UMjZmqComponent

Abstract base class for components that communicate with the MuJoCo simulation via ZeroMQ (or similar sockets).

Provides lifecycle hooks (Init/Shutdown) and simulation step hooks (PreStep/PostStep) that are executed on the dedicated MuJoCo physics thread.

Attribute	Value
Kind	Class
UE Macro	UCLASS
Inherits	UActorComponent
Blueprint Spawnable	✅ Yes

Functions

Functions

Public Functions

General

Function	Returns	Description
UMjZmqComponent()		Default constructor.
InitZmq()	void	Called to initialize ZMQ sockets/contexts. Runs on Async thread.
ShutdownZmq()	void	Called to shutdown ZMQ resources. Runs on Async thread.
PreStep()	void	Executed before mj_step().
PostStep()	void	Executed after mj_step().

UMjZmqComponent

Default constructor.

• Signature: UMjZmqComponent()

InitZmq

Called to initialize ZMQ sockets/contexts. Runs on Async thread.

• Signature: InitZmq()

ShutdownZmq

Called to shutdown ZMQ resources. Runs on Async thread.

• Signature: ShutdownZmq()

PreStep

Executed before mj_step().

• Signature: PreStep(mjModel* m, mjData* d)

PostStep

Executed after mj_step().

• Signature: PostStep(mjModel* m, mjData* d)