/trilinear/quadratic |
| count | SUPPORTED | Import: 3-int array -> FIntVector. Grid/box/cylinder/ellipsoid types |
| spacing | SUPPORTED | Import: 3-float array -> FVector. Same types as count |
| pos | SUPPORTED | Import: ParseVector -> component relative location. Export: UEToMjPosition |
| scale | SUPPORTED | Import: 3-float array + bOverride_Scale. Export: only emitted when overridden |
| mass | SUPPORTED | Import: ReadAttrFloat + bOverride_Mass. Default inherits MuJoCo |
| inertiabox | SUPPORTED | Import: ReadAttrFloat + bOverride_InertiaBox |
| radius | SUPPORTED | Import: ReadAttrFloat + bOverride_Radius |
| rgba | SUPPORTED | Import: 4-float array + bOverride_Rgba |
| rigid | SUPPORTED | Import: ReadAttrBool -> bRigid |
| flatskin | SUPPORTED | Import: ReadAttrBool -> bFlatSkin |
| file | SUPPORTED | type=mesh. Import: path resolved relative to XML dir; child UStaticMeshComponent created. Export: welded OBJ written to VFS |
| point | SUPPORTED | type=direct. Import: float array -> PointData |
| element | SUPPORTED | type=direct. Import: int array -> ElementData |
<contact> |
SUPPORTED | All attrs (contype/conaffinity/condim/priority/margin/gap/selfcollide/internal) via bOverride_X |
<edge> |
SUPPORTED | stiffness/damping via bOverride_X |
<elasticity> |
SUPPORTED | young/poisson/damping/thickness/elastic2d via bOverride_X |
<pin> |
SUPPORTED | id/gridrange attribute arrays |
| euler | SUPPORTED | Handled by UE component transform (set by parent body transform import) |
| pingrid | MISSING | Only id and gridrange pin selectors supported |
| pinrange | MISSING | Only id and gridrange pin selectors supported |
Flex element (compiled output)
The compiled <flex> element is read at runtime for visualization (vertex positions, element indices). UMjFlexcomp::Bind resolves the flex by name from mjModel.flex_* arrays and caches flex_vertadr, flex_vertnum, and the triangle index list for per-tick updates via mjData.flexvert_xpos.