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

PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0

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": [],