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 +1,102 @@
+// 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 "func_wrap.h"
+
+#include <string>
+#include <type_traits>
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <Eigen/Eigen>
+#include "func_traits.h"
+
+namespace {
+struct BoxedDouble {
+  double value;
+};
+struct BoxedInt {
+  int value;
+};
+}  // namespace
+
+namespace mujoco::util {
+template <> struct wrapped<BoxedDouble> {
+  static BoxedDouble unwrap(const std::string& wrapped) {
+    return BoxedDouble{std::stod(wrapped)};
+  }
+};
+template <> struct wrapped<BoxedInt> {
+  static BoxedInt unwrap(int wrapped) {
+    return BoxedInt{wrapped};
+  }
+};
+template <typename T, int N> struct wrapped<T(*)[N]> {
+  using Array = T[N];
+  static Array* unwrap(Eigen::Ref<Eigen::Vector<T, N>> wrapped) {
+    return reinterpret_cast<Array*>(wrapped.data());
+  }
+};
+template <typename T, int N> struct wrapped<const T(*)[N]> {
+  using Array = const T[N];
+  static Array* unwrap(const Eigen::Vector<T, N>& wrapped) {
+    return reinterpret_cast<Array*>(wrapped.data());
+  }
+};
+}  // namespace mujoco::util
+
+namespace {
+using ::mujoco::util::func_arg_t;
+using ::mujoco::util::UnwrapArgs;
+using ::mujoco::util::ReturnArrayArg0;
+
+double add(BoxedDouble x, float y, BoxedInt z) {
+  return x.value + y + z.value;
+}
+
+void add_array4(double (*out)[4], const double (*x)[4], const double (*y)[4]) {
+  for (int i = 0; i < 4; ++i) {
+    (*out)[i] = (*x)[i] + (*y)[i];
+  }
+}
+
+TEST(FuncWrapTest, UnwrapArgs) {
+  {
+    auto wrapped_add = UnwrapArgs(add);
+    static_assert(std::is_same_v<
+        func_arg_t<decltype(wrapped_add), 0>, const std::string&
+    >);
+    static_assert(std::is_same_v<
+        func_arg_t<decltype(wrapped_add), 1>, float
+    >);
+    static_assert(std::is_same_v<
+        func_arg_t<decltype(wrapped_add), 2>, int
+    >);
+    // Use binary powers so that we can do exact floating point comparison.
+    EXPECT_EQ(wrapped_add("1.6e+1", 5e-1, 2), 18.5);
+  }
+  {
+    Eigen::Vector4d out;
+    UnwrapArgs(add_array4)(out, {1, 3, 5, 7}, {2, 6, 9, 11});
+    EXPECT_THAT(out, ::testing::ElementsAre(3, 9, 14, 18));
+  }
+}
+
+TEST(FuncWrapTest, ReturnArrayArg0) {
+  auto out = UnwrapArgs(ReturnArrayArg0(add_array4))({1, 3, 5, 7},
+                                                     {2, 6, 9, 11});
+  static_assert(std::is_same_v<decltype(out), Eigen::Vector4d>);
+  EXPECT_THAT(out, ::testing::ElementsAre(3, 9, 14, 18));
+}
+}  // namespace