UMjSimulateWidget

Main dashboard mimicking MuJoCo's "simulate" UI.

Features: - Top Bar: Time, Step, Real-time factor. - Sidebars: Physics options, Articulation controls.

Attribute	Value
Kind	Class
UE Macro	UCLASS
Inherits	UUserWidget

Properties Functions

Properties

Protected Properties

Property	Type	Description
ManagerSettingsList	UVerticalBox*	Container for manager-wide physics settings.
ArticulationControlList	UVerticalBox*	Container for the selected articulation's actuators.
ArticulationSelector	UComboBoxString*	Dropdown to select which articulation to control.
TimeText	UTextBlock*	Text block for simulation time.
PlayPauseButton	UButton*	Button to Play/Pause simulation.
ResetButton	UButton*	Button to Reset simulation.
RecordButton	UButton*	Button to Start Recording.
ReplayButton	UButton*	Button to Start Replay.
SnapshotButton	UButton*	Button to Capture Simulation Snapshot.
RestoreButton	UButton*	Button to Restore Simulation Snapshot.
PropertyRowClass	TSubclassOf<UMjPropertyRow>	The MjPropertyRow class to spawn for each setting.
CameraFeedEntryClass	TSubclassOf<UMjCameraFeedEntry>	Blueprint class for a single camera feed entry row.
PossessButton	UButton*	Button to Possess/Release the selected articulation.
ManagerRef	AAMjManager*	--- Internal State ---
bIsPossessing	bool	Whether we're currently possessing an articulation.
OriginalPawn	APawn*	The pawn we were controlling before possession.
ActiveCameraFeeds	TArray<UMjCameraFeedEntry*>	Cache of active camera feed entries for tick updates and teardown.
LastSnapshot	class UMjSimulationState*	The most recently captured simulation snapshot.

ManagerSettingsList

Container for manager-wide physics settings.

• Type: UVerticalBox*

ArticulationControlList

Container for the selected articulation's actuators.

• Type: UVerticalBox*

ArticulationSelector

Dropdown to select which articulation to control.

• Type: UComboBoxString*

TimeText

Text block for simulation time.

• Type: UTextBlock*

PlayPauseButton

Button to Play/Pause simulation.

• Type: UButton*

ResetButton

Button to Reset simulation.

• Type: UButton*

RecordButton

Button to Start Recording.

• Type: UButton*

ReplayButton

Button to Start Replay.

• Type: UButton*

SnapshotButton

Button to Capture Simulation Snapshot.

• Type: UButton*

RestoreButton

Button to Restore Simulation Snapshot.

• Type: UButton*

PropertyRowClass

The MjPropertyRow class to spawn for each setting.

• Type: TSubclassOf<UMjPropertyRow>
• Editor: ✏️ EditAnywhere
• Category: MuJoCo|UI

CameraFeedEntryClass

Blueprint class for a single camera feed entry row.

• Type: TSubclassOf<UMjCameraFeedEntry>
• Editor: ✏️ EditAnywhere
• Category: MuJoCo|UI

PossessButton

Button to Possess/Release the selected articulation.

• Type: UButton*

ManagerRef

--- Internal State ---

• Type: AAMjManager*

bIsPossessing

Whether we're currently possessing an articulation.

• Type: bool

OriginalPawn

The pawn we were controlling before possession.

• Type: APawn*

ActiveCameraFeeds

Cache of active camera feed entries for tick updates and teardown.

• Type: TArray<UMjCameraFeedEntry*>

LastSnapshot

The most recently captured simulation snapshot.

• Type: class UMjSimulationState*

Private Properties

Property	Type	Description
bIsMouseEnabled	bool	Tracks whether the mouse is currently visible and allowed to interact with the UI.
ReplaySessionSelector	UComboBoxString*	Dropdown for selecting replay sessions (dynamically created).
LoadCSVButton	UButton*	Load CSV button (dynamically created).
SaveRecordingButton	UButton*	Save Recording button (dynamically created).
KeyframeSelector	UComboBoxString*	Dropdown for selecting keyframes on the current articulation.
ResetToKeyframeButton	UButton*	Reset to Keyframe button.
HoldKeyframeButton	UButton*	Hold/Stop Hold toggle button.
CachedSessionCount	int32	Cached session count for detecting changes in NativeTick.
ReplayEnabledCheckBoxes	TArray<UCheckBox*>	Parallel arrays of checkboxes for replay articulation bindings.

bIsMouseEnabled

Tracks whether the mouse is currently visible and allowed to interact with the UI.

• Type: bool

ReplaySessionSelector

Dropdown for selecting replay sessions (dynamically created).

• Type: UComboBoxString*

LoadCSVButton

Load CSV button (dynamically created).

• Type: UButton*

SaveRecordingButton

Save Recording button (dynamically created).

• Type: UButton*

KeyframeSelector

Dropdown for selecting keyframes on the current articulation.

• Type: UComboBoxString*

ResetToKeyframeButton

Reset to Keyframe button.

• Type: UButton*

HoldKeyframeButton

Hold/Stop Hold toggle button.

• Type: UButton*

CachedSessionCount

Cached session count for detecting changes in NativeTick.

• Type: int32

ReplayEnabledCheckBoxes

Parallel arrays of checkboxes for replay articulation bindings.

• Type: TArray

Functions

Public Functions

MuJoCo|UI

Function	Returns	Description
SetupDashboard()	void	Initializes the widget with a reference to the manager.

SetupDashboard

Initializes the widget with a reference to the manager.

• Signature: SetupDashboard(AAMjManager* InManager)
• Blueprint: 🔵 Callable

Protected Functions

General

Function	Returns	Description
OnPlayPauseClicked()	void	--- Handlers ---
PopulateManagerSettings()	void	Fills the manager settings panel with rows.
RefreshArticulationControls()	void	Updates the articulation controls and monitors when selection changes.
UpdateMonitorValues()	void	Updates monitor values (Joints/Sensors) from public API.
HandleManagerOptionChanged()	void	Specific handler for manager property changes.
HandleActuatorChanged()	void	Specific handler for actuator control changes.
OnPossessClicked()	void	Handles possess/release button click.
HandleTwistOptionChanged()	void	Handles twist velocity slider changes.
OnReplaySessionSelected()	void	Handles replay session dropdown selection.
OnLoadCSVClicked()	void	Handles Load CSV button click.
OnSaveRecordingClicked()	void	Handles Save Recording button click.
RefreshReplaySessionDropdown()	void	Refreshes the replay session dropdown options.
RebuildReplayBindingUI()	void	Rebuilds the articulation binding checkboxes in the replay section.

OnPlayPauseClicked

--- Handlers ---

• Signature: OnPlayPauseClicked()

PopulateManagerSettings

Fills the manager settings panel with rows.

• Signature: PopulateManagerSettings()

RefreshArticulationControls

Updates the articulation controls and monitors when selection changes.

• Signature: RefreshArticulationControls()

UpdateMonitorValues

Updates monitor values (Joints/Sensors) from public API.

• Signature: UpdateMonitorValues()

HandleManagerOptionChanged

Specific handler for manager property changes.

• Signature: HandleManagerOptionChanged(float NewValue, const FString& OptionName)

HandleActuatorChanged

Specific handler for actuator control changes.

• Signature: HandleActuatorChanged(float NewValue, const FString& ActuatorName)

OnPossessClicked

Handles possess/release button click.

• Signature: OnPossessClicked()

HandleTwistOptionChanged

Handles twist velocity slider changes.

• Signature: HandleTwistOptionChanged(float NewValue, const FString& OptionName)

OnReplaySessionSelected

Handles replay session dropdown selection.

• Signature: OnReplaySessionSelected(FString SelectedItem, ESelectInfo::Type SelectionType)

OnLoadCSVClicked

Handles Load CSV button click.

• Signature: OnLoadCSVClicked()

OnSaveRecordingClicked

Handles Save Recording button click.

• Signature: OnSaveRecordingClicked()

RefreshReplaySessionDropdown

Refreshes the replay session dropdown options.

• Signature: RefreshReplaySessionDropdown()

RebuildReplayBindingUI

Rebuilds the articulation binding checkboxes in the replay section.

• Signature: RebuildReplayBindingUI(UVerticalBox* ReplayBox)

Private Functions

General

Function	Returns	Description
OnKeyframeSelected()	void	Handles keyframe dropdown selection.
RefreshKeyframeDropdown()	void	Refreshes keyframe dropdown for the current articulation.
HandleResetToKeyframe()	void	Handles Reset to Keyframe button click.
HandleHoldKeyframe()	void	Handles Hold Keyframe button click.
HandleReplayBindingEnabledChanged()	void	Handles Enabled checkbox changes for replay bindings.
HandleReplayBindingRelPosChanged()	void	Handles RelPos checkbox changes for replay bindings.

OnKeyframeSelected

Handles keyframe dropdown selection.

• Signature: OnKeyframeSelected(FString SelectedItem, ESelectInfo::Type SelectionType)

RefreshKeyframeDropdown

Refreshes keyframe dropdown for the current articulation.

• Signature: RefreshKeyframeDropdown()

HandleResetToKeyframe

Handles Reset to Keyframe button click.

• Signature: HandleResetToKeyframe()

HandleHoldKeyframe

Handles Hold Keyframe button click.

• Signature: HandleHoldKeyframe()

HandleReplayBindingEnabledChanged

Handles Enabled checkbox changes for replay bindings.

• Signature: HandleReplayBindingEnabledChanged(bool bIsChecked)

HandleReplayBindingRelPosChanged

Handles RelPos checkbox changes for replay bindings.

• Signature: HandleReplayBindingRelPosChanged(bool bIsChecked)