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

PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0

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;
   }