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

PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0

unity/Tests/Editor/Components/Tendons/MjFixedTendonTests.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.Collections;
+using System.Collections.Generic;
+using System.Xml;
+using NUnit.Framework;
+using UnityEngine;
+
+namespace Mujoco {
+  [TestFixture]
+  public class MjFixedTendonTests {
+    private MjHingeJoint _joint1;
+    private MjHingeJoint _joint2;
+    private MjFixedTendon _tendon;
+    private XmlDocument _doc;
+
+    [SetUp]
+    public void SetUp() {
+      _joint1 = new GameObject("joint1").AddComponent<MjHingeJoint>();
+      _joint2 = new GameObject("joint2").AddComponent<MjHingeJoint>();
+      _tendon = new GameObject("tendon").AddComponent<MjFixedTendon>();
+      _doc = new XmlDocument();
+    }
+
+    [TearDown]
+    public void TearDown() {
+      UnityEngine.Object.DestroyImmediate(_tendon.gameObject);
+      UnityEngine.Object.DestroyImmediate(_joint1.gameObject);
+      UnityEngine.Object.DestroyImmediate(_joint2.gameObject);
+      UnityEngine.Object.DestroyImmediate(MjScene.Instance);
+    }
+
+    [Test]
+    public void ParseAllSettings() {
+      _doc.LoadXml("<fixed range='3 4'>" + "<joint joint='joint1' coef='1'/>" +
+                   "<joint joint='joint2' coef='2'/>" + "</fixed>");
+      _tendon.ParseMjcf(_doc.GetElementsByTagName("fixed")[0] as XmlElement);
+      Assert.That(_tendon.RangeLower, Is.EqualTo(3));
+      Assert.That(_tendon.RangeUpper, Is.EqualTo(4));
+      Assert.That(_tendon.JointList.Count, Is.EqualTo(2));
+      Assert.That(_tendon.JointList[0].Joint, Is.EqualTo(_joint1));
+      Assert.That(_tendon.JointList[0].Coefficient, Is.EqualTo(1.0f));
+      Assert.That(_tendon.JointList[1].Joint, Is.EqualTo(_joint2));
+      Assert.That(_tendon.JointList[1].Coefficient, Is.EqualTo(2.0f));
+    }
+  }
+}

unity/Tests/Editor/Components/Tendons/MjFixedTendonTests.cs.meta

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unity/Tests/Editor/Components/Tendons/MjSpatialTendonTests.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.Collections;
+using System.Collections.Generic;
+using System.Xml;
+using NUnit.Framework;
+using UnityEngine;
+
+namespace Mujoco {
+  [TestFixture]
+  public class MjSpatialTendonTests {
+    private MjSite _site1;
+    private MjSite _site2;
+    private MjSpatialTendon _tendon;
+    private XmlDocument _doc;
+
+    [SetUp]
+    public void SetUp() {
+      _site1 = new GameObject("site1").AddComponent<MjSite>();
+      _site2 = new GameObject("site2").AddComponent<MjSite>();
+      _tendon = new GameObject("tendon").AddComponent<MjSpatialTendon>();
+      _doc = new XmlDocument();
+    }
+
+    [TearDown]
+    public void TearDown() {
+      UnityEngine.Object.DestroyImmediate(_tendon.gameObject);
+      UnityEngine.Object.DestroyImmediate(_site1.gameObject);
+      UnityEngine.Object.DestroyImmediate(_site2.gameObject);
+      UnityEngine.Object.DestroyImmediate(MjScene.Instance);
+    }
+
+    [Test]
+    public void ParseAllSettings() {
+      _doc.LoadXml("<spatial>" + "<site site='site1'/>" +
+                   "<site site='site2'/>" + "</spatial>");
+      _tendon.ParseMjcf(_doc.GetElementsByTagName("spatial")[0] as XmlElement);
+      Assert.That(_tendon.ViapointsList.Count, Is.EqualTo(2));
+      Assert.That(_tendon.ViapointsList[0].Site, Is.EqualTo(_site1));
+      Assert.That(_tendon.ViapointsList[1].Site, Is.EqualTo(_site2));
+    }
+  }
+}

unity/Tests/Editor/Components/Tendons/MjSpatialTendonTests.cs.meta

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