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

PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0

unity/Runtime/Components/Bodies/MjBaseBody.cs

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+// Copyright 2019 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.
+
+using System;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+  public abstract class MjBaseBody : MjComponent {
+    public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_BODY;
+  }
+}

unity/Runtime/Components/Bodies/MjBaseBody.cs.meta

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unity/Runtime/Components/Bodies/MjBody.cs

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+// Copyright 2019 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.
+
+using System;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+  // The component represents the apex of hierarchy that defines a single rigid body.
+  public class MjBody : MjBaseBody {
+    protected override void OnParseMjcf(XmlElement mjcf) {
+      // Transform
+      transform.localPosition =
+          MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("pos", defaultValue: Vector3.zero));
+      transform.localRotation = MjEngineTool.UnityQuaternion(
+          mjcf.GetQuaternionAttribute("quat", defaultValue: MjEngineTool.MjQuaternionIdentity));
+    }
+
+    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
+      var mjcf = (XmlElement)doc.CreateElement("body");
+      MjEngineTool.PositionRotationToMjcf(mjcf, this);
+      return mjcf;
+    }
+
+    public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
+      transform.position = MjEngineTool.UnityVector3(data->xpos, MujocoId);
+      transform.rotation = MjEngineTool.UnityQuaternion(data->xquat, MujocoId);
+    }
+  }
+}

unity/Runtime/Components/Bodies/MjBody.cs.meta

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unity/Runtime/Components/Bodies/MjMocapBody.cs

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+// Copyright 2019 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.
+
+using System;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+  public class MjMocapBody : MjBaseBody {
+    protected override void OnParseMjcf(XmlElement mjcf) {
+      throw new Exception("parsing mocap bodies isn't supported.");
+    }
+
+    protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
+      var bodyId = MujocoLib.mj_name2id(model, (int)ObjectType, MujocoName);
+      MujocoId = model->body_mocapid[bodyId];
+    }
+
+    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
+      var mjcf = doc.CreateElement("body");
+      MjEngineTool.PositionRotationToMjcf(mjcf, this);
+      mjcf.SetAttribute("mocap", "true");
+      return mjcf;
+    }
+
+    public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
+      MjEngineTool.SetMjVector3(data->mocap_pos, transform.position, MujocoId);
+      MjEngineTool.SetMjQuaternion(data->mocap_quat, transform.rotation, MujocoId);
+    }
+  }
+}

unity/Runtime/Components/Bodies/MjMocapBody.cs.meta

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