I tried importing my XML file into Unity using the MuJoCo Unity plugin. The first minor error raised was that the code provided in the plug in is unsafe, and the 'enable unsafe code' checkbox should be enabled in the Player Settings. This was relatively easy to fix. The second error I'm trying to fix relates to Unity raising an exception at the materials (.mat) in my XML file. This is the related exception: UnityException: Creating asset at path Assets/Materials/suture_body_robot0:link_mat.mat failed. MJImport.ImportMaterials (System.Int32 nmaterial) (at Assets/Scripts/MJImport.cs:310) MJImport.RunImport () (at Assets/Scripts/MJImport.cs:705) MJImport.OnGUI () (at Assets/Scripts/MJImport.cs:90) System.Reflection.MonoMethod.Invoke (System.Object obj, System.Reflection.BindingFlags invokeAttr, System.Reflection.Binder binder, System.Object[] parameters, System.Globalization.CultureInfo culture) (at <ac823e2bb42b41bda67924a45a0173c3>:0) Rethrow as TargetInvocationException: Exception has been thrown by the target of an invocation. System.Reflection.MonoMethod.Invoke (System.Object obj, System.Reflection.BindingFlags invokeAttr, System.Reflection.Binder binder, System.Object[] parameters, System.Globalization.CultureInfo culture) (at <ac823e2bb42b41bda67924a45a0173c3>:0) System.Reflection.MethodBase.Invoke (System.Object obj, System.Object[] parameters) (at <ac823e2bb42b41bda67924a45a0173c3>:0) UnityEditor.HostView.Invoke (System.String methodName, System.Object obj) (at /Users/builduser/buildslave/unity/build/Editor/Mono/HostView.cs:342) UnityEditor.HostView.Invoke (System.String methodName) (at /Users/builduser/buildslave/unity/build/Editor/Mono/HostView.cs:336) UnityEditor.HostView.InvokeOnGUI (UnityEngine.Rect onGUIPosition, UnityEngine.Rect viewRect) (at /Users/builduser/buildslave/unity/build/Editor/Mono/HostView.cs:310) UnityEditor.DockArea.DrawView (UnityEngine.Rect viewRect, UnityEngine.Rect dockAreaRect, System.Boolean customBorder, System.Boolean floatingWindow, System.Boolean isBottomTab) (at /Users/builduser/buildslave/unity/build/Editor/Mono/GUI/DockArea.cs:363) UnityEditor.DockArea.OldOnGUI () (at /Users/builduser/buildslave/unity/build/Editor/Mono/GUI/DockArea.cs:322) UnityEngine.Experimental.UIElements.IMGUIContainer.DoOnGUI (UnityEngine.Event evt, UnityEngine.Matrix4x4 worldTransform, UnityEngine.Rect clippingRect, System.Boolean isComputingLayout) (at /Users/builduser/buildslave/unity/build/Modules/UIElements/IMGUIContainer.cs:266) UnityEngine.Experimental.UIElements.IMGUIContainer.HandleIMGUIEvent (UnityEngine.Event e, UnityEngine.Matrix4x4 worldTransform, UnityEngine.Rect clippingRect) (at /Users/builduser/buildslave/unity/build/Modules/UIElements/IMGUIContainer.cs:438) UnityEngine.Experimental.UIElements.IMGUIContainer.HandleIMGUIEvent (UnityEngine.Event e) (at /Users/builduser/buildslave/unity/build/Modules/UIElements/IMGUIContainer.cs:421) UnityEngine.Experimental.UIElements.IMGUIContainer.HandleEvent (UnityEngine.Experimental.UIElements.EventBase evt) (at /Users/builduser/buildslave/unity/build/Modules/UIElements/IMGUIContainer.cs:401) UnityEngine.Experimental.UIElements.EventDispatcher.ProcessEvent (UnityEngine.Experimental.UIElements.EventBase evt, UnityEngine.Experimental.UIElements.IPanel panel) (at /Users/builduser/buildslave/unity/build/Modules/UIElements/EventDispatcher.cs:511) UnityEngine.Experimental.UIElements.EventDispatcher.Dispatch (UnityEngine.Experimental.UIElements.EventBase evt, UnityEngine.Experimental.UIElements.IPanel panel, UnityEngine.Experimental.UIElements.DispatchMode dispatchMode) (at /Users/builduser/buildslave/unity/build/Modules/UIElements/EventDispatcher.cs:307) UnityEngine.Experimental.UIElements.BaseVisualElementPanel.SendEvent (UnityEngine.Experimental.UIElements.EventBase e, UnityEngine.Experimental.UIElements.DispatchMode dispatchMode) (at /Users/builduser/buildslave/unity/build/Modules/UIElements/Panel.cs:176) UnityEngine.Experimental.UIElements.UIElementsUtility.DoDispatch (UnityEngine.Experimental.UIElements.BaseVisualElementPanel panel) (at /Users/builduser/buildslave/unity/build/Modules/UIElements/UIElementsUtility.cs:245) UnityEngine.Experimental.UIElements.UIElementsUtility.ProcessEvent (System.Int32 instanceID, System.IntPtr nativeEventPtr) (at /Users/builduser/buildslave/unity/build/Modules/UIElements/UIElementsUtility.cs:68) UnityEngine.GUIUtility.ProcessEvent (System.Int32 instanceID, System.IntPtr nativeEventPtr) (at /Users/builduser/buildslave/unity/build/Modules/IMGUI/GUIUtility.cs:179)
So turns out Unity is a bit picky when importing materials from Mujoco. You have to wrap any materials into the 'asset' tag and make sure the name doesn't contain any ':' as this will likely throw an exception. '_' are allowed.
Another problem I seem to be experiencing is on the quality of the meshes being imported. Inside of the MuJoCo environment things are smooth and correct (Pic 1). On the other hand, this is the same mesh inside of Unity (Pic 2). Is there any way of correcting this behavior?
I have the similar mesh quality problem. Imported STL file look messed up in Unity environment. I tried to use "asset->mesh->smoothnormal=true" but I realized that this feature is only in Mujoco2.0 which is not supported by current Unity Plugin. Any kind of help will be appreciated.