[Unity plugin] Preliminary support for MuJoCo plugins, focusing on the elasticity features. #2325
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…eature/unity-plugins Merge in 3.2.5
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This PR adds most of what is needed to use MuJoCo user plugins, mainly targeting the elasticity functionality, including flex bodies.
The relevant README is available at unity/Runtime/Plugins/README.md
If you want to try out this feature, read it for more information on how it works, in particular guidance on adding the MuJoCo plugin binaries.
There is still room for improvement, in particular with the rendering functionality for flexes. However, I'm submitting the PR in this early stage, as there have been multiple requests now to support elastic simulation with the Unity plugin. Addresses for example #1709 #2165.
Movie_013.mp4