/Game/MuJoCoImports/foo -> /Game/MuJoCoImports/foo.foo_C /Game/MuJoCoImports/foo.foo_C -> unchanged

Resolve a save / load path. Bare filename -> <Project>/Saved/URLab/Replays/. * Must match AMjReplayManager::SaveRecordingToFile so the * recording

@brief Sets the friction coefficient (tangential) for this geom. */

Spherical lerp about a shared origin — exact for sphere wraps, good enough for cylinder wraps where both wrap points share the same perpendicular dist

Apply the MuJoCo → UE coordinate transform appropriate for each sensor type. Rules: Position outputs (meters): scale ×100, negate Y Direction vecto

UE direction → MuJoCo direction: unit Y-flip, no cm→m since directions are unitless.

Union of every schema attr observed anywhere in the snapshot.

Copy ``elem`` into ``out_parent``, recursively expanding any <include> descendants in place. Handles both <mujoco> and <mujocoinclude> include roo

Strip the leading newline + dedent so test bodies read naturally.

Walk the parsed MJCF tree and project it onto URLab's curated shape.

Surface allowlist entries the codebase no longer needs. Covers 4 of the 5 ``intentionally_*`` allowlists; the fifth (intentionally_unmodeled_c

Diagnose ``field_apply_to_spec_mode`` values the codegen would silently fall back on.

Emit a diagnostic when an injected block has an obvious brace imbalance.

Diagnose any <compiler> attribute the MJCF schema lists that URLab neither models in FMjCompilerSettings nor explicitly skips.

Diagnose rule entries that name a MuJoCo C symbol the mjspec snapshot doesn't carry.

Flag generated_enums entries that map fewer mj enum members than the snapshot carries.

Cross-check rule-declared UE enum members against the actual hand enums AND against MuJoCo's mjt* enums.

Flag mjs struct fields with no schema-attr coverage or rule binding.

Bi-directional check between mjxmacro snapshot blocks and ``synthetic_categories`` entries. Forward catches new blocks upstream URLab doesn't

Every schema attr that lands as a UPROPERTY but has no explicit type_mappings entry silently inherits ``default_type`` ('float'). Also surface

Diagnose rule entries that reference attrs no schema element uses. Catches stale rules left over from MuJoCo renaming/removing an attr.

Diagnose property_units entries that use an unrecognised UE display unit, or target a UE type that UHT rejects Units meta on.

Flag mjs_setTo* parameters with no UE-side mapping AND no explicit sentinel default.

Flag top-level schema elements with no category in rules.

Cross-check ``type_mappings[attr]`` against the actual C-type shape of the corresponding mjs struct field.

Every value_map[*][1] is a literal mj* C constant emitted into the generated .cpp; the snapshot cross-check surfaces removed/ renamed constant

Format emitted C++ with the project .clang-format so generated files match a clang-format pass over the whole tree. clang-format is a hard reg

Reduce an introspect c_type + array_dim down to a comparable (shape, dim_or_family) tuple. Shapes: ``("scalar", fam)`` — single value, fam ∈

Walk the entire schema tree returning every attr name found. Used by ``_check_allowlist_staleness``.

Read the version from include/mujoco/mujoco.h next to xml_native_reader.cc.

Emit canonicalisation-owned UPROPERTY blocks at the top of the component so the canonical authoring surface (Pos / Quat / etc) appears first i

Emit export for an attr whose mjs counterpart is a ``mjDoubleVec*`` (std::vector<double>*) — used by mjsKey for qpos/qvel/act/ctrl/mpos/mquat.

Run every drift-coverage check. Each helper surfaces one class of drift. All diagnostics route through the module-level ``_DIAGS_BUFFER.pendin