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Guides

Task-focused walkthroughs. For the exhaustive type-by-type listing, see the API reference.

  • Input & Controls

    Keyboard, mouse, and controller polling with Input. Common bindings for recording control and robot driving.

  • Controlling robots

    Driving trained policies, switching between them, partitioning joints, and setting motion-graph IK targets. Worked through with a G1 humanoid carrying walker, rotator, and arm IK.

  • Recording with the Observer

    Start and stop recording, manage episodes, and tag sub-tasks with the Observer API.

  • Deterministic recording with sync points

    Lock episode boundaries to a configurable drumbeat for regression tests and determinism proofs.

Reference areas

Area What's inside
Scene & Entities The entity model, scene queries, prefabs.
Components Everything you attach to an entity.
Math Vectors, quaternions, matrices, interpolation, randomness.
Physics 3D/2D queries, colliders, materials, forces.
Rendering Meshes, materials, textures, debug drawing.
Audio Sound playback and control.
Animation Animation sequences.
Core & Input Input, logging, timing, application, assets.
Editor Attributes Control how script fields appear in the Inspector.
Robots & Learning (MDP) Robot agents and the MDP component model.