Added realtime updates

integrations/Unity/simulate-unity/Assets/Simulate/Runtime/Bridge/AddForce.cs

@@ -0,0 +1,21 @@
+using System.Collections.Generic;
+using Newtonsoft.Json;
+using UnityEngine;
+using UnityEngine.Events;
+
+namespace Simulate {
+    public class AddForce : ICommand {
+        [JsonProperty(Required = Required.Always)] public string name;
+        [JsonConverter(typeof(Vector3Converter)), JsonProperty(Required = Required.Always)] public Vector3 force = Vector3.zero;
+        [JsonConverter(typeof(EnumConverter)), JsonProperty(PropertyName = "force_mode")] public ForceMode forceMode = ForceMode.Force;
+
+        public void Execute(Dictionary<string, object> kwargs, UnityAction<string> callback) {
+            if (!Simulator.TryGetNode(name, out Node node) || node.rigidbody == null) {
+                Debug.LogWarning($"Couldn't find node with rigidbody named {name}");
+                return;
+            }
+            node.rigidbody.AddForce(force, forceMode);
+            callback("{}");
+        }
+    }
+}

integrations/Unity/simulate-unity/Assets/Simulate/Runtime/Bridge/UpdateAsset.cs

@@ -0,0 +1,27 @@
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Events;
+using Newtonsoft.Json;
+
+namespace Simulate {
+    public class UpdateAsset : ICommand {
+        [JsonProperty(Required = Required.Always)] public string name;
+        [JsonConverter(typeof(Matrix4x4Converter))] public Matrix4x4 matrix = Matrix4x4.identity;
+        [JsonConverter(typeof(Vector3Converter))] public Vector3 position = Vector3.zero;
+        [JsonConverter(typeof(QuaternionConverter))] public Quaternion rotation = Quaternion.identity;
+        [JsonConverter(typeof(Vector3Converter))] public Vector3 scale = Vector3.one;
+
+        public void Execute(Dictionary<string, object> kwargs, UnityAction<string> callback) {
+            if (!Simulator.TryGetNode(name, out Node node)) {
+                Debug.LogWarning($"Node {name} not found");
+                return;
+            }
+            if (matrix != Matrix4x4.identity)
+                matrix.UnpackMatrix(ref position, ref rotation, ref scale);
+            node.transform.localPosition = position;
+            node.transform.localRotation = rotation;
+            node.transform.localScale = scale;
+            callback("{}");
+        }
+    }
+}

integrations/Unity/simulate-unity/Assets/Simulate/Runtime/Node.cs

@@ -2,7 +2,7 @@
 using Simulate.GLTF;
 using UnityEngine.Rendering.Universal;
 using Newtonsoft.Json;
-using System.Collections.Generic;
+
 namespace Simulate {
     public class Node : MonoBehaviour {
         public GLTFCamera cameraData;
@@ -14,6 +14,7 @@ public class Node : MonoBehaviour {
         public HFStateSensors.HFStateSensor stateSensorData;
         public HFRaycastSensors.HFRaycastSensor raycastSensorData;
         public HFRewardFunctions.HFRewardFunction rewardFunctionData;
+
         public new RenderCamera camera { get; private set; }
         public new Light light { get; private set; }
         public new Collider collider { get; private set; }
@@ -38,6 +39,7 @@ public void Initialize() {
                 InitializeActuator();
             initialState = GetData();
         }
+
         public void ResetState(Vector3 offset = default(Vector3)) {
             if (articulationBody == null) {
                 // you cannot teleport articulation bodies so simply (see below)
@@ -79,13 +81,6 @@ void InitializeCamera() {
             camera = new RenderCamera(this, cameraData);
         }
 
-        /* void InitializeStateSensor() {
-            sensor = new StateSensor(this, stateSensorData);
-        }
-        void InitializeRaycastSensor() {
-            sensor = new RaycastSensor(this, raycastSensorData);
-        } */
-
         void InitializeLight() {
             light = gameObject.AddComponent<Light>();
             light.gameObject.AddComponent<UniversalAdditionalLightData>();

src/simulate/assets/asset.py

@@ -1095,6 +1095,34 @@ def transformation_matrix(self, value: Optional[Union[float, List[float], proper
 
             self._post_asset_modification()
 
+    def add_force(self, force: List[float] = None, force_mode: Optional[str] = None):
+        """
+        Add a force to a node.
+
+        Args:
+            force (`List[float]`):
+                The three-dimensional force vector, which is applied depending on the force mode.
+            force_mode (`str`, *optional*, defaults to `Force`):
+                The mode of applying the force, one of:
+                    - `Force`: Interprets the force value as a force, changing velocity according to mass and time.
+                    - `Acceleration`: Interprets the force value as a change in velocity over time, ignoring mass.
+                    - `Impulse`: Interprets the force value as a change in velocity according to mass, ignoring time.
+                    - `VelocityChange`: Interprets the force value as a change in velocity, ignoring mass and time.
+        """
+        if self.physics_component is None:
+            raise TypeError("Forces can only be applied to objects with a physics_component.")
+        force = force if force is not None else [0, 0, 0]
+        force_mode = force_mode if force_mode is not None else "Force"
+        if (
+            getattr(self.tree_root, "engine", None) is not None
+        ):
+            getattr(self.tree_root, "engine").run_command(
+                "AddForce",
+                name=self.name,
+                force=force,
+                force_mode=force_mode
+            )
+
     def _post_asset_modification(self):
         """Method called after an asset is modified."""
         if (

src/simulate/engine/godot_engine.py

@@ -181,7 +181,7 @@ def show(self, **kwargs: Any) -> Union[Dict, str]:
         kwargs.update({"b64bytes": b64bytes})
         return self.run_command("initialize", **kwargs)
 
-    def update_asset(self, root_node: "Asset"):
+    def update_asset(self, node: "Asset"):
         # TODO update and make this API more consistent with all the
         # update_asset_in_scene, recreate_scene, show
         raise NotImplementedError()

src/simulate/engine/unity_engine.py

@@ -253,10 +253,14 @@ def _get_response(self) -> str:
 
                 return response
 
-    def update_asset(self, root_node: "Asset"):
-        # TODO update and make this API more consistent with all the
-        # update_asset, update, show
-        raise NotImplementedError()
+    def update_asset(self, node: "Asset"):
+        self.run_command(
+            "UpdateAsset",
+            name=node.name,
+            position=list(node.position),
+            rotation=list(node.rotation),
+            scale=list(node.scaling),
+        )
 
     def update_all_assets(self):
         raise NotImplementedError()