I am working on a robotics simulation application in Unity. I want to replace the default physics engine, PhysX, with Mujoco. My goal is to enable a toggle within the Unity application to switch between using PhysX and Mujoco. Mujoco provides better realism for certain scenarios, but I also want to leverage Unity's default capabilities for simpler tasks.
Currently, I am new to Unity and have limited experience, so I would appreciate guidance on the following:
How can I integrate Mujoco so that I can use it instead of PhysX, in a way that still lets me switch back to PhysX when needed?
Do I need to duplicate assets, scenes, or environments to implement both physics engines, or is there a more efficient approach?
