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

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

@@ -1255,11 +1255,7 @@ bool FMujocoXmlGenerator::ParseActorAsset(AActor* Actor, tinyxml2::XMLElement* R
 	return true;
 }
 
-TUniquePtr<tinyxml2::XMLDocument> FMujocoXmlGenerator::GenerateMujocoXml(
+TUniquePtr<tinyxml2::XMLDocument> FMujocoXmlGenerator::GenerateMujocoXml(const TObjectPtr<UMujocoExportOptions>& ExportOptions, const TArray<UObject*>& Objects, const FString& ExportFilename)
-	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\""));
@@ -1272,30 +1268,6 @@ TUniquePtr<tinyxml2::XMLDocument> FMujocoXmlGenerator::GenerateMujocoXml(
 	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

@@ -21,44 +21,11 @@ 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;
 
@@ -83,11 +50,16 @@ private:
 	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:
-	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation", meta = (Min = 1, Max = 100, ClampMin = 0, ClampMax = 100))
+	AMujocoVolumeActor();	
-	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;
@@ -104,33 +76,6 @@ 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);
 
@@ -149,9 +94,6 @@ public:
 	UFUNCTION(BlueprintCallable, BlueprintPure, Category = "Mujoco")
 	FVector2D GetActuatorRangeByIndex(int32 ActuatorIndex) const;
 
-	// ----------------------
-	// ------- JOINTS -------
-	// ----------------------
 	UFUNCTION(BlueprintCallable, Category = "Mujoco")
 	void SetJointValue(const FString& JointName, double Value);
 
@@ -163,4 +105,16 @@ 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 (0.001) is applied. */
+	/** Override TimeStep setting. When enabled, the default value (0.002) 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 = 0.001f; // Default to 1ms
+	float TimeStep = 0.002f;
 
 	/** Override API Rate setting. */
 	UPROPERTY(config, EditAnywhere, BlueprintReadWrite, Category = "Mujoco", meta = (InlineEditConditionToggle))

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

@@ -35,19 +35,6 @@ class LUCKYMUJOCO_API FMujocoXmlGenerator
 
 	TMap<FString, TSoftObjectPtr<UObject>> ObjectMap;
 
-public:
+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();
 
-			const TUniquePtr<FMujocoXmlGenerator> Generator = MakeUnique<FMujocoXmlGenerator>();
+			TUniquePtr<FMujocoXmlGenerator> Generator = MakeUnique<FMujocoXmlGenerator>();			
-			const TUniquePtr<tinyxml2::XMLDocument> Doc = Generator->GenerateMujocoXml(ExportOptions, Objects, ExportFilename, TMap<FString, FString>{});
+			TUniquePtr<tinyxml2::XMLDocument> Doc = Generator->GenerateMujocoXml(ExportOptions, Objects, ExportFilename);
 
 			FString XmlString;
 			tinyxml2::XMLPrinter Printer;

Source/LuckyWorldV2/LuckyWorldV2.Build.cs

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

Source/LuckyWorldV2/Private/LRRenderUtilLibrary.cpp

@@ -1,180 +0,0 @@
-// 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

@@ -1,57 +0,0 @@
-// 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

@@ -6,38 +6,6 @@ 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" ^