Tom Erez
Tom Erez
Unity offers the PhysX functionality of triggers that send an event when some collider enters their volume. MuJoCo’s API doesn’t have easily-called built-in support for collision detection without contact, so...
The following sensors are not yet implemented: `tendonpos`, `tendonvel`, `ballquat`, `ballangvel`, `tendonlimitpos`, `tendonlimitvel`, `tendonlimitfrc`, `user`.
MuJoCo supports the [`composite`](https://mujoco.readthedocs.io/en/latest/XMLreference.html#body-composite) XML element that instructs the compiler to add multiple bodies, joints, tendons and/or constraints to create soft materials. This “macro” functionality means that as opposed to...
MuJoCo computes the inertial properties of bodies without explicit [`inertial`](https://mujoco.readthedocs.io/en/latest/XMLreference.html#body-inertial) elements by looking at the density and mass of the geoms attached to the body. However, the [load-save-load workflow](https://mujoco.readthedocs.io/en/latest/unity.html#importer-workflow) of...
When the Unity plug-in imports a model that includes STL files, the STL import process is a bottleneck. A better approach would be to read the mesh directly from mjModel,...
MJCF is [well-documented](http://mujoco.org/book/XMLreference.html), but a formal schema is not available. A schema based on e.g. [XSD](https://www.w3schools.com/xml/schema_intro.asp), [relaxNG](https://relaxng.org/), or [schematron](https://www.schematron.com/) would help 3rd parties write their own validators. For example DeepMind's...
PiperOrigin-RevId: 631308503 Change-Id: I819a29047e5dee8892fcd85fd05cda5bfdaa3541
We should avoid using mju_error (which crashes the process), and instead use an error reporting mechanism that plays nice with the grpc machinery.