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Initial open sourcing of MuJoCo.

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PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
This commit is contained in:
Saran Tunyasuvunakool
2022-05-23 01:08:10 -07:00
committed by Copybara-Service
parent 0e5d062302
commit 1913a02b40
275 changed files with 99607 additions and 935 deletions
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unity/Runtime/Bindings/MujocoBinaryRetriever.cs
+2 -2
View File
@@ -35,7 +35,7 @@ public class MujocoBinaryRetriever {
if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/mujoco.dylib") == null) {
File.Copy(
"/Applications/MuJoCo.app/Contents/Frameworks" +
"/MuJoCo.framework/Versions/Current/libmujoco.2.1.5.dylib",
"/mujoco.framework/Versions/Current/libmujoco.2.2.0.dylib",
mujocoPath + "/mujoco.dylib");
AssetDatabase.Refresh();
}
@@ -43,7 +43,7 @@ public class MujocoBinaryRetriever {
if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/libmujoco.so") == null) {
File.Copy(
Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) +
"/.mujoco/mujoco-2.1.5/lib/libmujoco.so.2.1.5",
"/.mujoco/mujoco-2.2.0/lib/libmujoco.so.2.2.0",
mujocoPath + "/libmujoco.so");
AssetDatabase.Refresh();
}
unity/Runtime/Bindings/MujocoBindings.cs
+3 -3
View File
@@ -83,7 +83,7 @@ public const int mjMAXOVERLAY = 500;
public const int mjMAXLINE = 100;
public const int mjMAXLINEPNT = 1000;
public const int mjMAXPLANEGRID = 200;
public const int mjVERSION_HEADER = 215;
public const int mjVERSION_HEADER = 220;
// ------------------------------------Enums------------------------------------
@@ -1635,8 +1635,8 @@ public unsafe struct mjData_ {
public double* subtree_angmom;
public double* actuator_force;
public double* qfrc_actuator;
public double* qfrc_unc;
public double* qacc_unc;
public double* qfrc_smooth;
public double* qacc_smooth;
public double* efc_b;
public double* efc_force;
public int* efc_state;