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 +1,103 @@
+// Copyright 2021 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.
+
+#ifndef MUJOCO_PYTHON_MJDATA_META_H_
+#define MUJOCO_PYTHON_MJDATA_META_H_
+
+#include <mjxmacro.h>
+#include "raw.h"
+
+namespace mujoco::python {
+namespace _impl {
+template <typename T> class MjWrapper;
+}  // namespace _impl
+
+#define MJDATA_METADATA                 \
+  X( int,  jnt_qposadr,      njnt     ) \
+  X( int,  jnt_dofadr,       njnt     ) \
+  X( int,  hfield_nrow,      nhfield  ) \
+  X( int,  hfield_ncol,      nhfield  ) \
+  X( int,  hfield_adr,       nhfield  ) \
+  X( int,  tex_height,       ntex     ) \
+  X( int,  tex_width,        ntex     ) \
+  X( int,  tex_adr,          ntex     ) \
+  X( int,  sensor_dim,       nsensor  ) \
+  X( int,  sensor_adr,       nsensor  ) \
+  X( int,  numeric_adr,      nnumeric ) \
+  X( int,  numeric_size,     nnumeric ) \
+  X( int,  tuple_adr,        ntuple   ) \
+  X( int,  tuple_size,       ntuple   ) \
+  X( int,  name_bodyadr,     nbody    ) \
+  X( int,  name_jntadr,      njnt     ) \
+  X( int,  name_geomadr,     ngeom    ) \
+  X( int,  name_siteadr,     nsite    ) \
+  X( int,  name_camadr,      ncam     ) \
+  X( int,  name_lightadr,    nlight   ) \
+  X( int,  name_meshadr,     nmesh    ) \
+  X( int,  name_skinadr,     nskin    ) \
+  X( int,  name_hfieldadr,   nhfield  ) \
+  X( int,  name_texadr,      ntex     ) \
+  X( int,  name_matadr,      nmat     ) \
+  X( int,  name_pairadr,     npair    ) \
+  X( int,  name_excludeadr,  nexclude ) \
+  X( int,  name_eqadr,       neq      ) \
+  X( int,  name_tendonadr,   ntendon  ) \
+  X( int,  name_actuatoradr, nu       ) \
+  X( int,  name_sensoradr,   nsensor  ) \
+  X( int,  name_numericadr,  nnumeric ) \
+  X( int,  name_textadr,     ntext    ) \
+  X( int,  name_tupleadr,    ntuple   ) \
+  X( int,  name_keyadr,      nkey     ) \
+  X( char, names,            nnames   )
+
+// A subset of mjModel fields that are required to reconstruct an MjDataWrapper.
+struct MjDataMetadata {
+ public:
+  friend class _impl::MjWrapper<raw::MjData>;
+
+#define X(var) int var;
+  MJMODEL_INTS
+#undef X
+#define X(type, var, n) std::shared_ptr<type[]> var;
+  MJDATA_METADATA
+#undef X
+
+ private:
+  MjDataMetadata() = default;
+  MjDataMetadata(const MjDataMetadata& other) = default;
+  MjDataMetadata(MjDataMetadata&& other) = default;
+  explicit MjDataMetadata(const raw::MjModel* m)
+      :
+#define X(var) var(m->var),
+        MJMODEL_INTS
+#undef X
+
+#define X(dtype, var, n)                            \
+  var(                                              \
+      [](dtype* src, int len) {                     \
+        dtype* dst = new dtype[len];                \
+        std::memcpy(dst, src, len * sizeof(dtype)); \
+        return dst;                                 \
+      }(m->var, m->n)),
+
+        MJDATA_METADATA
+#undef X
+        dummy_() {}
+
+  bool dummy_;  // Dummy variable to terminate X macro sequences.
+};
+
+}  // namespace mujoco::python
+
+#endif  // MUJOCO_PYTHON_MJDATA_META_H_