Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
2022-03-15 14:04:44 +00:00
parent 175d25cd9f
commit 3577e2cf8b
304 changed files with 23906 additions and 1013 deletions
@@ -0,0 +1,91 @@
+// Copyright 2022 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <vector>
+#include <mjmodel.h>
+#include <mjvisualize.h>
+#include <mujoco.h>
+#include <pybind11/cast.h>
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+namespace mujoco::python {
+namespace {
+
+namespace py = ::pybind11;
+
+template <auto N>
+py::tuple MakeTuple(
+    const char* (&strings)[N]) {
+  py::list result;
+  for (int i = 0; i < N; i++) {
+    result.append(py::str(strings[i]));
+  }
+  return result;
+}
+
+template <auto N>
+py::tuple MakeTuple(const char* (&strings)[N][3]) {
+  py::list result;
+  for (int i = 0; i < N; i++) {
+    result.append(py::make_tuple(
+        py::str(strings[i][0]),
+        py::str(strings[i][1]),
+        py::str(strings[i][2])));
+  }
+  return result;
+}
+
+PYBIND11_MODULE(_constants, pymodule) {
+  #define X(var) pymodule.attr(#var) = var
+
+  // from mjmodel.h
+  X(mjPI);
+  X(mjMAXVAL);
+  X(mjMINMU);
+  X(mjMINIMP);
+  X(mjMAXIMP);
+  X(mjMAXCONPAIR);
+  X(mjMAXVFS);
+  X(mjMAXVFSNAME);
+  X(mjNEQDATA);
+  X(mjNDYN);
+  X(mjNGAIN);
+  X(mjNBIAS);
+  X(mjNREF);
+  X(mjNIMP);
+  X(mjNSOLVER);
+
+  // from mjvisualize.h
+  X(mjNGROUP);
+  X(mjMAXLIGHT);
+  X(mjMAXOVERLAY);
+  X(mjMAXLINE);
+  X(mjMAXLINEPNT);
+  X(mjMAXPLANEGRID);
+
+  // from mujoco.h
+  X(mjVERSION_HEADER);
+
+  #undef X
+  pymodule.attr("mjDISABLESTRING") = MakeTuple(mjDISABLESTRING);
+  pymodule.attr("mjENABLESTRING") = MakeTuple(mjENABLESTRING);
+  pymodule.attr("mjTIMERSTRING") = MakeTuple(mjTIMERSTRING);
+  pymodule.attr("mjLABELSTRING") = MakeTuple(mjLABELSTRING);
+  pymodule.attr("mjFRAMESTRING") = MakeTuple(mjFRAMESTRING);
+  pymodule.attr("mjVISSTRING") = MakeTuple(mjVISSTRING);
+  pymodule.attr("mjRNDSTRING") = MakeTuple(mjRNDSTRING);
+}
+}  // namespace
+}  // namespace mujoco::python