From f54cc58dc5ce797262e9ad789add00a4926cbe95 Mon Sep 17 00:00:00 2001 From: Balint-H Date: Mon, 25 Nov 2024 14:39:17 +0000 Subject: [PATCH 1/2] Reference the tutorial in the Unity plugin docs, and update information of the existing sections. --- doc/unity.rst | 29 ++++++++++++++++++++++------- 1 file changed, 22 insertions(+), 7 deletions(-) diff --git a/doc/unity.rst b/doc/unity.rst index cb2c2517e4..61993bf54a 100644 --- a/doc/unity.rst +++ b/doc/unity.rst @@ -10,6 +10,9 @@ runtime to use the MuJoCo physics engine. Users can import MJCF files and edit 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. +An example project using MuJoCo's Unity plugin in a set of introductory tutorials is available at +https://github.com/Balint-H/mj-unity-tutorial. + .. _UInstallation: Installation instructions @@ -145,10 +148,6 @@ effects: material assets for geom RGBA specification. - It allows the importer to handle :ref:`\ ` elements without replicating MuJoCo’s file-system workflow. -- The current version of MuJoCo generates MJCF files with explicit :ref:`\ ` elements, even when - the original model uses geoms for implicit definition of the body inertia. If you plan to change geom properties of - an imported model, remove these auto-generated ``MjInertial`` components manually. We plan to address this in a - future release of MuJoCo. In Unity, there is no equivalent to MJCF’s “cascading” :ref:`\ ` clauses. Therefore, components in Unity reflect the corresponding elements’ state after applying all the relevant default classes, and the class structure @@ -177,9 +176,11 @@ Scene recreation maintains continuity of physics and state in the following way: persisted. 4. The MuJoCo state (for the joints that persisted) is set from the cache, and Unity transforms are synchronized. -Because the MuJoCo library doesn’t (yet) expose an API for scene editing, adding and removing MuJoCo components causes -complete scene recreation. This can be expensive for large models or if it happens frequently. We expect this -performance limitation to be lifted in future versions of MuJoCo. +MuJoCo library has functionality for dynamic scene editing (through `mjSpec +`_), however, this is not yet +supported in the Unity plugin. Therefore, adding and removing MuJoCo components causes complete scene recreation. This +can be expensive for large models or if it happens frequently. We intend to lift this performance limitation to be in a +future versions of the plugin. Global Settings _______________ @@ -323,6 +324,20 @@ The plug-in allows using arbitrary Unity meshes for MuJoCo collision. At model `__ to create a convex hull of the mesh, and uses that for collisions. Currently the computed convex hull is not visible in Unity, but we intend to expose it in future versions. +Height fields +_____________ + +MuJoCo hfields are represented in Unity through terrain gameobjects. This allows the use of the terrain editing tools +available in Unity to generate shapes for collisions with MuJoCo. When selecting hfield type in the Unity geom +component, the right click context menu provides utility to add the corresponding Unity terrain to the scene. The data +from the terrain is dynamically kept in sync with the simulation. + +MuJoCo plugins +______________ + +The current version of the Unity package does not support loading MJCF scenes that use MuJoCo plugins such as +``elasticity``. Adding basic functionality to do this will be part of an upcoming release. + Interaction with External Processes ___________________________________ From 50bfbc91485123e02792a4c7bec9876ae017eeb3 Mon Sep 17 00:00:00 2001 From: Balint-H Date: Mon, 25 Nov 2024 17:15:42 +0000 Subject: [PATCH 2/2] Use RST link instead of explicit html link. --- doc/unity.rst | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/doc/unity.rst b/doc/unity.rst index 61993bf54a..ffa72b4bb2 100644 --- a/doc/unity.rst +++ b/doc/unity.rst @@ -176,8 +176,7 @@ Scene recreation maintains continuity of physics and state in the following way: persisted. 4. The MuJoCo state (for the joints that persisted) is set from the cache, and Unity transforms are synchronized. -MuJoCo library has functionality for dynamic scene editing (through `mjSpec -`_), however, this is not yet +MuJoCo has functionality for dynamic scene editing (through :ref:`mjSpec`), however, this is not yet supported in the Unity plugin. Therefore, adding and removing MuJoCo components causes complete scene recreation. This can be expensive for large models or if it happens frequently. We intend to lift this performance limitation to be in a future versions of the plugin.