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 +1,52 @@
+// 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 a joint with 1 degree of translational freedom.
+  public class MjBallJoint : MjBaseJoint {
+    [Tooltip("In radians.")]
+    public float RangeUpper;
+
+    [Tooltip("Joint settings.")]
+    public MjJointSettings Settings = MjJointSettings.Default;
+
+    protected override void OnParseMjcf(XmlElement mjcf) {
+      // Transform.
+      transform.localPosition =
+          MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("pos", defaultValue: Vector3.zero));
+
+      Settings.FromMjcf(mjcf);
+      var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
+      // rangeValues[0] is always 0 for ball joints.
+      RangeUpper = rangeValues[1];
+    }
+
+    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
+      var mjcf = (XmlElement)doc.CreateElement("joint");
+      mjcf.SetAttribute("type", "ball");
+
+      MjEngineTool.PositionToMjcf(mjcf, this);
+
+      Settings.ToMjcf(mjcf);
+      mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"0 {RangeUpper}"));
+
+      return mjcf;
+    }
+  }
+}