Yuval Tassa
a04b0c5b97
These fields (`flg_gravcomp` and `flg_surfacevel`) replace the fast-path checks originally guarded by `ngravcomp` and (recently) `nsurfacevel`. Since the engine uses these integers only as flags (zero vs non-zero), migrating them to actual booleans makes them writeable from the Python bindings at runtime without violating size/dimension constraints. The legacy integer field `ngravcomp` is marked as deprecated and will be removed in a future release. PiperOrigin-RevId: 949779204 Change-Id: Ifab1f026063a4239302e6ad689663b611b59dda8
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.