any plans to make an api for body spawning and deleting?

[MyelinsheathXD]

Hey! It's great to see that such an incredible simulation in real time.

But, with a gaming perspective, a dynamic changes at runtime is crucial.

Is there any tricks to modify "mjdata" data structure manually and create and delete bodies at runtime?

[erez-tom]

The model needs to be recompiled after bodies are spawned or deleted. Our Unity plug-in will trigger recompilation automatically when MuJoCo components are added or removed, and the state of persisting bodies will be preserved across the recompilation, see implementation here. If you wish to recreate this behaviour outside Unity, you can use a similar pattern for carrying the state across.