Mujoco.class.component

Plugins/LuckyDataTransfer/Binaries/Win64/UnrealEditor.modules

@@ -1,7 +0,0 @@
-{
-	"BuildId": "37670630",
-	"Modules": 
-	{
-		"LuckyDataTransfer": "UnrealEditor-LuckyDataTransfer.dll"
-	}
-}

Plugins/LuckyDataTransfer/LuckyDataTransfer.uplugin

@@ -1,23 +0,0 @@
-{
-	"FileVersion": 3,
-	"Version": 1,
-	"VersionName": "1.0",
-	"FriendlyName": "LuckyDataTransfer",
-	"Description": "Lucky data transfer that transfers data with great luck.",
-	"Category": "Other",
-	"CreatedBy": "Noah Bowers",
-	"CreatedByURL": "",
-	"DocsURL": "",
-	"MarketplaceURL": "",
-	"CanContainContent": true,
-	"IsBetaVersion": false,
-	"IsExperimentalVersion": false,
-	"Installed": false,
-	"Modules": [
-		{
-			"Name": "LuckyDataTransfer",
-			"Type": "Runtime",
-			"LoadingPhase": "Default"
-		}
-	]
-}

Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/LuckyDataTransfer.Build.cs

@@ -1,57 +0,0 @@
-// Copyright Epic Games, Inc. All Rights Reserved.
-
-using UnrealBuildTool;
-
-public class LuckyDataTransfer : ModuleRules
-{
-	public LuckyDataTransfer(ReadOnlyTargetRules Target) : base(Target)
-	{
-		PCHUsage = ModuleRules.PCHUsageMode.UseExplicitOrSharedPCHs;
-		
-		PublicIncludePaths.AddRange(
-			new string[] {
-				// ... add public include paths required here ...
-			}
-			);
-				
-		
-		PrivateIncludePaths.AddRange(
-			new string[] {
-				// ... add other private include paths required here ...
-			}
-			);
-			
-		
-		PublicDependencyModuleNames.AddRange(
-			new string[]
-			{
-				"Core",
-				"WebSockets",
-				"Json",
-				"JsonUtilities",
-				"ImageWriteQueue"
-				// ... add other public dependencies that you statically link with here ...
-			}
-			);
-			
-		
-		PrivateDependencyModuleNames.AddRange(
-			new string[]
-			{
-				"CoreUObject",
-				"Engine",
-				"Slate",
-				"SlateCore", "ImageWriteQueue",
-				// ... add private dependencies that you statically link with here ...	
-			}
-			);
-		
-		
-		DynamicallyLoadedModuleNames.AddRange(
-			new string[]
-			{
-				// ... add any modules that your module loads dynamically here ...
-			}
-			);
-	}
-}

Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Private/LuckyDataTransfer.cpp

@@ -1,20 +0,0 @@
-// Copyright Epic Games, Inc. All Rights Reserved.
-
-#include "LuckyDataTransfer.h"
-
-#define LOCTEXT_NAMESPACE "FLuckyDataTransferModule"
-
-void FLuckyDataTransferModule::StartupModule()
-{
-	// This code will execute after your module is loaded into memory; the exact timing is specified in the .uplugin file per-module
-}
-
-void FLuckyDataTransferModule::ShutdownModule()
-{
-	// This function may be called during shutdown to clean up your module.  For modules that support dynamic reloading,
-	// we call this function before unloading the module.
-}
-
-#undef LOCTEXT_NAMESPACE
-	
-IMPLEMENT_MODULE(FLuckyDataTransferModule, LuckyDataTransfer)

Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Private/LuckyDataTransferSubsystem.cpp

@@ -1,153 +0,0 @@
-// Fill out your copyright notice in the Description page of Project Settings.
-
-
-#include "LuckyDataTransferSubsystem.h"
-#include "JsonUtilities.h"
-#include "JsonObjectConverter.h"
-#include "WebSocketsModule.h"
-#include "Slate/SceneViewport.h"
-
-ULuckyDataTransferSubsystem::ULuckyDataTransferSubsystem()
-{
-}
-
-void ULuckyDataTransferSubsystem::Initialize(FSubsystemCollectionBase& Collection)
-{
-	Super::Initialize(Collection);
-}
-
-void ULuckyDataTransferSubsystem::Deinitialize()
-{
-	Super::Deinitialize();
-	
-	if (Socket.IsValid() && Socket->IsConnected())
-	{
-		Socket->Close();
-	}
-}
-
-void ULuckyDataTransferSubsystem::Internal_OpenWebsocket(const FString& URL, const FString& Protocol)
-{
-	const FString NewUrl = URL.IsEmpty() ? TEXT("ws://127.0.0.1:3000/ws") : URL;
-	const FString NewProtocol = Protocol.IsEmpty() ? TEXT("ws") : Protocol;
-
-	UE_LOG(LogTemp, Warning, TEXT("Opening WebSocket URL: %s"), *NewUrl);
-	
-	if (!FModuleManager::Get().IsModuleLoaded("WebSockets"))
-	{
-		FModuleManager::Get().LoadModule("WebSockets");
-	}
-	
-	Socket = FWebSocketsModule::Get().CreateWebSocket(NewUrl);
-	Socket->Connect();
-
-	//Set up callbacks
-	Socket->OnConnectionError().AddUObject(this, &ULuckyDataTransferSubsystem::Callback_OnConnectionError);
-	Socket->OnConnected().AddUObject(this, &ULuckyDataTransferSubsystem::Callback_OnConnected);
-	Socket->OnMessage().AddUObject(this, &ULuckyDataTransferSubsystem::Callback_OnMessage);
-}
-
-//Callbacks
-void ULuckyDataTransferSubsystem::Callback_OnConnected()
-{
-	if (OnSocketReady.IsBound())
-	{
-		OnSocketReady.Broadcast(true);
-		UE_LOG(LogTemp, VeryVerbose, TEXT("WebSocket connected successfully"));
-	}
-}
-
-void ULuckyDataTransferSubsystem::Callback_OnConnectionError(const FString& Error)
-{
-	UE_LOG(LogTemp, VeryVerbose, TEXT("Websocket connection error: %s"), *Error)
-}
-
-void ULuckyDataTransferSubsystem::Callback_OnMessage(const FString& Message)
-{
-	if (!Message.IsEmpty())
-	{
-		CommandReady(InterpretData(Message));
-		return;
-	}
-
-	UE_LOG(LogTemp, Warning, TEXT("The message received from the websocket is invalid"));
-}
-
-void ULuckyDataTransferSubsystem::Internal_OnMessageSent(const FString& Message)
-{
-}
-
-void ULuckyDataTransferSubsystem::Callback_OnConnectionClosed()
-{
-}
-
-//Blueprint Exposed Implementation
-void ULuckyDataTransferSubsystem::ConnectToWebsocket(const FString& URL, const FString& Protocol)
-{
-	Internal_OpenWebsocket(URL, Protocol);
-}
-
-void ULuckyDataTransferSubsystem::SendMessage(const FString& Message)
-{
-	if (Socket.IsValid() && Socket->IsConnected())
-	{
-		Socket->Send(Message);
-		return;
-	}
-
-	UE_LOG(LogTemp, Warning, TEXT("WebSocket outgoing message failed"));
-}
-
-FPayload ULuckyDataTransferSubsystem::InterpretData(const FString& Message)
-{
-	FPayload Payload = FPayload();
-	
-	if (!Message.IsEmpty())
-	{
-		TSharedPtr<FJsonObject> JsonObj;
-		TSharedRef<TJsonReader<>> Reader = TJsonReaderFactory<>::Create(Message);
-
-		if (FJsonSerializer::Deserialize(Reader, JsonObj) && JsonObj.IsValid())
-		{
-			for (auto& Elem : JsonObj->Values)
-			{
-				FCommand Command = FCommand();
-				Command.Key = FString(Elem.Key);
-				Command.Value = Elem.Value->AsNumber();
-
-				Payload.Commands.Add(Command);
-			}
-		}
-	}
-
-	return Payload;
-}
-
-void ULuckyDataTransferSubsystem::CommandReady(const FPayload& Payload)
-{
-	if (OnCommandReady.IsBound())
-	{
-		OnCommandReady.Broadcast(Payload);
-	}
-}
-
-//Blueprint Callable function - Use CreateJsonPayload_Observation in C++
-bool ULuckyDataTransferSubsystem::MakeObservationPayload(const FObservationPayload& Data)
-{
-	return CreateJsonPayload_Observation(Data);
-}
-
-bool ULuckyDataTransferSubsystem::CreateJsonPayload_Observation(const FObservationPayload& Data)
-{
-	bool bSuccess = false;
-	ObservationPayloadString = FString();
-	
-	if (!Data.ObservationState.IsEmpty())
-	{
-		FJsonObjectConverter::UStructToJsonObjectString(Data, ObservationPayloadString);
-		UE_LOG(LogTemp, Warning, TEXT("Payload observation: %s"), *ObservationPayloadString);
-		bSuccess = true;
-	}
-
-	return bSuccess;
-}

Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Public/LuckyDataTransfer.h

@@ -1,14 +0,0 @@
-// Copyright Epic Games, Inc. All Rights Reserved.
-
-#pragma once
-
-#include "Modules/ModuleManager.h"
-
-class FLuckyDataTransferModule : public IModuleInterface
-{
-public:
-
-	/** IModuleInterface implementation */
-	virtual void StartupModule() override;
-	virtual void ShutdownModule() override;
-};

Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Public/LuckyDataTransferSubsystem.h

@@ -1,113 +0,0 @@
-// Fill out your copyright notice in the Description page of Project Settings.
-
-#pragma once
-
-#include "CoreMinimal.h"
-#include "IWebSocket.h"
-//#include "LuckyWriteThread.h"
-#include "ObservationData.h"
-#include "Subsystems/WorldSubsystem.h"
-#include "LuckyDataTransferSubsystem.generated.h"
-
-/**
- * 
- */
-USTRUCT(BlueprintType)
-struct FCommand
-{
-	GENERATED_BODY()
-
-public:
-	UPROPERTY(BlueprintReadOnly, Category = "Command")
-	FString Key = FString();
-
-	UPROPERTY(BlueprintReadOnly, Category = "Command")
-	float Value = 0.f;
-};
-
-USTRUCT(BlueprintType)
-struct FPayload
-{
-	GENERATED_BODY()
-
-public:
-	UPROPERTY(BlueprintReadOnly, Category = "Command")
-	TArray<FCommand> Commands;
-
-	UPROPERTY(BlueprintReadOnly, Category = "Command")
-	int32 Index = 0;
-};
-
-DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FCommandReady, const FPayload&, Payload);
-DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FSocketReady, bool, bSuccessful);
-
-UCLASS()
-class LUCKYDATATRANSFER_API ULuckyDataTransferSubsystem : public UWorldSubsystem
-{
-	GENERATED_BODY()
-
-	
-public:
-
-	ULuckyDataTransferSubsystem();
-
-	virtual void Initialize(FSubsystemCollectionBase& Collection);
-	
-	virtual void Deinitialize();
-
-	TSharedPtr<IWebSocket> Socket;
-
-	//internal references
-	
-	void Internal_OpenWebsocket(const FString& URL, const FString& Protocol);
-
-	FPayload InterpretData(const FString& Message);
-
-	UPROPERTY(BlueprintAssignable)
-	FCommandReady OnCommandReady;
-	
-	UPROPERTY(BlueprintAssignable)
-	FSocketReady OnSocketReady;
-	
-	//Callbacks
-	UFUNCTION()
-	void Callback_OnConnected();
-	
-	UFUNCTION()
-	void Callback_OnConnectionError(const FString& Error);
-	
-	UFUNCTION()
-	void Callback_OnMessage(const FString& Message);
-	
-	UFUNCTION()
-	void Internal_OnMessageSent(const FString& Message);
-	
-	UFUNCTION()
-	void Callback_OnConnectionClosed();
-
-	//Exposed Blueprint Functions
-	UFUNCTION(BlueprintCallable, Category = "Websocket")
-	void ConnectToWebsocket(const FString& URL, const FString& Protocol);
-
-	UFUNCTION(BlueprintCallable, Category = "Websocket")
-	void SendMessage(const FString& Message);
-
-	UFUNCTION()
-	void CommandReady(const FPayload& Payload);
-
-	//---Observations (Sent to server from Unreal)--------------//
-	//Feature Data declarations
-	UPROPERTY(BlueprintReadWrite, Category = "Observation")
-	FString ObservationPayloadString = FString();
-
-	//Internal Functions
-	bool CreateJsonPayload_Observation(const FObservationPayload& Data);
-
-	//Blueprint Callable Functions
-	UFUNCTION(BlueprintCallable, Category = "Websocket")
-	bool MakeObservationPayload(const FObservationPayload& Data);
-	//---------------------------------------------------------//
-	
-protected:
-	//LuckyWriteThread* WriteThread = nullptr;
-};

Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Public/ObservationData.h

@@ -1,80 +0,0 @@
-// Fill out your copyright notice in the Description page of Project Settings.
-
-#pragma once
-
-#include "CoreMinimal.h"
-#include "HAL/Runnable.h"
-#include "ObservationData.generated.h"
-
-/**
- * 
- */
-USTRUCT(BlueprintType)
-struct FImageShape
-{
-	GENERATED_USTRUCT_BODY()
-
-public:
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Observation")
-	float image_width = 640.f;
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Observation")
-	float image_height = 480.f;
-
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Observation")
-	int32 channel = 3;
-};
-
-USTRUCT(BlueprintType)
-struct FObservationCameraInfo
-{
-	GENERATED_USTRUCT_BODY()
-
-public:
-	UPROPERTY(BlueprintReadWrite, Category = "Observation")
-	TMap<FString, FString> info = {
-		{"video_fps", "30"},
-		{"video_codec", "mp4v"},
-		{"video_pix_fmt", "yuv420p"},
-		{"video_is_depth_map", "false"},
-		{"has_audio", "false"}
-	};
-};
-
-USTRUCT(BlueprintType)
-struct FObservationCameraObject
-{
-	GENERATED_USTRUCT_BODY()
-
-public:
-	UPROPERTY(BlueprintReadWrite, Category = "Observation")
-	FString cameraName = TEXT("front_camera");
-	
-	UPROPERTY(BlueprintReadWrite, Category = "Observation")
-	FString dtype = TEXT("image");
-
-	UPROPERTY(BlueprintReadWrite, Category = "Observation")
-	FImageShape shape = FImageShape();
-
-	UPROPERTY(BlueprintReadWrite, Category = "Observation")
-	FString filePath = FString();
-};
-
-USTRUCT(BlueprintType)
-struct FObservationPayload
-{
-	GENERATED_USTRUCT_BODY()
-
-public:
-	UPROPERTY(BlueprintReadWrite, Category = "Observation")
-	FString timeStamp = FString();
-	
-	UPROPERTY(BlueprintReadWrite, Category = "Observation")
-	FString id = FString();
-	
-	UPROPERTY(BlueprintReadWrite, Category = "Observation")
-	TMap<FString, float> ObservationState;
-	
-	UPROPERTY(BlueprintReadWrite, Category = "Observation")
-	TArray<FObservationCameraObject> ObservationCameras;
-};

Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Components/MujocoActuatorComponent.cpp

@@ -1,14 +1,88 @@
 #include "Components/MujocoActuatorComponent.h"
+#include "Components/MujocoClassComponent.h"
 
 UMujocoActuatorComponent::UMujocoActuatorComponent()
 {
 	PrimaryComponentTick.bCanEverTick = false;
+	ClassComponent = nullptr;
+}
+
+void UMujocoActuatorComponent::BeginPlay()
+{
+	Super::BeginPlay();
+	
+	// Try to find class component in owner if not set
+	if (!ClassComponent)
+	{
+		if (AActor* Owner = GetOwner())
+		{
+			ClassComponent = Owner->FindComponentByClass<UMujocoClassComponent>();
+		}
+	}
+}
+
+void UMujocoActuatorComponent::OnRegister()
+{
+	Super::OnRegister();
+	
+	// Try to find class component in owner during component registration
+	if (!ClassComponent)
+	{
+		if (AActor* Owner = GetOwner())
+		{
+			ClassComponent = Owner->FindComponentByClass<UMujocoClassComponent>();
+		}
+	}
+}
+
+void UMujocoActuatorComponent::SetClassComponent(UMujocoClassComponent* NewClassComponent)
+{
+	if (NewClassComponent != ClassComponent)
+	{
+		// Remove from old class component if exists
+		if (ClassComponent)
+		{
+			ClassComponent->RemoveAssociatedComponent(this);
+		}
+
+		ClassComponent = NewClassComponent;
+
+		// Add to new class component if valid
+		if (ClassComponent)
+		{
+			ClassComponent->AddAssociatedComponent(this);
+		}
+	}
+}
+
+FString UMujocoActuatorComponent::GetClassParameter(const FString& ParamName) const
+{
+	if (ClassComponent && ClassComponent->ClassData.Parameters.Contains(ParamName))
+	{
+		return *ClassComponent->ClassData.Parameters.Find(ParamName);
+	}
+	return FString();
+}
+
+bool UMujocoActuatorComponent::HasClassComponent() const
+{
+	return ClassComponent != nullptr;
 }
 
 #if WITH_EDITORONLY_DATA
 void UMujocoActuatorComponent::OnComponentCreated()
 {
 	Super::OnComponentCreated();
+	
+	// Try to find class component in owner during creation
+	if (!ClassComponent)
+	{
+		if (AActor* Owner = GetOwner())
+		{
+			ClassComponent = Owner->FindComponentByClass<UMujocoClassComponent>();
+		}
+	}
+
 	if (GEngine && GetWorld())
 	{
 		FString UniqueName = GenerateUniqueName(GetWorld(), this, GetName());
@@ -19,6 +93,18 @@ void UMujocoActuatorComponent::OnComponentCreated()
 void UMujocoActuatorComponent::PostEditChangeProperty(FPropertyChangedEvent& PropertyChangedEvent)
 {
 	Super::PostEditChangeProperty(PropertyChangedEvent);
+
+	const FName PropertyName = (PropertyChangedEvent.Property != nullptr) ? PropertyChangedEvent.Property->GetFName() : NAME_None;
+	
+	if (PropertyName == GET_MEMBER_NAME_CHECKED(UMujocoActuatorComponent, ClassComponent))
+	{
+		// Update associations when class component is changed in editor
+		if (ClassComponent)
+		{
+			ClassComponent->AddAssociatedComponent(this);
+		}
+	}
+
 	if (GEngine && GetWorld())
 	{
 		FString UniqueName = GenerateUniqueName(GetWorld(), this, GetName());

Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Components/MujocoClassComponent.cpp

@@ -0,0 +1,130 @@
+#include "Components/MujocoClassComponent.h"
+#include "Components/MujocoJointComponent.h"
+#include "Components/MujocoActuatorComponent.h"
+
+UMujocoClassComponent::UMujocoClassComponent()
+{
+    PrimaryComponentTick.bCanEverTick = false;
+    JointComponent = nullptr;
+    ActuatorComponent = nullptr;
+}
+
+void UMujocoClassComponent::AddAssociatedComponent(UActorComponent* Component)
+{
+    if (Component)
+    {
+        AssociatedComponents.AddUnique(Component);
+
+        // Also update single references if applicable
+        if (UMujocoJointComponent* JointComp = Cast<UMujocoJointComponent>(Component))
+        {
+            SetJointComponent(JointComp);
+        }
+        else if (UMujocoActuatorComponent* ActuatorComp = Cast<UMujocoActuatorComponent>(Component))
+        {
+            SetActuatorComponent(ActuatorComp);
+        }
+    }
+}
+
+void UMujocoClassComponent::RemoveAssociatedComponent(UActorComponent* Component)
+{
+    if (Component)
+    {
+        AssociatedComponents.Remove(Component);
+
+        // Also update single references if applicable
+        if (UMujocoJointComponent* JointComp = Cast<UMujocoJointComponent>(Component))
+        {
+            if (JointComponent == JointComp)
+            {
+                JointComponent = nullptr;
+            }
+        }
+        else if (UMujocoActuatorComponent* ActuatorComp = Cast<UMujocoActuatorComponent>(Component))
+        {
+            if (ActuatorComponent == ActuatorComp)
+            {
+                ActuatorComponent = nullptr;
+            }
+        }
+    }
+}
+
+void UMujocoClassComponent::SetClassParameter(const FString& ParamName, const FString& ParamValue)
+{
+    ClassData.Parameters.Add(ParamName, ParamValue);
+}
+
+void UMujocoClassComponent::SetJointComponent(UMujocoJointComponent* NewJointComponent)
+{
+    if (NewJointComponent != JointComponent)
+    {
+        // Remove old joint if exists
+        if (JointComponent)
+        {
+            RemoveAssociatedComponent(JointComponent);
+        }
+
+        JointComponent = NewJointComponent;
+        ClassData.ClassType = EMujocoClassType::Joint;
+
+        // Add to associated components if valid
+        if (JointComponent)
+        {
+            AssociatedComponents.AddUnique(JointComponent);
+            JointComponent->SetClassComponent(this);
+        }
+    }
+}
+
+void UMujocoClassComponent::SetActuatorComponent(UMujocoActuatorComponent* NewActuatorComponent)
+{
+    if (NewActuatorComponent != ActuatorComponent)
+    {
+        // Remove old actuator if exists
+        if (ActuatorComponent)
+        {
+            RemoveAssociatedComponent(ActuatorComponent);
+        }
+
+        ActuatorComponent = NewActuatorComponent;
+        ClassData.ClassType = EMujocoClassType::Actuator;
+
+        // Add to associated components if valid
+        if (ActuatorComponent)
+        {
+            AssociatedComponents.AddUnique(ActuatorComponent);
+            ActuatorComponent->SetClassComponent(this);
+        }
+    }
+}
+
+#if WITH_EDITORONLY_DATA
+void UMujocoClassComponent::OnComponentCreated()
+{
+    Super::OnComponentCreated();
+}
+
+void UMujocoClassComponent::PostEditChangeProperty(FPropertyChangedEvent& PropertyChangedEvent)
+{
+    Super::PostEditChangeProperty(PropertyChangedEvent);
+
+    const FName PropertyName = (PropertyChangedEvent.Property != nullptr) ? PropertyChangedEvent.Property->GetFName() : NAME_None;
+    
+    if (PropertyName == GET_MEMBER_NAME_CHECKED(UMujocoClassComponent, JointComponent))
+    {
+        if (JointComponent)
+        {
+            SetJointComponent(JointComponent);
+        }
+    }
+    else if (PropertyName == GET_MEMBER_NAME_CHECKED(UMujocoClassComponent, ActuatorComponent))
+    {
+        if (ActuatorComponent)
+        {
+            SetActuatorComponent(ActuatorComponent);
+        }
+    }
+}
+#endif 

Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Components/MujocoJointComponent.cpp

@@ -1,15 +1,89 @@
 #include "Components/MujocoJointComponent.h"
 #include "Components/MujocoBodyComponent.h"
+#include "Components/MujocoClassComponent.h"
 
 UMujocoJointComponent::UMujocoJointComponent()
 {
     PrimaryComponentTick.bCanEverTick = false;
+    ClassComponent = nullptr;
+}
+
+void UMujocoJointComponent::BeginPlay()
+{
+    Super::BeginPlay();
+    
+    // Try to find class component in owner if not set
+    if (!ClassComponent)
+    {
+        if (AActor* Owner = GetOwner())
+        {
+            ClassComponent = Owner->FindComponentByClass<UMujocoClassComponent>();
+        }
+    }
+}
+
+void UMujocoJointComponent::OnRegister()
+{
+    Super::OnRegister();
+    
+    // Try to find class component in owner during component registration
+    if (!ClassComponent)
+    {
+        if (AActor* Owner = GetOwner())
+        {
+            ClassComponent = Owner->FindComponentByClass<UMujocoClassComponent>();
+        }
+    }
+}
+
+void UMujocoJointComponent::SetClassComponent(UMujocoClassComponent* NewClassComponent)
+{
+    if (NewClassComponent != ClassComponent)
+    {
+        // Remove from old class component if exists
+        if (ClassComponent)
+        {
+            ClassComponent->RemoveAssociatedComponent(this);
+        }
+
+        ClassComponent = NewClassComponent;
+
+        // Add to new class component if valid
+        if (ClassComponent)
+        {
+            ClassComponent->AddAssociatedComponent(this);
+        }
+    }
+}
+
+FString UMujocoJointComponent::GetClassParameter(const FString& ParamName) const
+{
+    if (ClassComponent && ClassComponent->ClassData.Parameters.Contains(ParamName))
+    {
+        return *ClassComponent->ClassData.Parameters.Find(ParamName);
+    }
+    return FString();
+}
+
+bool UMujocoJointComponent::HasClassComponent() const
+{
+    return ClassComponent != nullptr;
 }
 
 #if WITH_EDITORONLY_DATA
 void UMujocoJointComponent::OnComponentCreated()
 {
     Super::OnComponentCreated();
+    
+    // Try to find class component in owner during creation
+    if (!ClassComponent)
+    {
+        if (AActor* Owner = GetOwner())
+        {
+            ClassComponent = Owner->FindComponentByClass<UMujocoClassComponent>();
+        }
+    }
+
     if (GEngine && GetWorld())
     {
         if (UMujocoBodyComponent* ParentBody = Cast<UMujocoBodyComponent>(GetAttachParent()))
@@ -29,6 +103,18 @@ void UMujocoJointComponent::OnComponentCreated()
 void UMujocoJointComponent::PostEditChangeProperty(FPropertyChangedEvent& PropertyChangedEvent)
 {
     Super::PostEditChangeProperty(PropertyChangedEvent);
+
+    const FName PropertyName = (PropertyChangedEvent.Property != nullptr) ? PropertyChangedEvent.Property->GetFName() : NAME_None;
+    
+    if (PropertyName == GET_MEMBER_NAME_CHECKED(UMujocoJointComponent, ClassComponent))
+    {
+        // Update associations when class component is changed in editor
+        if (ClassComponent)
+        {
+            ClassComponent->AddAssociatedComponent(this);
+        }
+    }
+
     if (GEngine && GetWorld())
     {
         FString UniqueName = GenerateUniqueName(GetWorld(), this, GetName());

Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Components/MujocoActuatorComponent.h

@@ -4,6 +4,7 @@
 #include "Enums/MujocoEnums.h"
 #include "Structs/MujocoActuator.h"
 #include "Misc/UniqueNamedComponent.h"
+#include "Components/MujocoClassComponent.h"
 #include "MujocoActuatorComponent.generated.h"
 
 UCLASS(Blueprintable, ClassGroup = (Rendering, Common), hidecategories = (Object, Activation, "Components|Activation"), ShowCategories = (Mobility), editinlinenew, meta = (BlueprintSpawnableComponent))
@@ -20,8 +21,30 @@ public:
 	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco")
 	FMujocoActuatorV2 Actuator;
 
+	// Reference to the class component
+	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco", meta = (AllowPrivateAccess = "true"))
+	TObjectPtr<UMujocoClassComponent> ClassComponent;
+
+	// Function to set class component
+	UFUNCTION(BlueprintCallable, Category = "Mujoco")
+	void SetClassComponent(UMujocoClassComponent* NewClassComponent);
+
+	// Function to get class parameters
+	UFUNCTION(BlueprintCallable, Category = "Mujoco")
+	FString GetClassParameter(const FString& ParamName) const;
+
+	// Function to check if has class component
+	UFUNCTION(BlueprintCallable, Category = "Mujoco")
+	bool HasClassComponent() const;
+
 #if WITH_EDITORONLY_DATA
 	virtual void OnComponentCreated() override;
 	virtual void PostEditChangeProperty(FPropertyChangedEvent& PropertyChangedEvent) override;
 #endif
+
+protected:
+	virtual void BeginPlay() override;
+	
+	// Called when the game starts or when spawned
+	virtual void OnRegister() override;
 };

Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Components/MujocoClassComponent.h

@@ -0,0 +1,94 @@
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Components/ActorComponent.h"
+#include "Enums/MujocoEnums.h"
+#include "Misc/UniqueNamedComponent.h"
+#include "MujocoClassComponent.generated.h"
+
+UENUM(BlueprintType)
+enum class EMujocoClassType : uint8
+{
+    None        UMETA(DisplayName = "None"),
+    Joint       UMETA(DisplayName = "Joint"),
+    Actuator    UMETA(DisplayName = "Actuator")
+};
+
+USTRUCT(BlueprintType)
+struct FMujocoClassData
+{
+    GENERATED_BODY()
+
+    // Class name for the Mujoco element
+    UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco")
+    FString ClassName;
+
+    // Type of the class
+    UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco")
+    EMujocoClassType ClassType = EMujocoClassType::None;
+
+    // Additional class-specific parameters can be added here
+    UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco")
+    TMap<FString, FString> Parameters;
+};
+
+UCLASS(Blueprintable, ClassGroup = (Mujoco), meta = (BlueprintSpawnableComponent))
+class LUCKYMUJOCO_API UMujocoClassComponent : public UActorComponent, public TUniqueNamedComponent
+{
+    GENERATED_BODY()
+
+public:
+    UMujocoClassComponent();
+
+    UPROPERTY(Transient, VisibleAnywhere, Category = "Mujoco")
+    int32 MujocoID = -1;
+
+    // Class data for the Mujoco element
+    UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco")
+    FMujocoClassData ClassData;
+
+    // Reference to associated components (joints, actuators, etc.)
+    UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco")
+    TArray<UActorComponent*> AssociatedComponents;
+
+    // Single reference to a joint component
+    UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco")
+    TObjectPtr<class UMujocoJointComponent> JointComponent;
+
+    // Single reference to an actuator component
+    UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco")
+    TObjectPtr<class UMujocoActuatorComponent> ActuatorComponent;
+
+#if WITH_EDITORONLY_DATA
+    virtual void OnComponentCreated() override;
+    virtual void PostEditChangeProperty(FPropertyChangedEvent& PropertyChangedEvent) override;
+#endif
+
+    // Function to add associated components
+    UFUNCTION(BlueprintCallable, Category = "Mujoco")
+    void AddAssociatedComponent(UActorComponent* Component);
+
+    // Function to remove associated components
+    UFUNCTION(BlueprintCallable, Category = "Mujoco")
+    void RemoveAssociatedComponent(UActorComponent* Component);
+
+    // Function to set class parameters
+    UFUNCTION(BlueprintCallable, Category = "Mujoco")
+    void SetClassParameter(const FString& ParamName, const FString& ParamValue);
+
+    // Function to set single joint component
+    UFUNCTION(BlueprintCallable, Category = "Mujoco")
+    void SetJointComponent(class UMujocoJointComponent* NewJointComponent);
+
+    // Function to set single actuator component
+    UFUNCTION(BlueprintCallable, Category = "Mujoco")
+    void SetActuatorComponent(class UMujocoActuatorComponent* NewActuatorComponent);
+
+    // Function to get single joint component
+    UFUNCTION(BlueprintCallable, Category = "Mujoco")
+    class UMujocoJointComponent* GetJointComponent() const { return JointComponent; }
+
+    // Function to get single actuator component
+    UFUNCTION(BlueprintCallable, Category = "Mujoco")
+    class UMujocoActuatorComponent* GetActuatorComponent() const { return ActuatorComponent; }
+}; 

Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Components/MujocoJointComponent.h

@@ -5,6 +5,7 @@
 #include "Components/SceneComponent.h"
 #include "Structs/MujocoJoint.h"
 #include "Misc/UniqueNamedComponent.h"
+#include "Components/MujocoClassComponent.h"
 #include "MujocoJointComponent.generated.h"
 
 UCLASS(Blueprintable, ClassGroup = (Rendering, Common), hidecategories = (Object, Activation, "Components|Activation"), editinlinenew, meta = (BlueprintSpawnableComponent))
@@ -21,8 +22,30 @@ public:
 	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco")
 	FMujocoJoint Joint;
 
+	// Reference to the class component
+	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco", meta = (AllowPrivateAccess = "true"))
+	TObjectPtr<UMujocoClassComponent> ClassComponent;
+
+	// Function to set class component
+	UFUNCTION(BlueprintCallable, Category = "Mujoco")
+	void SetClassComponent(UMujocoClassComponent* NewClassComponent);
+
+	// Function to get class parameters
+	UFUNCTION(BlueprintCallable, Category = "Mujoco")
+	FString GetClassParameter(const FString& ParamName) const;
+
+	// Function to check if has class component
+	UFUNCTION(BlueprintCallable, Category = "Mujoco")
+	bool HasClassComponent() const;
+
 #if WITH_EDITORONLY_DATA
 	virtual void OnComponentCreated() override;
 	virtual void PostEditChangeProperty(FPropertyChangedEvent& PropertyChangedEvent) override;
 #endif
+
+protected:
+	virtual void BeginPlay() override;
+	
+	// Called when the game starts or when spawned
+	virtual void OnRegister() override;
 };

Source/LuckyWorldV2/Private/Core/LuckyRobotsGameInstance.cpp

@@ -1,4 +1,4 @@
-// Fill out your copyright notice in the Description page of Project Settings.
+// Fill out your copyright notice in the Description page of Project Settings.
 
 
 #include "Core/LuckyRobotsGameInstance.h"
@@ -663,6 +663,30 @@ void ULuckyRobotsGameInstance::SetLuckyRobot(FString RobotName)
 		UE_LOG(LogTemp, Error, TEXT("Invalid robot name: %s"), *RobotName);
 	}
 }
+
+void ULuckyRobotsGameInstance::LuckyLevelOpen(FString LevelName)  
+{  
+   if (LevelName.IsEmpty())  
+   {  
+       UE_LOG(LogTemp, Warning, TEXT("Level name is empty!"));  
+       return;  
+   }  
+
+   // Level opening logic  
+   if (UWorld* World = GetWorld())  
+   {  
+       FName LevelFName(*LevelName);  
+       if (FPackageName::DoesPackageExist(LevelName))  
+       {  
+		   UGameplayStatics::OpenLevel(World, FName(*LevelName));
+           UE_LOG(LogTemp, Log, TEXT("Opening level: %s"), *LevelName);  
+       }  
+       else  
+       {  
+           UE_LOG(LogTemp, Error, TEXT("Level '%s' does not exist!"), *LevelName);  
+       }  
+   }  
+}
 void ULuckyRobotsGameInstance::LuckyRobots()
 {
 	UEnum* EnumPtr = StaticEnum<ERobotsName>();
@@ -674,7 +698,7 @@ void ULuckyRobotsGameInstance::LuckyRobots()
 		Name = Name.Replace(TEXT("ERobotsName::"), TEXT(""));
 		GameUserWidget->DoLogItemAdd("Robot:", Name, ELogItemType::Consol);
 		UE_LOG(LogTemp, Display, TEXT("Robot: %s"), *Name);
-		if (GEngine)
+		if (EUnrealBuildType::Development == CheckBuildConfiguration())
 		{
 			GEngine->AddOnScreenDebugMessage(-1, 5.0f, FColor::Blue, FString::Printf(TEXT("Robot selected: %s"), *Name));
 		}

Source/LuckyWorldV2/Public/Core/LuckyRobotsGameInstance.h

@@ -327,7 +327,8 @@ public:
 	void SetLuckyRobot(FString RobotName);
 	UFUNCTION(exec)
 	void LuckyRobots();
-
+	UFUNCTION(Exec)
+	void LuckyLevelOpen(FString LevelName);
 	UFUNCTION(BlueprintPure)
 	EUnrealBuildType CheckBuildConfiguration() const;