FIX - SO100 works in kitchen level

+ Rotation values are better
+ changed Kp value back to 300 like Pitch
+ Added Contact exclusion rule
+ Fixed Range for body and control
+ Restore proper delta values

Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp

@@ -115,9 +115,15 @@ void AMujocoVolumeActor::BindPostPhysicDelegate(UserClass* Object, void(UserClas
 	PostPhysicUpdateDelegate.BindUObject(Object, Func);
 }
 
-void AMujocoVolumeActor::InitializeMujoco(TMap<FString, FString> ContactExclusion)
+
+void AMujocoVolumeActor::InitializeMujoco()
 {
-	if (!Options)
+	InitializeMujocoScene_WithContactExclusion(TMap<FString, FString>{});
+}
+
+void AMujocoVolumeActor::InitializeMujocoScene_WithContactExclusion(const TMap<FString, FString>& ContactExclusion)
+{
+		if (!Options)
 	{
 		return;
 	}
@@ -170,6 +176,8 @@ void AMujocoVolumeActor::InitializeMujoco(TMap<FString, FString> ContactExclusio
 			return;
 		}
 
+		// TODO Here we should check for mujoco dll if we are on windows and LOG an error if there is not + gently quit the game
+		
 		std::array<char, 1024> ErrMsg{};
 		MujocoModel = MakeMujocoModelPtr(mj_loadXML(TCHAR_TO_ANSI(*ExportFilename), nullptr, ErrMsg.data(), ErrMsg.size()));
 		if (!MujocoModel)

Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h

@@ -33,15 +33,23 @@ class LUCKYMUJOCO_API AMujocoVolumeActor : public AActor
 public:
 	AMujocoVolumeActor();
 
-	UFUNCTION(BlueprintCallable, Category = "Mujoco")
 
 	/**
 	 * Initialize the sim scene in headless mujoco
-	 * @param ContactExclusion a list of pairs that should be patched in the xml file for contact exclusion (no friction, no collision)
-	 * TODO ContactExclusion should be stored as a property of MujocoActor and not passed in the scene init
-	 * TODO This require to cast the Actor in addition to the components list
 	 */
-	void InitializeMujoco(TMap<FString, FString> ContactExclusion);
+	UFUNCTION(BlueprintCallable, Category = "Mujoco")
+	void InitializeMujoco();
+
+
+	/**
+	* Initialize the sim scene in headless mujoco with a list of contact exclusion
+	* @param ContactExclusion a list of pairs that should be patched in the xml file for contact exclusion (no friction, no collision)
+	* TODO Can't use a default empty map as parameter in blueprints? We shouldn't need to have 2 functions 
+	* TODO ContactExclusion should be stored as a property of MujocoActor and not passed in the scene init
+	* TODO This require to cast the Actor in addition to the components list
+	*/
+	UFUNCTION(BlueprintCallable, Category = "Mujoco")
+	void InitializeMujocoScene_WithContactExclusion(const TMap<FString, FString>& ContactExclusion);
 
 protected:
 	virtual void BeginPlay() override;

Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Misc/MujocoOptions.h

@@ -307,7 +307,7 @@ struct LUCKYMUJOCO_API FMujocoOptions
 {
 	GENERATED_BODY()
 
-	/** Override TimeStep setting. When enabled, the default value (0.002) is applied. */
+	/** Override TimeStep setting. When enabled, the default value (0.001) is applied. */
 	UPROPERTY(config, EditAnywhere, BlueprintReadWrite, Category = "Mujoco", meta = (InlineEditConditionToggle))
 	bool bOverrideTimeStep = false;