Tom Erez

You're right. In [MjHingeJoint.cs](https://github.com/deepmind/mujoco/blob/main/unity/Runtime/Components/Joints/MjHingeJoint.cs) you can see the various accommodations we go through to ensure radian/angle interplay (e.g., `MjSceneImportSettings.AnglesInDegrees`), which are currently not used for the ball joint class. We...

This is very useful, thanks. I'll prepare this change and push it in the next batch.

Your analysis is correct. I believe you can fix things by replacing `MjEngineTool.MjTransformAtEntry(model->eq_data, MujocoId)` with `model->eq_data + MujocoId * 11 + 3` (11 being the new value of `mjNEQDATA` following...

Since you mention mocap bodies, here's a quick sanity check before we delve into the details: Did you consider that if you specify a mocap position that forces a child...

If you're developing native tasks, you should take a look at the structure of the reward/cost functions in the[ MJPC project](https://github.com/deepmind/mujoco_mpc). While RL tasks require more specification (e.g., observations), it...

Could you please run the tests? Both MjBaseSensorTests and MjcfImporterTests make references to this now-absent field.

Thanks for this! Two alternatives to consider: 1. Call [Refresh](https://docs.unity3d.com/Manual/AssetDatabaseRefreshing.html) after copy. 2. Use [Unity's FileUtil](https://docs.unity3d.com/ScriptReference/FileUtil.CopyFileOrDirectory.html) instead of System. If you have reasons to reject both, we can accept the...

The error messages you posted indicate issues in installing the plug-in. You can skip that step and manually place the folder in your Unity asset folder, provided you also fetch...

The binary needs to be renamed, search for the word "rename" in the Unity page in the docs. If you installed everything correctly, you don't need the file `MujocoBinaryRetriever.cs` and...

If you input a path to the text box called "Debug File Name" (at the top of the "Mj Global Settings" component) you can save the XML that's generated from...