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

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PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
This commit is contained in:
Saran Tunyasuvunakool
2022-03-15 14:04:44 +00:00
parent 175d25cd9f
commit 3577e2cf8b
304 changed files with 23906 additions and 1013 deletions
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unity/Runtime/Components/MjActuator.cs
+17 -17
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@@ -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) {