* @brief Unconditionally write a UE FString to an mjString* field. * * Use when the caller has already verified the value should be written * (e.g.

Translate wire ttl into (bPersistent, LifeTime) pair UE's DrawDebug* * helpers expect. ttl > 0: bPersistent=true, lifetime=ttl (auto-expires). * t

Map enum to wire-format string, matching the Python StepMode enum values. */

Emit MjGeom's FinalType resolution + mesh-name export. Specific to geom because the mesh-name write depends on the COMPILE-TIME geom type (UPR

Emit the .h + .cpp pair for one synthetic_categories entry. Currently supports the mjxmacro_block source (X-macro field list).

Takes a raw type string (e.g. 'const UMjHingeJoint*') and inserts Markdown links for custom types.

Reset the diag buffer between runs so back-to-back invocations in the same Python process (test runners, integration shells) don't carry stale

snake_case mjxmacro name -> PascalCase UE field. Preserves URLab's naming convention from the hand-written MjSimOptions.h (ls_iterations -> Ls

@brief Format ``InValue`` with ``Precision`` fractional digits * using ``.`` as the decimal separator regardless of the host * C locale. Returns a

Is a body currently latched (pert.select > 0)? */

* Write @p XmlContent to a temp file and run UMujocoGenerationAction. * After this call FindTemplate<T>() is valid. * Call Compile() afterwards if

--------------------------------------------------------------------------- Helper: create a minimal FMjReplayFrame with a given timestamp and one joi

Scan an existing source file the codegen is ABOUT to overwrite via ``fully_emitted: true`` and emit a diagnostic if it carries content the tem

Clean a raw type string from header parsing.

Emit a single banner-mode .h carrying one or more UENUMs. Rule shape (per enum entry): ``ue_name`` — UE enum class name (e.g. ``E

Parse `X(type, name, outer_dim, stride)` or `XVEC(...)`.

Pick the correct C field name on a category's mjs struct for a given schema attribute. Per-element ``attr_to_mjs_field`` overrides apply first

Unpack a ``value_map`` entry into ``(ue_member, mj_const)`` or return None when the shape is malformed. The 4 check sites that used to inline

Drive every phase in ``EMISSION_PHASES`` and return the full set of file writes the codegen would perform. No I/O side effects on disk — diagn

Returns (added, removed) items.

Look up per-subtype attrs from schema['actuator_types'][key] / schema['sensor_types'] (list-of-dict). Returns [] if not found.

Parametrised helper: run the parser on a flex-equality child tag and verify the generated UMjEquality uses the expected enum value.

@brief Returns the built-in visualizer mesh if it exists. */

Get joint ID by name. Returns -1 if not found. */

Caller-supplied-path variant of LoadFromIni / SaveToIni. The public * utils target the plugin INI; here we use FConfigFile directly so we * can te

Save a hash string to a .hash file alongside the OBJ. */

* Spawn a UMjCamera on the test articulation with the given mode and enable streaming. * Returns the camera so callers can inspect state after config