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

PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0

unity/CHANGELOG.md

@@ -1,4 +1,18 @@
-# Changelog
+# MuJoCo Plug-in for Unity
+
+## [2.1.2] - 2022-03-15
+
+### Minor modifications
+
+When converting a world geom to a free-moving body, the parent body is created
+where the geom is, rather than at the root.
+
+File name changes:
+
+- Added `.Runtime` to `Mujoco.asmdef` and the corresponding test file.
+- Reorganized the files under `Runtime/Componenets` into different
+  subdirectories.
+- File directories for Editor tests are now named with a capital letter.
 
 ## [2.1.1] - 2022-02-02
 

unity/Editor/Components/MjGeomEditor.cs

@@ -42,15 +42,18 @@ public class MjGeomEditor : MjShapeComponentEditor {
       Debug.LogError("This geom already has a Body parent.", geom.GetComponentInParent<MjBody>());
       return;
     }
-    var parent = new GameObject(geom.gameObject.name + " Body").transform;
+    var parent = new GameObject(geom.gameObject.name + " Body").AddComponent<MjBody>().transform;
+    parent.position = geom.transform.position;
+    geom.transform.parent = parent;
+
     var root = geom.transform.root;
     if (root != geom.transform) {
       parent.parent = geom.transform.parent;
     }
-    parent.gameObject.AddComponent<MjBody>();
-    var joint = new GameObject("Free Joint").AddComponent<MjFreeJoint>();
-    joint.transform.parent = parent;
-    geom.transform.parent = parent;
+
+    var joint = new GameObject("Free Joint").AddComponent<MjFreeJoint>().transform;
+    joint.position = geom.transform.position;
+    joint.parent = parent;
   }
 
   [MenuItem("CONTEXT/Collider/Add a matching MuJoCo geom")]

unity/Editor/Mujoco.Editor.asmdef

@@ -2,7 +2,7 @@
     "name": "Mujoco.Editor",
     "rootNamespace": "",
     "references": [
-        "Mujoco"
+        "Mujoco.Runtime"
     ],
     "includePlatforms": [],
     "excludePlatforms": [],

unity/Runtime/Bindings/MujocoBindings.cs

@@ -23,10 +23,6 @@ public static class MujocoLib {
 
 // ----------------------------------Constants----------------------------------
 
-public const bool THIRD_PARTY_MUJOCO_MJDATA_H_ = true;
-public const bool THIRD_PARTY_MUJOCO_MJMODEL_H_ = true;
-public const bool mjUSEDOUBLE = true;
-public const double mjMINVAL = 1e-15;
 public const double mjPI = 3.141592653589793;
 public const double mjMAXVAL = 10000000000.0;
 public const double mjMINMU = 1e-05;
@@ -39,13 +35,14 @@ public const int mjNEQDATA = 7;
 public const int mjNDYN = 10;
 public const int mjNGAIN = 10;
 public const int mjNBIAS = 10;
+public const int mjNFLUID = 12;
 public const int mjNREF = 2;
 public const int mjNIMP = 5;
 public const int mjNSOLVER = 1000;
-public const bool THIRD_PARTY_MUJOCO_MJRENDER_H_ = true;
 public const int mjNAUX = 10;
 public const int mjMAXTEXTURE = 1000;
-public const bool THIRD_PARTY_MUJOCO_MJUI_H_ = true;
+public const bool mjUSEDOUBLE = true;
+public const double mjMINVAL = 1e-15;
 public const int mjMAXUISECT = 10;
 public const int mjMAXUIITEM = 80;
 public const int mjMAXUITEXT = 300;
@@ -80,21 +77,13 @@ public const int mjKEY_F9 = 298;
 public const int mjKEY_F10 = 299;
 public const int mjKEY_F11 = 300;
 public const int mjKEY_F12 = 301;
-public const bool THIRD_PARTY_MUJOCO_MJVISUALIZE_H_ = true;
 public const int mjNGROUP = 6;
+public const int mjMAXLIGHT = 100;
 public const int mjMAXOVERLAY = 500;
 public const int mjMAXLINE = 100;
 public const int mjMAXLINEPNT = 1000;
 public const int mjMAXPLANEGRID = 200;
-public const bool THIRD_PARTY_MUJOCO_MJXMACRO_H_ = true;
-public const bool THIRD_PARTY_MUJOCO_MUJOCO_H_ = true;
-public const int mjVERSION_HEADER = 211;
-public const bool THIRD_PARTY_MUJOCO_MUJOCO_EXPORT_H_ = true;
-public const bool MUJOCO_HELPER_DLL_LOCAL = true;
-public const bool MUJOCO_HELPER_DLL_IMPORT = true;
-public const bool MUJOCO_HELPER_DLL_EXPORT = true;
-public const bool MJAPI = true;
-public const bool MJLOCAL = true;
+public const int mjVERSION_HEADER = 212;
 
 
 // ------------------------------------Enums------------------------------------
@@ -1950,6 +1939,7 @@ public unsafe struct mjModel_ {
   public double* geom_friction;
   public double* geom_margin;
   public double* geom_gap;
+  public double* geom_fluid;
   public double* geom_user;
   public float* geom_rgba;
   public int* site_type;
@@ -2103,6 +2093,8 @@ public unsafe struct mjModel_ {
   public int* sensor_needstage;
   public int* sensor_objtype;
   public int* sensor_objid;
+  public int* sensor_reftype;
+  public int* sensor_refid;
   public int* sensor_dim;
   public int* sensor_adr;
   public double* sensor_cutoff;
@@ -2497,6 +2489,98 @@ public unsafe struct mjvScene_ {
   public mjvLight_ lights5;
   public mjvLight_ lights6;
   public mjvLight_ lights7;
+  public mjvLight_ lights8;
+  public mjvLight_ lights9;
+  public mjvLight_ lights10;
+  public mjvLight_ lights11;
+  public mjvLight_ lights12;
+  public mjvLight_ lights13;
+  public mjvLight_ lights14;
+  public mjvLight_ lights15;
+  public mjvLight_ lights16;
+  public mjvLight_ lights17;
+  public mjvLight_ lights18;
+  public mjvLight_ lights19;
+  public mjvLight_ lights20;
+  public mjvLight_ lights21;
+  public mjvLight_ lights22;
+  public mjvLight_ lights23;
+  public mjvLight_ lights24;
+  public mjvLight_ lights25;
+  public mjvLight_ lights26;
+  public mjvLight_ lights27;
+  public mjvLight_ lights28;
+  public mjvLight_ lights29;
+  public mjvLight_ lights30;
+  public mjvLight_ lights31;
+  public mjvLight_ lights32;
+  public mjvLight_ lights33;
+  public mjvLight_ lights34;
+  public mjvLight_ lights35;
+  public mjvLight_ lights36;
+  public mjvLight_ lights37;
+  public mjvLight_ lights38;
+  public mjvLight_ lights39;
+  public mjvLight_ lights40;
+  public mjvLight_ lights41;
+  public mjvLight_ lights42;
+  public mjvLight_ lights43;
+  public mjvLight_ lights44;
+  public mjvLight_ lights45;
+  public mjvLight_ lights46;
+  public mjvLight_ lights47;
+  public mjvLight_ lights48;
+  public mjvLight_ lights49;
+  public mjvLight_ lights50;
+  public mjvLight_ lights51;
+  public mjvLight_ lights52;
+  public mjvLight_ lights53;
+  public mjvLight_ lights54;
+  public mjvLight_ lights55;
+  public mjvLight_ lights56;
+  public mjvLight_ lights57;
+  public mjvLight_ lights58;
+  public mjvLight_ lights59;
+  public mjvLight_ lights60;
+  public mjvLight_ lights61;
+  public mjvLight_ lights62;
+  public mjvLight_ lights63;
+  public mjvLight_ lights64;
+  public mjvLight_ lights65;
+  public mjvLight_ lights66;
+  public mjvLight_ lights67;
+  public mjvLight_ lights68;
+  public mjvLight_ lights69;
+  public mjvLight_ lights70;
+  public mjvLight_ lights71;
+  public mjvLight_ lights72;
+  public mjvLight_ lights73;
+  public mjvLight_ lights74;
+  public mjvLight_ lights75;
+  public mjvLight_ lights76;
+  public mjvLight_ lights77;
+  public mjvLight_ lights78;
+  public mjvLight_ lights79;
+  public mjvLight_ lights80;
+  public mjvLight_ lights81;
+  public mjvLight_ lights82;
+  public mjvLight_ lights83;
+  public mjvLight_ lights84;
+  public mjvLight_ lights85;
+  public mjvLight_ lights86;
+  public mjvLight_ lights87;
+  public mjvLight_ lights88;
+  public mjvLight_ lights89;
+  public mjvLight_ lights90;
+  public mjvLight_ lights91;
+  public mjvLight_ lights92;
+  public mjvLight_ lights93;
+  public mjvLight_ lights94;
+  public mjvLight_ lights95;
+  public mjvLight_ lights96;
+  public mjvLight_ lights97;
+  public mjvLight_ lights98;
+  public mjvLight_ lights99;
   public mjvGLCamera_ camera0;
   public mjvGLCamera_ camera1;
   public byte enabletransform;
@@ -2663,11 +2747,14 @@ public static unsafe extern void mj_setConst(mjModel_* m, mjData_* d);
 public static unsafe extern int mj_setLengthRange(mjModel_* m, mjData_* d, int index, mjLROpt_* opt, StringBuilder error, int error_sz);
 
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_printFormattedModel(mjModel_* m, [MarshalAs(UnmanagedType.LPStr)]string filename, [MarshalAs(UnmanagedType.LPStr)]string float_format_str);
+public static unsafe extern void mj_printFormattedModel(mjModel_* m, [MarshalAs(UnmanagedType.LPStr)]string filename, [MarshalAs(UnmanagedType.LPStr)]string float_format);
 
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mj_printModel(mjModel_* m, [MarshalAs(UnmanagedType.LPStr)]string filename);
 
+[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
+public static unsafe extern void mj_printFormattedData(mjModel_* m, mjData_* d, [MarshalAs(UnmanagedType.LPStr)]string filename, [MarshalAs(UnmanagedType.LPStr)]string float_format);
+
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mj_printData(mjModel_* m, mjData_* d, [MarshalAs(UnmanagedType.LPStr)]string filename);
 

unity/Runtime/Components/Bodies.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 7d450c02683794ca6998862eebc97e43
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

unity/Runtime/Components/Equality.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: f98312e1fa23c4aa0a44050a7d76fc98
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

unity/Runtime/Components/Joints.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 6a18877f1d3c34909825953d015cc8cb
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

unity/Runtime/Components/Joints/MjBallJoint.cs

@@ -44,7 +44,7 @@ namespace Mujoco {
       MjEngineTool.PositionToMjcf(mjcf, this);
 
       Settings.ToMjcf(mjcf);
-      mjcf.SetAttribute("range", $"0 {RangeUpper}");
+      mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"0 {RangeUpper}"));
 
       return mjcf;
     }

unity/Runtime/Components/Joints/MjJointSettings.cs

@@ -41,7 +41,7 @@ namespace Mujoco {
     }
 
     public void ToMjcf(XmlElement mjcf) {
-      mjcf.SetAttribute("armature", $"{Armature}");
+      mjcf.SetAttribute("armature", MjEngineTool.MakeLocaleInvariant($"{Armature}"));
       Spring.ToMjcf(mjcf);
       Solver.ToMjcf(mjcf);
     }
@@ -62,10 +62,10 @@ namespace Mujoco {
 
     public void ToMjcf(XmlElement mjcf) {
       // Spring settings.
-      mjcf.SetAttribute("springref", $"{EquilibriumPose}");
-      mjcf.SetAttribute("springdamper", $"{TimeConstant} {DampingRatio}");
-      mjcf.SetAttribute("damping", $"{Damping}");
-      mjcf.SetAttribute("stiffness", $"{Stiffness}");
+      mjcf.SetAttribute("springref", MjEngineTool.MakeLocaleInvariant($"{EquilibriumPose}"));
+      mjcf.SetAttribute("springdamper", MjEngineTool.MakeLocaleInvariant($"{TimeConstant} {DampingRatio}"));
+      mjcf.SetAttribute("damping", MjEngineTool.MakeLocaleInvariant($"{Damping}"));
+      mjcf.SetAttribute("stiffness", MjEngineTool.MakeLocaleInvariant($"{Stiffness}"));
     }
 
     public void FromMjcf(XmlElement mjcf) {
@@ -102,7 +102,7 @@ namespace Mujoco {
     }
 
     public void ToMjcf(XmlElement element, string attributeName) {
-      element.SetAttribute(attributeName, $"{DMin} {DMax} {Width} {Midpoint} {Power}");
+      element.SetAttribute(attributeName, MjEngineTool.MakeLocaleInvariant($"{DMin} {DMax} {Width} {Midpoint} {Power}"));
     }
   }
 
@@ -122,7 +122,7 @@ namespace Mujoco {
     }
 
     public void ToMjcf(XmlElement element, string attributeName) {
-      element.SetAttribute(attributeName, $"{TimeConst} {DampRatio}");
+      element.SetAttribute(attributeName, MjEngineTool.MakeLocaleInvariant($"{TimeConst} {DampRatio}"));
     }
   }
 
@@ -153,9 +153,9 @@ namespace Mujoco {
       ImpLimit.ToMjcf(mjcf, "solimplimit");
       RefFriction.ToMjcf(mjcf, "solreffriction");
       ImpFriction.ToMjcf(mjcf, "solimpfriction");
-      mjcf.SetAttribute("frictionloss", $"{FrictionLoss}");
+      mjcf.SetAttribute("frictionloss", MjEngineTool.MakeLocaleInvariant($"{FrictionLoss}"));
       mjcf.SetAttribute("limited", $"{Limited}".ToLower());
-      mjcf.SetAttribute("margin", $"{Margin}");
+      mjcf.SetAttribute("margin", MjEngineTool.MakeLocaleInvariant($"{Margin}"));
     }
 
     public void FromMjcf(XmlElement mjcf) {

unity/Runtime/Components/Joints/MjSlideJoint.cs

@@ -76,8 +76,8 @@ namespace Mujoco {
       if (RangeLower > RangeUpper) {
         throw new ArgumentException("Lower range value can't be bigger than Higher");
       }
-      mjcf.SetAttribute("range", $"{RangeLower} {RangeUpper}");
-      mjcf.SetAttribute("ref", $"{Configuration}");
+      mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"{RangeLower} {RangeUpper}"));
+      mjcf.SetAttribute("ref", MjEngineTool.MakeLocaleInvariant($"{Configuration}"));
 
       return mjcf;
     }

unity/Runtime/Components/MjActuator.cs

@@ -66,13 +66,13 @@ public class MjActuator : MjComponent {
       mjcf.SetAttribute("forcelimited", $"{ForceLimited}".ToLowerInvariant());
       mjcf.SetAttribute(
           "ctrlrange",
-          $"{MjEngineTool.GetSorted(CtrlRange).x} {MjEngineTool.GetSorted(CtrlRange).y}");
+          MjEngineTool.MakeLocaleInvariant($"{MjEngineTool.GetSorted(CtrlRange).x} {MjEngineTool.GetSorted(CtrlRange).y}"));
       mjcf.SetAttribute(
           "forcerange",
-          $"{MjEngineTool.GetSorted(ForceRange).x} {MjEngineTool.GetSorted(ForceRange).y}");
+          MjEngineTool.MakeLocaleInvariant($"{MjEngineTool.GetSorted(ForceRange).x} {MjEngineTool.GetSorted(ForceRange).y}"));
       mjcf.SetAttribute(
           "lengthrange",
-          $"{MjEngineTool.GetSorted(LengthRange).x} {MjEngineTool.GetSorted(LengthRange).y}");
+          MjEngineTool.MakeLocaleInvariant($"{MjEngineTool.GetSorted(LengthRange).x} {MjEngineTool.GetSorted(LengthRange).y}"));
       mjcf.SetAttribute("gear", MjEngineTool.ListToMjcf(Gear));
     }
 
@@ -162,7 +162,7 @@ public class MjActuator : MjComponent {
     public float Kp = 1.0f;
 
     public void PositionToMjcf(XmlElement mjcf) {
-      mjcf.SetAttribute("kp", $"{Math.Abs(Kp)}");
+      mjcf.SetAttribute("kp", MjEngineTool.MakeLocaleInvariant($"{Math.Abs(Kp)}"));
     }
     public void PositionFromMjcf(XmlElement mjcf) {
       Kp = mjcf.GetFloatAttribute("kp", defaultValue: 1.0f);
@@ -175,7 +175,7 @@ public class MjActuator : MjComponent {
     public float Kv = 1.0f;
 
     public void VelocityToMjcf(XmlElement mjcf) {
-      mjcf.SetAttribute("kv", $"{Math.Abs(Kv)}");
+      mjcf.SetAttribute("kv", MjEngineTool.MakeLocaleInvariant($"{Math.Abs(Kv)}"));
     }
     public void VelocityFromMjcf(XmlElement mjcf) {
       Kv = mjcf.GetFloatAttribute("kv", defaultValue: 1.0f);
@@ -199,9 +199,9 @@ public class MjActuator : MjComponent {
     public float[] Bias = new float[] { 0.0f, 0.0f, 0.0f };
 
     public void CylinderToMjcf(XmlElement mjcf) {
-      mjcf.SetAttribute("timeconst", $"{CylinderTimeConst}");
-      mjcf.SetAttribute("area", $"{Math.Abs(Area)}");
-      mjcf.SetAttribute("diameter", $"{Math.Abs(Diameter)}");
+      mjcf.SetAttribute("timeconst", MjEngineTool.MakeLocaleInvariant($"{CylinderTimeConst}"));
+      mjcf.SetAttribute("area", MjEngineTool.MakeLocaleInvariant($"{Math.Abs(Area)}"));
+      mjcf.SetAttribute("diameter", MjEngineTool.MakeLocaleInvariant($"{Math.Abs(Diameter)}"));
       mjcf.SetAttribute("bias", MjEngineTool.ArrayToMjcf(Bias));
     }
 
@@ -246,16 +246,16 @@ public class MjActuator : MjComponent {
     public float FvMax = 1.2f;
 
     public void MuscleToMjcf(XmlElement mjcf) {
-      mjcf.SetAttribute("timeconst", $"{MuscleTimeConst[0]} {MuscleTimeConst[1]}");
+      mjcf.SetAttribute("timeconst", MjEngineTool.MakeLocaleInvariant($"{MuscleTimeConst[0]} {MuscleTimeConst[1]}"));
       mjcf.SetAttribute(
-        "range", $"{MjEngineTool.GetSorted(Range).x} {MjEngineTool.GetSorted(Range).y}");
-      mjcf.SetAttribute("force", $"{Force}");
-      mjcf.SetAttribute("scale", $"{Scale}");
-      mjcf.SetAttribute("lmin", $"{LMin}");
-      mjcf.SetAttribute("lmax", $"{LMax}");
-      mjcf.SetAttribute("vmax", $"{VMax}");
-      mjcf.SetAttribute("fpmax", $"{FpMax}");
-      mjcf.SetAttribute("fvmax", $"{FvMax}");
+        "range", MjEngineTool.MakeLocaleInvariant($"{MjEngineTool.GetSorted(Range).x} {MjEngineTool.GetSorted(Range).y}"));
+      mjcf.SetAttribute("force", MjEngineTool.MakeLocaleInvariant($"{Force}"));
+      mjcf.SetAttribute("scale", MjEngineTool.MakeLocaleInvariant($"{Scale}"));
+      mjcf.SetAttribute("lmin", MjEngineTool.MakeLocaleInvariant($"{LMin}"));
+      mjcf.SetAttribute("lmax", MjEngineTool.MakeLocaleInvariant($"{LMax}"));
+      mjcf.SetAttribute("vmax", MjEngineTool.MakeLocaleInvariant($"{VMax}"));
+      mjcf.SetAttribute("fpmax", MjEngineTool.MakeLocaleInvariant($"{FpMax}"));
+      mjcf.SetAttribute("fvmax", MjEngineTool.MakeLocaleInvariant($"{FvMax}"));
     }
 
     public void MuscleFromMjcf(XmlElement mjcf) {

unity/Runtime/Components/MjGlobalSettings.cs

@@ -291,14 +291,14 @@ public struct MjOptionStruct {
   }
 
   public XmlElement ToMjcf(XmlElement mjcf) {
-    mjcf.SetAttribute("impratio", $"{ImpRatio}");
+    mjcf.SetAttribute("impratio", MjEngineTool.MakeLocaleInvariant($"{ImpRatio}"));
 
-    mjcf.SetAttribute("magnetic", $"{Magnetic.x} {Magnetic.y} {Magnetic.z}");
-    mjcf.SetAttribute("wind", $"{Wind.x} {Wind.y} {Wind.z}");
+    mjcf.SetAttribute("magnetic", MjEngineTool.MakeLocaleInvariant($"{Magnetic.x} {Magnetic.y} {Magnetic.z}"));
+    mjcf.SetAttribute("wind", MjEngineTool.MakeLocaleInvariant($"{Wind.x} {Wind.y} {Wind.z}"));
 
-    mjcf.SetAttribute("density", $"{Density}");
-    mjcf.SetAttribute("viscosity", $"{Viscosity}");
-    mjcf.SetAttribute("o_margin", $"{OverrideMargin}");
+    mjcf.SetAttribute("density", MjEngineTool.MakeLocaleInvariant($"{Density}"));
+    mjcf.SetAttribute("viscosity", MjEngineTool.MakeLocaleInvariant($"{Viscosity}"));
+    mjcf.SetAttribute("o_margin", MjEngineTool.MakeLocaleInvariant($"{OverrideMargin}"));
 
     OverrideSolRef.ToMjcf(mjcf, "o_solref");
     OverrideSolImp.ToMjcf(mjcf, "o_solimp");
@@ -309,12 +309,12 @@ public struct MjOptionStruct {
     mjcf.SetAttribute("jacobian", Jacobian.ToString());
     mjcf.SetAttribute("solver", Solver.ToString());
 
-    mjcf.SetAttribute("iterations", $"{Iterations}");
-    mjcf.SetAttribute("tolerance", $"{Tolerance}");
-    mjcf.SetAttribute("noslip_iterations", $"{NoSlipIterations}");
-    mjcf.SetAttribute("noslip_tolerance", $"{NoSlipTolerance}");
-    mjcf.SetAttribute("mpr_iterations", $"{MprIterations}");
-    mjcf.SetAttribute("mpr_tolerance", $"{MprTolerance}");
+    mjcf.SetAttribute("iterations", MjEngineTool.MakeLocaleInvariant($"{Iterations}"));
+    mjcf.SetAttribute("tolerance", MjEngineTool.MakeLocaleInvariant($"{Tolerance}"));
+    mjcf.SetAttribute("noslip_iterations", MjEngineTool.MakeLocaleInvariant($"{NoSlipIterations}"));
+    mjcf.SetAttribute("noslip_tolerance", MjEngineTool.MakeLocaleInvariant($"{NoSlipTolerance}"));
+    mjcf.SetAttribute("mpr_iterations", MjEngineTool.MakeLocaleInvariant($"{MprIterations}"));
+    mjcf.SetAttribute("mpr_tolerance", MjEngineTool.MakeLocaleInvariant($"{MprTolerance}"));
 
     var flags = (XmlElement)mjcf.AppendChild(
         mjcf.OwnerDocument.CreateElement("flag"));

unity/Runtime/Components/MjInertial.cs

@@ -43,7 +43,7 @@ public class MjInertial : MjComponent {
   protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
     var mjcf = (XmlElement)doc.CreateElement("inertial");
     MjEngineTool.PositionRotationToMjcf(mjcf, this);
-    mjcf.SetAttribute("mass", $"{Mass}");
+    mjcf.SetAttribute("mass", MjEngineTool.MakeLocaleInvariant($"{Mass}"));
     mjcf.SetAttribute("diaginertia",
                       MjEngineTool.Vector3ToMjcf(MjEngineTool.MjExtents(DiagInertia)));
     return mjcf;

unity/Runtime/Components/Sensors.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: f9a0c761e9698497aba0a6c4d1774bd9
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

unity/Runtime/Components/Shapes.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 00391142561004cc7befda5d7fcb3156
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

unity/Runtime/Components/Shapes/MjCapsuleShape.cs

@@ -32,7 +32,7 @@ public class MjCapsuleShape : IMjShape {
           " value of X and Y components.", transform);
     }
     mjcf.SetAttribute(
-        "size", $"{Radius * transform.lossyScale.x} {HalfHeight * transform.lossyScale.y}");
+        "size", MjEngineTool.MakeLocaleInvariant($"{Radius * transform.lossyScale.x} {HalfHeight * transform.lossyScale.y}"));
   }
 
   public void FromMjcf(XmlElement mjcf) {

unity/Runtime/Components/Shapes/MjCylinderShape.cs

@@ -32,7 +32,7 @@ public class MjCylinderShape : IMjShape {
           " value of X and Y components.", transform);
     }
     mjcf.SetAttribute(
-        "size", $"{Radius * transform.lossyScale.x} {HalfHeight * transform.lossyScale.y}");
+        "size", MjEngineTool.MakeLocaleInvariant($"{Radius * transform.lossyScale.x} {HalfHeight * transform.lossyScale.y}"));
   }
 
   public void FromMjcf(XmlElement mjcf) {

unity/Runtime/Components/Shapes/MjGeom.cs

@@ -64,9 +64,9 @@ public class MjGeom : MjShapeComponent {
   protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
     var mjcf = (XmlElement)doc.CreateElement("geom");
     if (Mass > 0) {
-      mjcf.SetAttribute("mass", $"{Mass}");
+      mjcf.SetAttribute("mass", MjEngineTool.MakeLocaleInvariant($"{Mass}"));
     } else {
-      mjcf.SetAttribute("density", $"{Density}");
+      mjcf.SetAttribute("density", MjEngineTool.MakeLocaleInvariant($"{Density}"));
     }
     ShapeToMjcf(mjcf, transform);
     MjEngineTool.PositionRotationToMjcf(mjcf, this);

unity/Runtime/Components/Shapes/MjGeomSettings.cs

@@ -78,15 +78,15 @@ public struct MjGeomSettings {
 
     // Solver settings.
     mjcf.SetAttribute("condim", $"{Solver.ConDim}");
-    mjcf.SetAttribute("solmix", $"{Solver.SolMix}");
-    mjcf.SetAttribute("solref", $"{Solver.SolRef.TimeConst} {Solver.SolRef.DampRatio}");
+    mjcf.SetAttribute("solmix", MjEngineTool.MakeLocaleInvariant($"{Solver.SolMix}"));
+    mjcf.SetAttribute("solref", MjEngineTool.MakeLocaleInvariant($"{Solver.SolRef.TimeConst} {Solver.SolRef.DampRatio}"));
     mjcf.SetAttribute(
-      "solimp", $"{Solver.SolImp.DMin} {Solver.SolImp.DMax} {Solver.SolImp.Width}");
-    mjcf.SetAttribute("margin", $"{Solver.Margin}");
-    mjcf.SetAttribute("gap", $"{Solver.Gap}");
+      "solimp", MjEngineTool.MakeLocaleInvariant($"{Solver.SolImp.DMin} {Solver.SolImp.DMax} {Solver.SolImp.Width}"));
+    mjcf.SetAttribute("margin", MjEngineTool.MakeLocaleInvariant($"{Solver.Margin}"));
+    mjcf.SetAttribute("gap", MjEngineTool.MakeLocaleInvariant($"{Solver.Gap}"));
 
     // Inertia and friction settings.
-    mjcf.SetAttribute("friction", $"{Friction.Sliding} {Friction.Torsional} {Friction.Rolling}");
+    mjcf.SetAttribute("friction", MjEngineTool.MakeLocaleInvariant($"{Friction.Sliding} {Friction.Torsional} {Friction.Rolling}"));
   }
 }
 

unity/Runtime/Components/Shapes/MjPlaneShape.cs

@@ -26,7 +26,7 @@ public class MjPlaneShape : IMjShape {
   public void ToMjcf(XmlElement mjcf, Transform transform) {
     var extents = new Vector3(Extents.x, Extents.y, 1.0f);
     var scaledExtents = Vector3.Scale(extents, transform.lossyScale);
-    mjcf.SetAttribute("size", $"{scaledExtents.x} {scaledExtents.y} {scaledExtents.z}");
+    mjcf.SetAttribute("size", MjEngineTool.MakeLocaleInvariant($"{scaledExtents.x} {scaledExtents.y} {scaledExtents.z}"));
   }
 
   public void FromMjcf(XmlElement mjcf) {

unity/Runtime/Components/Shapes/MjSphereShape.cs

@@ -32,7 +32,7 @@ public class MjSphereShape : IMjShape {
           " component.\n Consider using Ellipsoid shape if you want to use non-uniform scaling.",
           transform);
     }
-    mjcf.SetAttribute("size", $"{Radius * transform.lossyScale.x}");
+    mjcf.SetAttribute("size", MjEngineTool.MakeLocaleInvariant($"{Radius * transform.lossyScale.x}"));
   }
 
   public void FromMjcf(XmlElement mjcf) {

unity/Runtime/Components/Tendons.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: b58acb5cf1b8049acb79e46a0d8b851b
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

unity/Runtime/Components/Tendons/MjBaseTendon.cs

@@ -51,9 +51,9 @@ public abstract class MjBaseTendon : MjComponent {
   protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
     var mjcf = ToMjcf(doc);
     Solver.ToMjcf(mjcf);
-    mjcf.SetAttribute("springlength", $"{SpringLength}");
-    mjcf.SetAttribute("damping", $"{Damping}");
-    mjcf.SetAttribute("stiffness", $"{Stiffness}");
+    mjcf.SetAttribute("springlength", MjEngineTool.MakeLocaleInvariant($"{SpringLength}"));
+    mjcf.SetAttribute("damping", MjEngineTool.MakeLocaleInvariant($"{Damping}"));
+    mjcf.SetAttribute("stiffness", MjEngineTool.MakeLocaleInvariant($"{Stiffness}"));
     return mjcf;
   }
 

unity/Runtime/Components/Tendons/MjFixedTendon.cs

@@ -57,13 +57,13 @@ public class MjFixedTendon : MjBaseTendon {
     foreach (FixedTendonEntry fixedTendonEntry in JointList) {
       var jointMjcf = doc.CreateElement("joint");
       jointMjcf.SetAttribute("joint", fixedTendonEntry.Joint.MujocoName);
-      jointMjcf.SetAttribute("coef", $"{fixedTendonEntry.Coefficient}");
+      jointMjcf.SetAttribute("coef", MjEngineTool.MakeLocaleInvariant($"{fixedTendonEntry.Coefficient}"));
       mjcf.AppendChild(jointMjcf);
     }
     if (RangeLower > RangeUpper) {
       throw new ArgumentException("Lower range value can't be bigger than Higher");
     }
-    mjcf.SetAttribute("range", $"{RangeLower} {RangeUpper}");
+    mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"{RangeLower} {RangeUpper}"));
 
     return mjcf;
   }

unity/Runtime/Components/Tendons/MjSpatialTendon.cs

@@ -92,14 +92,14 @@ public class MjSpatialTendon : MjBaseTendon {
           $"Exactly one of site/wrap geom/pulley {name} is required at each entry.");
         }
         elementMjcf = doc.CreateElement("pulley");
-        elementMjcf.SetAttribute("divisor", $"{spatialTendonEntry.PulleyDivisor}");
+        elementMjcf.SetAttribute("divisor", MjEngineTool.MakeLocaleInvariant($"{spatialTendonEntry.PulleyDivisor}"));
       }
       mjcf.AppendChild(elementMjcf);
     }
     if (RangeLower > RangeUpper) {
       throw new ArgumentException("Lower range value can't be bigger than Higher");
     }
-    mjcf.SetAttribute("range", $"{RangeLower} {RangeUpper}");
+    mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"{RangeLower} {RangeUpper}"));
 
     return mjcf;
   }

unity/Runtime/Mujoco.Runtime.asmdef

@@ -1,5 +1,5 @@
 {
-    "name": "Mujoco",
+    "name": "Mujoco.Runtime",
     "rootNamespace": "",
     "references": [],
     "includePlatforms": [],

unity/Runtime/Tools/MjEngineTool.cs

@@ -35,6 +35,10 @@ public static class MjEngineTool {
     return name.Replace('/', '_');
   }
 
+  public static string MakeLocaleInvariant(FormattableString interpolated) {
+    return FormattableString.Invariant(interpolated);
+  }
+
   // Loads a model from the specified file.
   // `filename` should contain an absolute path to the file.
   public static unsafe MujocoLib.mjModel_* LoadModelFromFile(string fileName) {
@@ -190,11 +194,11 @@ public static class MjEngineTool {
   }
 
   public static string Vector3ToMjcf(Vector3 vec) {
-    return $"{vec.x} {vec.y} {vec.z}";
+    return MakeLocaleInvariant($"{vec.x} {vec.y} {vec.z}");
   }
 
   public static string QuaternionToMjcf(Quaternion quat) {
-    return $"{quat.w} {quat.x} {quat.y} {quat.z}";
+    return MakeLocaleInvariant($"{quat.w} {quat.x} {quat.y} {quat.z}");
   }
 
   // We can't use transform.localPosition because we allow arbitrary deep gameObject hierarchies
@@ -230,12 +234,20 @@ public static class MjEngineTool {
 
   // Converts an array of floats to an Mjcf.
   public static string ArrayToMjcf(float[] array) {
-    return String.Join(" ", array);
+    String ret = "";
+    foreach (float entry in array) {
+      ret += MakeLocaleInvariant($"{entry} ");
+    }
+    return ret.Substring(startIndex:0, length:ret.Length - 1);
   }
 
   // Converts a list of floats to an Mjcf.
   public static string ListToMjcf(List<float> list) {
-    return String.Join(" ", list);
+    String ret = "";
+    foreach (float entry in list) {
+      ret += MakeLocaleInvariant($"{entry} ");
+    }
+    return ret.Substring(startIndex:0, length:ret.Length - 1);
   }
 
   // Generates an Mjcf of the specified component's transform.