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google-deepmind / mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.
https://mujoco.org
Apache License 2.0
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Composite elements not fully supported in the Unity plug-in #121

Open erez-tom opened 2 years ago

erez-tom commented 2 years ago

MuJoCo supports the 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 most other MJCF elements, composites cannot be associated with a single specific runtime model element. Therefore, binding the composite element itself is ill-defined. However, you can still import composite elements through the load-save-load workflow, and they are imported as the atomic bodies / joints / tendons / constraints.

yuvaltassa commented 3 weeks ago

@Balint-H I think this is no longer true since we always do save-load in Unity, right?