Yuval Tassa
d507e92198
An actuator now owns a block of consecutive controls (actuator_ctrladr/ctrlnum, width defined by the actuator type) and a block of consecutive force outputs (actuator_outadr/outnum, width defined by the transmission type). Force outputs are the scalars of actuation space: one force, length, velocity and moment row each. nout = dim(actuator_force) is derived from transmission types; all current types have width 1, so all three counts coincide for every existing model and behavior is bit-exact. Array re-keying: ctrlrange/ctrllimited by nu; forcerange/forcelimited/gear/ acc0/length0/lengthrange and the moment row structure by nout; everything else per actuator. The mjModel actuator block is re-sorted by size key. Layout-breaking, not behavior-breaking: saved .mjb files are invalidated (size list changed) and recompilation is required. PiperOrigin-RevId: 948351772 Change-Id: Icbc196ffa083cb1eaa6f1a3710869c89d8f62540
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.