Sam Haves
f5d3ce3451
Add a new mjpEncoder plugin type mirroring the existing mjpDecoder pattern. Encoders serialize an mjSpec + mjModel to an mjResource for a given format. New API functions: - mjp_registerEncoder: globally register an encoder - mjp_defaultEncoder: zero-initialize an encoder struct - mjp_findEncoder: look up an encoder by filename extension or content type The mjfEncode callback takes (mjSpec*, mjModel*, mjVFS*, mjResource*) and returns 0 on success. Writing to mjResource keeps symmetry with the decoder reading from mjResource and leaves the door open for writable resource providers. PiperOrigin-RevId: 889187898 Change-Id: I180771b2255b91dea188ac5e2cdc3a8f0fb85364
Unity Plug-in
The MuJoCo Unity plug-in allows the Unity Editor and runtime to use the MuJoCo physics engine. Users can import MJCF files and edit the models in the Editor. The plug-in relies on Unity for most aspects -- assets, game logic, simulation time -- but uses MuJoCo to determine how objects move, giving the designer access to MuJoCo's full API. See documentation and installation instructions here.