Created image write on async thread

Reviewed-on: #55

Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/LuckyDataTransfer.Build.cs

@@ -29,7 +29,11 @@ public class LuckyDataTransfer : ModuleRules
 				"WebSockets",
 				"Json",
 				"JsonUtilities",
-				"ImageWriteQueue"
+				"ImageWriteQueue",
+				"FunctionalTesting",
+				"RenderCore",
+				"RHI",
+				"RHICore"
 				// ... add other public dependencies that you statically link with here ...
 			}
 			);
@@ -41,7 +45,8 @@ public class LuckyDataTransfer : ModuleRules
 				"CoreUObject",
 				"Engine",
 				"Slate",
-				"SlateCore", "ImageWriteQueue",
+				"SlateCore", 
+				"ImageWriteQueue"
 				// ... add private dependencies that you statically link with here ...	
 			}
 			);

Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Private/LuckyDataTransferSubsystem.cpp

@@ -2,18 +2,45 @@
 
 
 #include "LuckyDataTransferSubsystem.h"
+
+#include "AutomationBlueprintFunctionLibrary.h"
+#include "ImageUtils.h"
+#include "RenderingThread.h"
+#include "RenderUtils.h"
+#include "RenderGraphUtils.h"
+#include "RHI.h"
+#include "RHICommandList.h"
+#include "ImageWriteQueue.h"
+#include "ImageWriteTask.h"
+#include "ImagePixelData.h"
 #include "JsonUtilities.h"
 #include "JsonObjectConverter.h"
+#include "ReviewComments.h"
 #include "WebSocketsModule.h"
+#include "Kismet/KismetStringLibrary.h"
+#include "Camera/CameraActor.h"
+#include "Camera/CameraComponent.h"
+#include "Components/SceneCaptureComponent2D.h"
+#include "Kismet/GameplayStatics.h"
+#include "Kismet/KismetMathLibrary.h"
+#include "Kismet/KismetRenderingLibrary.h"
 #include "Slate/SceneViewport.h"
+#include "Virtualization/VirtualizationTypes.h"
 
 ULuckyDataTransferSubsystem::ULuckyDataTransferSubsystem()
 {
+	
 }
 
 void ULuckyDataTransferSubsystem::Initialize(FSubsystemCollectionBase& Collection)
 {
 	Super::Initialize(Collection);
+
+	if (UGameInstance* GI = GetWorld()->GetGameInstance())
+	{
+		
+	}
+
 }
 
 void ULuckyDataTransferSubsystem::Deinitialize()
@@ -123,6 +150,12 @@ FPayload ULuckyDataTransferSubsystem::InterpretData(const FString& Message)
 	return Payload;
 }
 
+void IncomingMessage(const FString& Message)
+{
+	const FString outMessage = Message.IsEmpty() ? TEXT("no valid message") : Message;
+	UE_LOG(LogTemp, Warning, TEXT("Incoming message: %s"), *outMessage);
+}
+
 void ULuckyDataTransferSubsystem::CommandReady(const FPayload& Payload)
 {
 	if (OnCommandReady.IsBound())
@@ -137,6 +170,12 @@ bool ULuckyDataTransferSubsystem::MakeObservationPayload(const FObservationPaylo
 	return CreateJsonPayload_Observation(Data);
 }
 
+FString ULuckyDataTransferSubsystem::CreateCaptureSessionID()
+{
+	SessionID = FGuid::NewGuid().ToString().Left(5);
+	return SessionID;
+}
+
 bool ULuckyDataTransferSubsystem::CreateJsonPayload_Observation(const FObservationPayload& Data)
 {
 	bool bSuccess = false;
@@ -151,3 +190,98 @@ bool ULuckyDataTransferSubsystem::CreateJsonPayload_Observation(const FObservati
 
 	return bSuccess;
 }
+
+void ULuckyDataTransferSubsystem::RegisterSensor(ALuckySensorPawnBase* Sensor)
+{
+	if (IsValid(Sensor))
+	{
+		SensorPawns.Add(Sensor);
+	}
+}
+
+bool ULuckyDataTransferSubsystem::WriteImageToDisk(const FString& inPath, const double Timestamp, const FString& Comment)
+{
+	if (SessionID.IsEmpty())
+	{
+		UE_LOG(LogTemp, Warning, TEXT("The Capture Session ID is empty"));
+		return false;
+	}
+	
+	FString Path = inPath.IsEmpty() ? TEXT("C:/LuckyRobotsImages") : inPath;
+	
+	if (!SensorPawns.IsEmpty())
+	{
+		for (const ALuckySensorPawnBase* Sensor : SensorPawns)
+		{
+			if (IsValid(Sensor) && Sensor->SensorInfo.bActive && Sensor->GetCamera() && Sensor->GetCaptureComponent())
+			{
+				FString Robot = TEXT("Robot_Name");
+
+				FString Episode = SessionID;
+
+				ENQUEUE_RENDER_COMMAND(ReadPixelsAsync)([Sensor, Path, Timestamp, Comment, Episode](FRHICommandListImmediate& RHICmdList)
+				{
+					FTextureResource* Resource = Sensor->RenderTarget->GetResource();
+					FRHITexture* ResourceRHI = Resource->GetTexture2DRHI();
+
+					TArray<FColor> OutPixels;
+
+					if (ensure(ResourceRHI))
+					{
+						OutPixels.SetNum(Resource->GetSizeX() * Resource->GetSizeY());
+						RHICmdList.ReadSurfaceData(
+							ResourceRHI,
+							FIntRect(0, 0, Resource->GetSizeX(), Resource->GetSizeY()),
+							OutPixels,
+							FReadSurfaceDataFlags()
+						);
+
+						UE_LOG(LogTemp, Warning, TEXT("Logged pixels: %d"), OutPixels.Num())
+
+						FImageWriteTask* ImageTask = new FImageWriteTask();
+						
+						if (Path.Right(1) == "/")
+						{
+							//Path = Path.Left(Path.Len() - 1);
+						}
+
+						FString Robot = TEXT("Robot_Name");
+						
+						const FString Filename = FString::Printf(
+							TEXT("%s/%s/%s/%s/%s_%s_%s_%d"),
+							*Path,
+							*Robot,
+							*Episode,
+							*Sensor->SensorInfo.Name,
+							*Robot,
+							*Sensor->SensorInfo.Name,
+							*Comment,
+							FMath::Floor<int32>(Timestamp * 1000)
+						);
+						
+						//UE_LOG(LogTemp, Warning, TEXT("Evan requested a longer string describing the inner workings of the following string which describes in great detail the file path for the image you've just written to disk. It is: %s"), *Filename);
+
+						ImageTask->Format = EImageFormat::PNG;
+						ImageTask->Filename = Filename;
+						ImageTask->PixelData = MakeUnique<TImagePixelData<FColor>>(FIntPoint(Sensor->RenderTarget->GetSurfaceWidth(), Sensor->RenderTarget->GetSurfaceHeight()), TArray64<FColor>(OutPixels));
+						ImageTask->bOverwriteFile = true;
+						ImageTask->CompressionQuality = (int32)EImageCompressionQuality::Default;
+						
+						//Add to write queue (async)
+						FModuleManager::LoadModuleChecked<IImageWriteQueueModule>("ImageWriteQueue").GetWriteQueue().Enqueue(TUniquePtr<IImageWriteTaskBase>(ImageTask));
+
+						ImageTask->OnCompleted = [](bool bSuccess) {
+							UE_LOG(LogTemp, Warning, TEXT("Image write completed: %s"), bSuccess ? TEXT("Success") : TEXT("Failed"));
+						};
+						
+						return true;
+					}
+					
+					return false;
+				});
+			}
+		}
+	}
+	
+	return false;
+}

Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Private/LuckySensorPawnBase.cpp

@@ -0,0 +1,57 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+
+#include "LuckySensorPawnBase.h"
+
+#include "Camera/CameraComponent.h"
+#include "Components/SceneCaptureComponent2D.h"
+#include "Engine/TextureRenderTarget2D.h"
+#include "GameFramework/SpringArmComponent.h"
+
+
+// Sets default values
+ALuckySensorPawnBase::ALuckySensorPawnBase()
+{
+	// Set this pawn to call Tick() every frame.  You can turn this off to improve performance if you don't need it.
+	PrimaryActorTick.bCanEverTick = true;
+
+	SpringArm = CreateDefaultSubobject<USpringArmComponent>(TEXT("SpringArm"));
+	SpringArm->bDoCollisionTest = false;
+	RootComponent = SpringArm;
+
+	Camera = CreateDefaultSubobject<UCameraComponent>(TEXT("Camera"));
+	Camera->SetupAttachment(SpringArm);
+	Camera->SetRelativeTransform(FTransform());
+	
+	CaptureComponent = CreateDefaultSubobject<USceneCaptureComponent2D>(TEXT("CameraComponent"));
+	CaptureComponent->SetupAttachment(RootComponent);
+
+	
+	RenderTarget = CreateDefaultSubobject<UTextureRenderTarget2D>(TEXT("RenderTarget"));
+	RenderTarget->UpdateResourceImmediate(true);
+	RenderTarget->ResizeTarget(1, 1);
+
+
+	CaptureComponent->CaptureSource = SCS_FinalColorLDR;
+}
+
+// Called when the game starts or when spawned
+void ALuckySensorPawnBase::BeginPlay()
+{
+	CaptureComponent->TextureTarget = RenderTarget;
+	
+	Super::BeginPlay();
+}
+
+// Called every frame
+void ALuckySensorPawnBase::Tick(float DeltaTime)
+{
+	Super::Tick(DeltaTime);
+}
+
+// Called to bind functionality to input
+void ALuckySensorPawnBase::SetupPlayerInputComponent(UInputComponent* PlayerInputComponent)
+{
+	Super::SetupPlayerInputComponent(PlayerInputComponent);
+}
+

Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Public/LuckyDataTransferSubsystem.h

@@ -4,7 +4,7 @@
 
 #include "CoreMinimal.h"
 #include "IWebSocket.h"
-//#include "LuckyWriteThread.h"
+#include "LuckySensorPawnBase.h"
 #include "ObservationData.h"
 #include "Subsystems/WorldSubsystem.h"
 #include "LuckyDataTransferSubsystem.generated.h"
@@ -108,6 +108,25 @@ public:
 	bool MakeObservationPayload(const FObservationPayload& Data);
 	//---------------------------------------------------------//
 
-protected:
+
-	//LuckyWriteThread* WriteThread = nullptr;
+	//---Image Capture----------------------------------------//
+	UFUNCTION(BlueprintCallable, Category = "Websocket")
+	FString CreateCaptureSessionID();
+
+	UPROPERTY(BlueprintReadOnly, Category = "Websocket")
+	FString SessionID;
+	
+	UPROPERTY(BlueprintReadWrite, Category = "Capture")
+	TMap<FString, ACameraActor*> ActiveCameras;
+
+	UPROPERTY(BlueprintReadWrite, Category = "Capture")
+	TArray<ALuckySensorPawnBase*> SensorPawns;
+
+	UFUNCTION(BlueprintCallable, Category = "Capture")
+	void RegisterSensor(ALuckySensorPawnBase* Sensor);
+
+	UFUNCTION(BlueprintCallable, Meta = (AutoCreateRefTerm = "Path, Comment"), Category = "Capture")
+	bool WriteImageToDisk(const FString& Path, const double Timestamp, const FString& Comment);
+	//-------------------------------------------------------//
+	
 };

Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Public/LuckySensorPawnBase.h

@@ -0,0 +1,75 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Camera/CameraActor.h"
+#include "GameFramework/Pawn.h"
+#include "Components/SceneCaptureComponent2D.h"
+#include "Engine/TextureRenderTarget2D.h"
+#include "GameFramework/SpringArmComponent.h"
+#include "LuckySensorPawnBase.generated.h"
+
+USTRUCT(BlueprintType)
+struct FSensorInfo
+{
+	GENERATED_USTRUCT_BODY()
+
+public:
+	UPROPERTY(BlueprintReadWrite, EditAnywhere, Category="Sensor")
+	FString Name = FString();
+
+	UPROPERTY(BlueprintReadWrite, EditAnywhere, Category="Sensor")
+	FVector Anchor = FVector::ZeroVector;
+
+	UPROPERTY(BlueprintReadWrite, EditAnywhere, Category="Sensor")
+	float Distance = 0.f;
+
+	UPROPERTY(BlueprintReadWrite, EditAnywhere, Category="Sensor")
+	FRotator Rotation = FRotator::ZeroRotator;
+
+	UPROPERTY(BlueprintReadWrite, EditAnywhere, Category="Sensor")
+	bool bActive = false;
+};
+
+UCLASS()
+class LUCKYDATATRANSFER_API ALuckySensorPawnBase : public APawn
+{
+	GENERATED_BODY()
+
+public:
+	// Sets default values for this pawn's properties
+	ALuckySensorPawnBase();
+
+	UPROPERTY(BlueprintReadWrite, EditAnywhere, Category="Sensor")
+	FSensorInfo SensorInfo = FSensorInfo();
+
+	UFUNCTION(BlueprintCallable, Category="Sensor")
+	UCameraComponent* GetCamera() const { return Camera; }
+
+	UPROPERTY(BlueprintReadWrite, EditAnywhere, Category="Sensor")
+	UTextureRenderTarget2D* RenderTarget = nullptr;
+
+	UPROPERTY(BlueprintReadWrite, EditAnywhere, Category="Sensor")
+	USceneCaptureComponent2D* CaptureComponent = nullptr;
+
+	UPROPERTY(BlueprintReadWrite, EditAnywhere, Category="Sensor")
+	USpringArmComponent* SpringArm = nullptr;
+
+	UFUNCTION(BlueprintCallable, Category="Sensor")
+	USceneCaptureComponent2D* GetCaptureComponent() const { return CaptureComponent; }
+
+protected:
+	// Called when the game starts or when spawned
+	virtual void BeginPlay() override;
+
+	UPROPERTY(BlueprintReadWrite, EditAnywhere, Category="Sensor")
+	UCameraComponent* Camera = nullptr;
+
+public:
+	// Called every frame
+	virtual void Tick(float DeltaTime) override;
+
+	// Called to bind functionality to input
+	virtual void SetupPlayerInputComponent(class UInputComponent* PlayerInputComponent) override;
+};

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

@@ -111,7 +111,12 @@ template <typename ComponentType> void AMujocoVolumeActor::AssignComponentsToArr
 
 void AMujocoVolumeActor::InitializeMujoco()
 {
-	if (!Options)
+	InitializeMujocoScene_WithContactExclusion(TMap<FString, FString>{});
+}
+
+void AMujocoVolumeActor::InitializeMujocoScene_WithContactExclusion(const TMap<FString, FString>& ContactExclusion)
+{
+		if (!Options)
 	{
 		return;
 	}
@@ -149,7 +154,7 @@ void AMujocoVolumeActor::InitializeMujoco()
 		}
 
 		TUniquePtr<FMujocoXmlGenerator> Generator = MakeUnique<FMujocoXmlGenerator>();
-		TUniquePtr<tinyxml2::XMLDocument> Doc = Generator->GenerateMujocoXml(Options, Objects, ExportFilename);
+		TUniquePtr<tinyxml2::XMLDocument> Doc = Generator->GenerateMujocoXml(Options, Objects, ExportFilename, ContactExclusion);
 
 		FString XmlString;
 		tinyxml2::XMLPrinter Printer;
@@ -164,6 +169,8 @@ void AMujocoVolumeActor::InitializeMujoco()
 			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)
@@ -196,6 +203,12 @@ void AMujocoVolumeActor::InitializeMujoco()
 	}
 }
 
+mjData_& AMujocoVolumeActor::GetMujocoData() const
+{
+	check(MujocoData.IsValid());
+	return *MujocoData.Get();
+}
+
 void AMujocoVolumeActor::SetActuatorValue(const FString& ActuatorName, double Value)
 {
 	if (MujocoModel)
@@ -391,11 +404,13 @@ void AMujocoVolumeActor::Tick(float DeltaTime)
 {
 	if (MujocoData)
 	{
-		mj_step(MujocoModel.Get(), MujocoData.Get());
+		// Default SimStepsPerGameFrame = 16 x 1ms for roughly 60FPS
-
+		// If ticks are strictly 16.666 ms then simulation will lag behind UE clock
-		for (int32 Frame = 0; Frame < FrameSkip; ++Frame)
+		// Anyway, we need a proper synchronisation between UE and Sim times - probably using TempoTime?
+		for (int32 SimStep = 0; SimStep < SimStepsPerGameFrame; ++SimStep)
 		{
 			mj_step(MujocoModel.Get(), MujocoData.Get());
+			PostPhysicStepDelegate.ExecuteIfBound(MujocoData->time);
 		}
 
 		for (int32 i = 1; i < BodyComponents.Num(); ++i)

Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Misc/MujocoXmlGenerator.cpp

@@ -1255,7 +1255,11 @@ bool FMujocoXmlGenerator::ParseActorAsset(AActor* Actor, tinyxml2::XMLElement* R
 	return true;
 }
 
-TUniquePtr<tinyxml2::XMLDocument> FMujocoXmlGenerator::GenerateMujocoXml(const TObjectPtr<UMujocoExportOptions>& ExportOptions, const TArray<UObject*>& Objects, const FString& ExportFilename)
+TUniquePtr<tinyxml2::XMLDocument> FMujocoXmlGenerator::GenerateMujocoXml(
+	const TObjectPtr<UMujocoExportOptions>& ExportOptions,
+	const TArray<UObject*>& Objects,
+	const FString& ExportFilename,
+	TMap<FString, FString> ContactExclusion)
 {
 	TUniquePtr<tinyxml2::XMLDocument> Doc = MakeUnique<tinyxml2::XMLDocument>();
 	Doc->InsertFirstChild(Doc->NewDeclaration("xml version=\"1.0\" encoding=\"utf-8\""));
@@ -1268,6 +1272,30 @@ TUniquePtr<tinyxml2::XMLDocument> FMujocoXmlGenerator::GenerateMujocoXml(const T
 	Root->InsertEndChild(Doc->NewElement("equality"));
 	Root->InsertEndChild(Doc->NewElement("tendon"));
 	Root->InsertEndChild(Doc->NewElement("actuator"));
+
+	// TODO Refacto using property from the MujocoActor aka the robot
+	// TODO Maybe using a ParentObject as parameter which holds that information?
+	// TODO Need actor refactoring anyway - Merge Pawn and Mujoco Actor?
+	if (!ContactExclusion.IsEmpty())
+	{
+		Root->InsertEndChild(Doc->NewElement("contact"));
+
+		for (auto& [Body1, Body2] : ContactExclusion)
+		{
+			// Don't add empty strings to the map please!
+			if (Body1.IsEmpty() || Body2.IsEmpty()) continue;
+
+			// Create the contact exclusion - formatted as (SO100 example)
+			// <exclude body1="Body_Base" body2="Body_Rotation_Pitch"/> 
+			const auto Exclude = Doc->NewElement("exclude");
+			Exclude->SetAttribute("body1", TCHAR_TO_ANSI(*Body1));
+			Exclude->SetAttribute("body2", TCHAR_TO_ANSI(*Body2));
+
+			// Add exclusion to the contact tag
+			Root->FirstChildElement("contact")->InsertEndChild(Exclude); 
+		}
+	}
+	
 	if (ExportOptions->bAddSkyBox)
 	{
 		tinyxml2::XMLElement* TextureElement = AssetRoot->GetDocument()->NewElement("texture");

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

@@ -21,11 +21,44 @@ DECLARE_DYNAMIC_MULTICAST_DELEGATE(FOnMujocoCompileBegin);
 DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FOnMujocoCompileError, FString, Error);
 DECLARE_DYNAMIC_MULTICAST_DELEGATE(FOnMujocoCompileSuccess);
 
+// To be called after mj_step
+DECLARE_DELEGATE_OneParam(FPostPhysicUpdate, float);
+
+
 UCLASS(Blueprintable, BlueprintType)
 class LUCKYMUJOCO_API AMujocoVolumeActor : public AActor
 {
 	GENERATED_BODY()
 
+public:
+	AMujocoVolumeActor();
+
+
+	/**
+	 * Initialize the sim scene in headless mujoco
+	 */
+	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;
+	virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
+	virtual void PostRegisterAllComponents() override;	
+	virtual void Tick(float DeltaTime) override;
+	virtual void PostInitializeComponents() override;
+
+private:
 	TMujocoModelPtr MujocoModel;
 	TMujocoDataPtr MujocoData;
 
@@ -50,16 +83,11 @@ class LUCKYMUJOCO_API AMujocoVolumeActor : public AActor
 	UPROPERTY(Transient, VisibleAnywhere, Category = "Mujoco | Debug")
 	TArray<TSoftObjectPtr<UMujocoTendonComponent>> TendonComponents;	
 
-	UFUNCTION(BlueprintCallable, Category = "Mujoco")
-	void InitializeMujoco();
-
 	template <typename ComponentType> void AssignComponentsToArray(UWorld* World, TArray<TSoftObjectPtr<ComponentType>>& ComponentArray);
 
 public:
-	AMujocoVolumeActor();	
+	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation", meta = (Min = 1, Max = 100, ClampMin = 0, ClampMax = 100))
-
+	int32 SimStepsPerGameFrame = 16;
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation", meta = (Min = 0, Max = 100, ClampMin = 0, ClampMax = 100))
-	int32 FrameSkip = 0;
 
 	UPROPERTY(EditDefaultsOnly, BlueprintReadWrite, Category = "Mujoco")
 	TObjectPtr<UBillboardComponent> SpriteComponent;
@@ -76,6 +104,33 @@ public:
 	UPROPERTY(BlueprintAssignable, Category = "Mujoco | Events")
 	FOnMujocoCompileSuccess OnMujocoCompileSuccess;
 
+	/**
+	 * Access MuJoCo scene options and data (e.g. Simulation time) - This is mutable, be careful
+	 * @return mjData_ - Full access to mujoco scene options and data 
+	 */
+	mjData_& GetMujocoData() const;
+	
+	// ---------------------------
+	// ------- POST UPDATE -------
+	// ---------------------------
+private:
+	FPostPhysicUpdate PostPhysicStepDelegate;
+public:	
+	/**
+	 * Register a delegate to be executed after mj_step, useful to fine control actuators 
+	 * @param Object - The Class to call
+	 * @param Func - The Function to call - takes a float as parameter which is the current simulation timestamp
+	 */
+	template<typename UserClass>
+	void BindPostPhysicStepDelegate(UserClass* Object, void (UserClass::*Func)(float))
+	{
+		PostPhysicStepDelegate.BindUObject(Object, Func);
+	}
+	
+
+	// -------------------------
+	// ------- ACTUATORS -------
+	// -------------------------
 	UFUNCTION(BlueprintCallable, Category = "Mujoco")
 	void SetActuatorValue(const FString& ActuatorName, double Value);
 
@@ -94,6 +149,9 @@ public:
 	UFUNCTION(BlueprintCallable, BlueprintPure, Category = "Mujoco")
 	FVector2D GetActuatorRangeByIndex(int32 ActuatorIndex) const;
 
+	// ----------------------
+	// ------- JOINTS -------
+	// ----------------------
 	UFUNCTION(BlueprintCallable, Category = "Mujoco")
 	void SetJointValue(const FString& JointName, double Value);
 
@@ -105,16 +163,4 @@ public:
 
 	UFUNCTION(BlueprintCallable, BlueprintPure, Category = "Mujoco")
 	double GetJointValueByIndex(int32 JointIndex) const;
-
-	
-	virtual void PostRegisterAllComponents() override;	
-
-	virtual void Tick(float DeltaTime) override;
-
-	virtual void PostInitializeComponents() override;
-
-protected:
-
-	virtual void BeginPlay() override;
-	virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
 };

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

@@ -307,13 +307,13 @@ 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;
 
 	/** Simulation time step in seconds. */
 	UPROPERTY(config, EditAnywhere, BlueprintReadWrite, Category = "Mujoco", meta = (Attribute = "timestep", EditCondition = "bOverrideTimeStep", ClampMin = 0.0001, ClampMax = 0.01, UIMin = 0.0001, UIMax = 0.01))
-	float TimeStep = 0.002f;
+	float TimeStep = 0.001f; // Default to 1ms
 
 	/** Override API Rate setting. */
 	UPROPERTY(config, EditAnywhere, BlueprintReadWrite, Category = "Mujoco", meta = (InlineEditConditionToggle))

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

@@ -36,5 +36,18 @@ class LUCKYMUJOCO_API FMujocoXmlGenerator
 	TMap<FString, TSoftObjectPtr<UObject>> ObjectMap;
 
 public:
-	TUniquePtr<tinyxml2::XMLDocument> GenerateMujocoXml(const TObjectPtr<UMujocoExportOptions>& ExportOptions, const TArray<UObject*>& Objects, const FString& ExportFilename);
+
+	/**
+	 * Generate the XML file used by the MuJoCo headless scene representing the physics simulation
+	 * @param ExportOptions TODO - What they can be?
+	 * @param Objects Actors and Components to be added to the scene
+	 * @param ExportFilename pretty much that 
+	 * @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
+	 */
+	TUniquePtr<tinyxml2::XMLDocument> GenerateMujocoXml(
+		const TObjectPtr<UMujocoExportOptions>& ExportOptions,
+		const TArray<UObject*>& Objects,
+		const FString& ExportFilename,
+		TMap<FString, FString> ContactExclusion);
 };

Plugins/LuckyMujoco/Source/LuckyMujocoEditor/Private/MujocoExporter.cpp

@@ -141,8 +141,8 @@ public:
 			CancelButton->SetEnabled(false);
 			RequestDestroyWindow();
 
-			TUniquePtr<FMujocoXmlGenerator> Generator = MakeUnique<FMujocoXmlGenerator>();			
+			const TUniquePtr<FMujocoXmlGenerator> Generator = MakeUnique<FMujocoXmlGenerator>();
-			TUniquePtr<tinyxml2::XMLDocument> Doc = Generator->GenerateMujocoXml(ExportOptions, Objects, ExportFilename);
+			const TUniquePtr<tinyxml2::XMLDocument> Doc = Generator->GenerateMujocoXml(ExportOptions, Objects, ExportFilename, TMap<FString, FString>{});
 
 			FString XmlString;
 			tinyxml2::XMLPrinter Printer;

Source/LuckyWorldV2/LuckyWorldV2.Build.cs

@@ -19,7 +19,8 @@ public class LuckyWorldV2 : ModuleRules
 			"SocketIOClient",
 			"VaRest",
             "SIOJson",
-            "NavigationSystem"
+            "NavigationSystem",
+            "RenderCore"
         });
 
 		PrivateDependencyModuleNames.AddRange(new string[] {  });

Source/LuckyWorldV2/Private/LRRenderUtilLibrary.cpp

@@ -0,0 +1,180 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+#include "LRRenderUtilLibrary.h"
+
+#include "Components/SceneCaptureComponent2D.h"
+#include "Engine/TextureRenderTarget2D.h"
+#include "Kismet/KismetRenderingLibrary.h"
+#include "GameFramework/Actor.h"
+#include "Engine/World.h"
+
+void ULRRenderUtilLibrary::SetupSceneCaptureForMesh(
+    USceneCaptureComponent2D* SceneCapture, 
+    UStaticMeshComponent* MeshComp,
+    TEnumAsByte<enum ESceneCaptureSource> CaptureSource)
+{
+	if (!SceneCapture || !MeshComp)
+	{
+		UE_LOG(LogTemp, Warning, TEXT("SetupSceneCaptureForMesh: Invalid SceneCapture or MeshComp"));
+		return;
+	}
+
+	if (!MeshComp->IsValidLowLevel())
+	{
+		UE_LOG(LogTemp, Warning, TEXT("SetupSceneCaptureForMesh: MeshComp is not valid"));
+		return;
+	}
+
+	// Set the scene capture to focus on the mesh
+	SceneCapture->ShowOnlyComponent(MeshComp);
+    
+	SceneCapture->CaptureSource = CaptureSource;
+	SceneCapture->bCaptureEveryFrame = false;
+	SceneCapture->bCaptureOnMovement = false;
+	SceneCapture->FOVAngle = 90.f;
+    
+	// Set a solid background color
+	SceneCapture->CompositeMode = ESceneCaptureCompositeMode::SCCM_Overwrite;
+	
+	// Ensure we have a valid texture target
+	if (SceneCapture->TextureTarget)
+	{
+		SceneCapture->TextureTarget->ClearColor = FLinearColor::Transparent;
+	}
+	else
+	{
+		UE_LOG(LogTemp, Warning, TEXT("SetupSceneCaptureForMesh: TextureTarget is null"));
+		return;
+	}
+
+	// Adjust the transform to frame the mesh
+	FVector MeshBounds = MeshComp->Bounds.BoxExtent;
+	FVector MeshOrigin = MeshComp->Bounds.Origin;
+
+	// Calculate the camera distance based on mesh size
+	float MaxExtent = FMath::Max3(MeshBounds.X, MeshBounds.Y, MeshBounds.Z);
+	float CameraDistance = MaxExtent * 2.5f; // Adjusted to ensure mesh fits in view
+
+	// Calculate the camera location - position from front of mesh (+X axis)
+	FVector CameraLocation = MeshOrigin + FVector(CameraDistance, 0.f, 0.f);
+
+	// Calculate the camera rotation to look at mesh center
+	FRotator CameraRotation = (MeshOrigin - CameraLocation).Rotation();
+    
+	SceneCapture->SetWorldLocationAndRotation(CameraLocation, CameraRotation);
+	
+	// Register component to make sure it will render
+	if (!SceneCapture->IsRegistered())
+	{
+		SceneCapture->RegisterComponent();
+	}
+}
+
+UTextureRenderTarget2D* ULRRenderUtilLibrary::CaptureMeshToRenderTarget(
+    UStaticMeshComponent* MeshComp, 
+    const FVector2D& ImageSize, 
+    UObject* WorldContextObject,
+    TEnumAsByte<enum ESceneCaptureSource> CaptureSource)
+{
+	if (!MeshComp || !WorldContextObject || !WorldContextObject->GetWorld())
+	{
+		UE_LOG(LogTemp, Warning, TEXT("CaptureMeshToRenderTarget: Invalid parameters"));
+		return nullptr;
+	}
+
+	// Create a render target with proper size
+	UTextureRenderTarget2D* RenderTarget = UKismetRenderingLibrary::CreateRenderTarget2D(
+		WorldContextObject, 
+		FMath::Max(32, static_cast<int32>(ImageSize.X)), 
+		FMath::Max(32, static_cast<int32>(ImageSize.Y)), 
+		ETextureRenderTargetFormat::RTF_RGBA8);
+
+	if (!RenderTarget)
+	{
+		UE_LOG(LogTemp, Warning, TEXT("CaptureMeshToRenderTarget: Failed to create render target"));
+		return nullptr;
+	}
+
+	// Create a temporary actor to hold the scene capture component
+	AActor* TempActor = WorldContextObject->GetWorld()->SpawnActor<AActor>();
+	if (!TempActor)
+	{
+		UE_LOG(LogTemp, Warning, TEXT("CaptureMeshToRenderTarget: Failed to spawn temporary actor"));
+		return RenderTarget;
+	}
+	
+	// Create a root component if it doesn't exist
+	if (!TempActor->GetRootComponent())
+	{
+		USceneComponent* RootComponent = NewObject<USceneComponent>(TempActor, TEXT("RootComponent"));
+		TempActor->SetRootComponent(RootComponent);
+		RootComponent->RegisterComponent();
+	}
+	
+	// Create and set up scene capture component
+	USceneCaptureComponent2D* SceneCapture = NewObject<USceneCaptureComponent2D>(TempActor);
+	if (SceneCapture)
+	{
+		SceneCapture->RegisterComponent();
+		SceneCapture->AttachToComponent(TempActor->GetRootComponent(), FAttachmentTransformRules::KeepRelativeTransform);
+		SceneCapture->TextureTarget = RenderTarget;
+
+		// Setup the scene capture
+		SetupSceneCaptureForMesh(SceneCapture, MeshComp, CaptureSource);
+
+		// Clear the render target
+		UKismetRenderingLibrary::ClearRenderTarget2D(WorldContextObject, RenderTarget, FLinearColor::Transparent);
+
+		// Disable post-processing effects
+		SceneCapture->PostProcessSettings.bOverride_AutoExposureMethod = true;
+		SceneCapture->PostProcessSettings.AutoExposureMethod = EAutoExposureMethod::AEM_Manual;
+		SceneCapture->PostProcessSettings.bOverride_AutoExposureBias = true;
+		SceneCapture->PostProcessSettings.AutoExposureBias = 1.0f;
+		SceneCapture->PostProcessSettings.bOverride_BloomIntensity = true;
+		SceneCapture->PostProcessSettings.BloomIntensity = 0.0f;
+		
+		// Trigger a one-time capture
+		SceneCapture->CaptureScene();
+		
+		// Force the GPU to complete rendering
+		FlushRenderingCommands();
+	}
+	else
+	{
+		UE_LOG(LogTemp, Warning, TEXT("CaptureMeshToRenderTarget: Failed to create scene capture component"));
+	}
+
+	// Clean up the temporary actor
+	TempActor->Destroy();
+    
+	return RenderTarget;
+}
+
+bool ULRRenderUtilLibrary::CaptureSceneNow(USceneCaptureComponent2D* SceneCapture)
+{
+	if (!SceneCapture || !SceneCapture->IsValidLowLevel())
+	{
+		UE_LOG(LogTemp, Warning, TEXT("CaptureSceneNow: Invalid scene capture component"));
+		return false;
+	}
+	
+	if (!SceneCapture->TextureTarget)
+	{
+		UE_LOG(LogTemp, Warning, TEXT("CaptureSceneNow: Scene capture has no texture target"));
+		return false;
+	}
+	
+	// Ensure component is registered
+	if (!SceneCapture->IsRegistered())
+	{
+		SceneCapture->RegisterComponent();
+	}
+	
+	// Trigger the capture
+	SceneCapture->CaptureScene();
+	
+	// Force the GPU to complete rendering
+	FlushRenderingCommands();
+	
+	return true;
+}

Source/LuckyWorldV2/Public/LRRenderUtilLibrary.h

@@ -0,0 +1,57 @@
+// Fill out your copyright notice in the Description page of Project Settings.
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Kismet/BlueprintFunctionLibrary.h"
+#include "LRRenderUtilLibrary.generated.h"
+
+class USceneCaptureComponent2D;
+class UTextureRenderTarget2D;
+class UStaticMeshComponent;
+
+/**
+ * Utility library for capturing and rendering objects in the Lucky Robots system
+ */
+UCLASS(BlueprintType, Blueprintable)
+class LUCKYWORLDV2_API ULRRenderUtilLibrary : public UBlueprintFunctionLibrary
+{
+	GENERATED_BODY()
+
+public:
+	/**
+	 * Captures a static mesh component to a render target texture
+	 * @param MeshComp The static mesh component to capture
+	 * @param ImageSize The size of the output image
+	 * @param WorldContextObject The world context
+	 * @param CaptureSource The type of data to capture (default is BaseColor)
+	 * @return The rendered texture
+	 */
+	UFUNCTION(BlueprintCallable, Category = "Lucky Robots|Render Utilities")
+	static UTextureRenderTarget2D* CaptureMeshToRenderTarget(
+		UStaticMeshComponent* MeshComp, 
+		const FVector2D& ImageSize,
+
+		UObject* WorldContextObject,
+		TEnumAsByte<enum ESceneCaptureSource> CaptureSource = ESceneCaptureSource::SCS_BaseColor);
+
+	/**
+	 * Sets up a scene capture component to focus on a specific mesh
+	 * @param SceneCapture The scene capture component to set up
+	 * @param MeshComp The static mesh component to focus on
+	 * @param CaptureSource The type of data to capture (default is BaseColor)
+	 */
+	UFUNCTION(BlueprintCallable, Category = "Lucky Robots|Render Utilities")
+	static void SetupSceneCaptureForMesh(
+		USceneCaptureComponent2D* SceneCapture, 
+		UStaticMeshComponent* MeshComp,
+		TEnumAsByte<enum ESceneCaptureSource> CaptureSource = ESceneCaptureSource::SCS_BaseColor);
+
+	/**
+	 * Captures the current view of a scene capture component to its render target
+	 * @param SceneCapture The scene capture component to trigger
+	 * @return Success status
+	 */
+	UFUNCTION(BlueprintCallable, Category = "Lucky Robots|Render Utilities")
+	static bool CaptureSceneNow(USceneCaptureComponent2D* SceneCapture);
+};

win_build.bat

@@ -6,6 +6,38 @@ set "UE_PATH=C:\Program Files\UE_5.5"
 set "PROJECT_PATH=%~dp0"
 set "UAT_PATH=%UE_PATH%\Engine\Build\BatchFiles\RunUAT.bat"
 
+
+:: Check if MuJoCo DLL exists in bin directory
+if not exist "%MUJOCO_BIN_PATH%\mujoco.dll" (
+    echo Error: MuJoCo DLL not found at %MUJOCO_BIN_PATH%\mujoco.dll
+    echo Please ensure the MuJoCo DLL is properly built and placed in the correct location.
+    pause
+    exit /b 1
+)
+
+:: Copy MuJoCo DLL to the plugin binaries directory if it doesn't exist there
+if not exist "%MUJOCO_DLL_PATH%\mujoco.dll" (
+    echo Copying MuJoCo DLL to plugin binaries directory...
+    copy "%MUJOCO_BIN_PATH%\mujoco.dll" "%MUJOCO_DLL_PATH%\"
+    if errorlevel 1 (
+        echo Failed to copy MuJoCo DLL
+        pause
+        exit /b 1
+    )
+)
+
+:: Add UE and MuJoCo paths to PATH environment variable
+set "PATH=%UE_PATH%\Engine\Binaries\Win64;%MUJOCO_DLL_PATH%;%MUJOCO_BIN_PATH%;%PATH%"
+
+:: Set the DLL search path for the current process
+set "PATH=%PATH%;%MUJOCO_DLL_PATH%;%MUJOCO_BIN_PATH%"
+
+:: Run the Unreal Editor
+:: echo Starting Unreal Editor...
+:: start "" "%UE_PATH%\Engine\Binaries\Win64\UnrealEditor.exe" "%PROJECT_PATH%LuckyWorldV2.uproject"
+
+endlocal 
+
 :: Build and package command
 "%UAT_PATH%" ^
     -ScriptsForProject="%PROJECT_PATH%LuckyWorldV2.uproject" ^