API Reference

Auto-generated from C++ header files in Source/URLab/Public/. All UPROPERTY specifiers, Blueprint access, and override flags are preserved.

Organised to match the source folder structure in Mujoco/.

Core

Main runtime actors: the physics manager, articulation, and robot.

Name	Kind	Description
EControlSource	Enum
EMjCone	Enum
EMjIntegrator	Enum
EMjSolver	Enum
FMuJoCoDebugData	Struct	Thread-safe buffer for debug visualization data.
FMuJoCoJointState	Struct	Complete runtime state of a 1-DOF joint.
FMuJoCoOptions	Struct	MuJoCo simulation options (mjOption).
FMuJoCoSpatialVelocity	Struct	Represents 6D spatial velocity (Linear + Angular).
AAMjManager	Class	Thin coordinator actor for the MuJoCo simulation within Unreal Engine.
AMjArticulation	Class	Represents a MuJoCo articulation (robot or multibody system).
UMjDebugVisualizer	Class	Handles debug visualization for the MuJoCo simulation (contact forces, collision wireframes, etc.).
UMjPhysicsEngine	Class	Core physics engine component that owns the MuJoCo simulation lifecycle.
UMjSimulationState	Class	Container for a complete MuJoCo simulation state snapshot.

Core — Spec

Internal spec wrapper types used during compilation.

Name	Kind	Description
FMujocoSpecWrapper	Class	Helper class to simplify building a MuJoCo mjSpec structure from Unreal Engine components.
IMjSpecElement	Class	Interface for components that can register themselves to a MuJoCo spec.

Components — Bodies

MuJoCo rigid body components (e.g., UMjBody).

Name	Kind	Description
EMjBodySleepPolicy	Enum	Per-body sleep policy, matching MuJoCo's mjtSleepPolicy (user-settable subset).
UMjBody	Class
UMjFrame	Class	Represents a MuJoCo frame (mjsFrame) in the spec.
UMjWorldBody	Class	Represents the node in MuJoCo, functioning as the root scene component

Components — Actuators

Actuator types: Position, Velocity, Motor, Damper, Cylinder, Muscle, Adhesion.

Name	Kind	Description
EMjActuatorTrnType	Enum	Defines the type of transmission for the actuator.
EMjActuatorType	Enum	Defines the type of actuator dynamics for MuJoCo.
UMjActuator	Class	Component representing a MuJoCo actuator.
UMjAdhesionActuator	Class	Specific Adhesion Actuator component.
UMjCylinderActuator	Class	Specific Cylinder Actuator component.
UMjDamperActuator	Class	Specific Damper Actuator component.
UMjGeneralActuator	Class	Represents a 'general' actuator in MuJoCo.
UMjIntVelocityActuator	Class	Specific IntVelocity Actuator component.
UMjMotorActuator	Class	Specific Motor Actuator component.
UMjMuscleActuator	Class	Specific Muscle Actuator component.
UMjPositionActuator	Class	Specific Position Actuator component.
UMjVelocityActuator	Class	Specific Velocity Actuator component.

Components — Joints

Joint subtypes: Hinge, Slide, Ball, Free.

Name	Kind	Description
EMjJointType	Enum	Defines the kinematic constraints of a MuJoCo joint.
UMjJoint	Class	Component representing a MuJoCo joint.
UMjBallJoint	Class	Specific Ball Joint component.
UMjFreeJoint	Class	Specific Free Joint component.
UMjHingeJoint	Class	Specific Hinge Joint component.
UMjSlideJoint	Class	Specific Slide Joint component.

Components — Sensors

Sensor types: joint, actuator, touch, rangefinder, tendon, energy, etc.

Name	Kind	Description
EMjObjType	Enum	Mirror of mjtObj for specifying sensor attachment/reference types.
EMjSensorType	Enum	Defines the type of sensor.
FCameraZmqWorker	Class	Background thread for publishing high-bandwidth camera frames via ZeroMQ.
UMjCamera	Class	Represents a MuJoCo element as an Unreal sensor component.
UMjSensor	Class	Component representing a sensor in the MuJoCo model.
UMjAccelerometer	Class	Specific Accelerometer Sensor component.
UMjActuatorFrcSensor	Class	Specific ActuatorFrc Sensor component.
UMjActuatorPosSensor	Class	Specific ActuatorPos Sensor component.
UMjActuatorVelSensor	Class	Specific ActuatorVel Sensor component.
UMjBallAngVelSensor	Class	Specific BallAngVel Sensor component.
UMjBallQuatSensor	Class	Specific BallQuat Sensor component.
UMjCamProjectionSensor	Class	Specific CamProjection Sensor component.
UMjClockSensor	Class	Specific Clock Sensor component.
UMjContactSensor	Class	Specific Contact Sensor component.
UMjEKineticSensor	Class	Specific EKinetic Sensor component.
UMjEPotentialSensor	Class	Specific EPotential Sensor component.
UMjForceSensor	Class	Specific Force Sensor component.
UMjFrameAngAccSensor	Class	Specific FrameAngAcc Sensor component.
UMjFrameAngVelSensor	Class	Specific FrameAngVel Sensor component.
UMjFrameLinAccSensor	Class	Specific FrameLinAcc Sensor component.
UMjFrameLinVelSensor	Class	Specific FrameLinVel Sensor component.
UMjFramePosSensor	Class	Specific FramePos Sensor component.
UMjFrameQuatSensor	Class	Specific FrameQuat Sensor component.
UMjFrameXAxisSensor	Class	Specific FrameXAxis Sensor component.
UMjFrameYAxisSensor	Class	Specific FrameYAxis Sensor component.
UMjFrameZAxisSensor	Class	Specific FrameZAxis Sensor component.
UMjGeomDistSensor	Class	Specific GeomDist Sensor component.
UMjGeomFromToSensor	Class	Specific GeomFromTo Sensor component.
UMjGeomNormalSensor	Class	Specific GeomNormal Sensor component.
UMjGyro	Class	Specific Gyro Sensor component.
UMjInsideSiteSensor	Class	Specific InsideSite Sensor component.
UMjJointActFrcSensor	Class	Specific JointActFrc Sensor component.
UMjJointLimitFrcSensor	Class	Specific JointLimitFrc Sensor component.
UMjJointLimitPosSensor	Class	Specific JointLimitPos Sensor component.
UMjJointLimitVelSensor	Class	Specific JointLimitVel Sensor component.
UMjJointPosSensor	Class	Specific JointPos Sensor component.
UMjJointVelSensor	Class	Specific JointVel Sensor component.
UMjMagnetometer	Class	Specific Magnetometer Sensor component.
UMjRangeFinderSensor	Class	Specific RangeFinder Sensor component.
UMjSubtreeAngMomSensor	Class	Specific SubtreeAngMom Sensor component.
UMjSubtreeComSensor	Class	Specific SubtreeCom Sensor component.
UMjSubtreeLinVelSensor	Class	Specific SubtreeLinVel Sensor component.
UMjTactileSensor	Class	Specific Tactile Sensor component.
UMjTendonActFrcSensor	Class	Specific TendonActFrc Sensor component.
UMjTendonLimitFrcSensor	Class	Specific TendonLimitFrc Sensor component.
UMjTendonLimitPosSensor	Class	Specific TendonLimitPos Sensor component.
UMjTendonLimitVelSensor	Class	Specific TendonLimitVel Sensor component.
UMjTendonPosSensor	Class	Specific TendonPos Sensor component.
UMjTendonVelSensor	Class	Specific TendonVel Sensor component.
UMjTorqueSensor	Class	Specific Torque Sensor component.
UMjTouchSensor	Class	Specific Touch Sensor component.
UMjVelocimeter	Class	Specific Velocimeter Sensor component.

Components — Geometry

Geometry attached to bodies: geoms, sites, cameras.

Name	Kind	Description
EMjGeomType	Enum	Defines the geometric primitive type for the MuJoCo geom.
EMjSiteType	Enum	Defines the geometric shape of a MuJoCo site.
UMjGeom	Class
UMjSite	Class	Represents a MuJoCo site element within Unreal Engine.

Components — Primitives

Built-in primitive geom shapes: Box, Sphere, Cylinder.

Name	Kind	Description
UMjBox	Class	Box primitive geometry.
UMjCylinder	Class	Cylinder primitive geometry.
UMjSphere	Class	Sphere primitive geometry.

Components — Physics

Physics configuration: inertial, contact pairs, contact exclusions.

Name	Kind	Description
UMjInertial	Class

Components — Quick Convert

Convert existing UE actors and terrain to MuJoCo physics with one component.

Name	Kind	Description
AMjHeightfieldActor	Class	An actor that samples terrain height within its bounding box and registers
UMjQuickConvertComponent	Class	Component that enables physically simulated MuJoCo behavior for an Actor.

Networking

ZMQ bridge, sensor broadcaster, and control subscriber for external control.

Name	Kind	Description
FMjInputBinding	Struct
UMjInputMapping	Class	Binds Enhanced Input Actions directly to MuJoCo Actuators.
UMjNetworkManager	Class	Manages network-related functionality: ZMQ component discovery and camera streaming.
UMjZmqComponent	Class	Abstract base class for components that communicate with the MuJoCo simulation via ZeroMQ (or similar sockets).
UZmqControlSubscriber	Class
UZmqSensorBroadcaster	Class

Replay

Record and replay physics simulation frames.

Name	Kind	Description
FMjBodyKinematics	Struct	Stores kinematics (Position/Velocity) for a single joint or body (if free joint).
FMjReplayFrame	Struct	A snapshot of the entire simulation physics state at a specific time.
FReplayArticulationBinding	Struct	Per-articulation replay settings (enabled, relative position).
FReplaySession	Struct	A named collection of replay frames with source metadata.
AMjReplayManager	Class

UI

Unreal UMG widgets for runtime simulation control.

Name	Kind	Description
EMjPropertyType	Enum	Defines the type of control displayed by the property row.
UMjCameraFeedEntry	Class	UMG widget row that binds to a single UMjCamera and displays its live feed.
UMjPropertyRow	Class	A reusable widget base for a single property row (Label + Control + ValueDisplay).
UMjSimulateWidget	Class	Main dashboard mimicking MuJoCo's "simulate" UI.

Utilities

Helper utilities, logging, mesh tools, and fake-robot debugging actors.

Name	Kind	Description
ActuatorView	Struct	Lightweight wrapper around MuJoCo actuator data.
BodyView	Struct	Lightweight wrapper around MuJoCo body data.
FMjCompilerSettings	Struct	Compiler settings parsed from the element of an MJCF file.
GeomView	Struct	Lightweight wrapper around MuJoCo geom data (model and data).
JointView	Struct	Lightweight wrapper around MuJoCo joint data.
MjOrientationUtils	Class	If true, angles (euler, axisangle) are in degrees. If false (default), radians.
MjUtils	Class	Static utility class for common MuJoCo <-> Unreal Engine conversions and helper functions.
MjXmlUtils	Class	Static utility functions for parsing MuJoCo XML nodes.
SensorView	Struct	Lightweight wrapper around MuJoCo sensor data.
SiteView	Struct	Lightweight wrapper around MuJoCo site data.
TendonView	Struct	Lightweight wrapper around MuJoCo tendon data.

Other

Miscellaneous top-level types.

Name	Kind	Description
AURLabGameMode	Class

Cinematics

Name	Kind	Description
FMjCameraWaypoint	Struct	A single camera keyframe: position, rotation, and time.
AMjKeyframeCameraActor	Class	A cinematic camera that lerps through manually placed waypoints.
AMjOrbitCameraActor	Class	A cinematic orbit camera that auto-detects MjArticulations via a box trigger

Components/Constraints

Name	Kind	Description
EMjEqualityType	Enum	Defines the type of equality constraint.
UMjEquality	Class	Component representing a MuJoCo equality constraint.

Components/Controllers

Name	Kind	Description
FActuatorBinding	Struct	Maps a MuJoCo actuator to its associated joint DOF addresses.
FMjKeyframePose	Struct	A named pose with joint targets and a hold duration.
UMjArticulationController	Class	Abstract base for custom articulation control laws.
UMjKeyframeController	Class	Cycles through a list of keyframe poses on an MjArticulation.
UMjPDController	Class	Proportional-Derivative controller running at MuJoCo physics rate.
UMjPassthroughController	Class	Writes control values directly to d->ctrl without modification.

Components/Defaults

Name	Kind	Description
UMjDefault	Class	Component that defines a MuJoCo class.

Components/Forces

Name	Kind	Description
AMjImpulseLauncher	Class	Applies a one-shot MuJoCo force impulse to a target MjBody.

Components/Keyframes

Name	Kind	Description
UMjKeyframe	Class	Component representing a MuJoCo keyframe.

Components/Tendons

Name	Kind	Description
EMjTendonWrapType	Enum	Defines the type of each wrap entry within a tendon.
FMjTendonWrap	Struct	Represents a single wrap entry in a MuJoCo tendon.
UMjTendon	Class	Component representing a MuJoCo tendon.

Input

Name	Kind	Description
UMjInputHandler	Class	Handles keyboard hotkeys for the MuJoCo simulation (debug toggles, pause, reset, etc.).
UMjTwistController	Class	Captures WASD/gamepad input and stores twist commands (vx, vy, yaw_rate)