Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505

unity/Runtime/Bindings/FixedSizeIListHelper.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;
+
+namespace Mujoco {
+  // An implementation of IList<T>, only missing the indexer and the count.
+  public abstract class FixedSizeIListHelper<T> : IList<T> {
+    public IEnumerator<T> GetEnumerator() {
+      for (int i = 0; i < this.Count; ++i) {
+        yield return this[i];
+      }
+    }
+
+    IEnumerator IEnumerable.GetEnumerator() {
+      return GetEnumerator();
+    }
+
+    public void Add(T item) {
+      throw new NotSupportedException();
+    }
+
+    public void Clear() {
+      throw new NotSupportedException();
+    }
+
+    public bool Contains(T item) {
+      for (int i = 0; i < Count; ++i) {
+        if (this[i].Equals(item)) {
+          return true;
+        }
+      }
+      return false;
+    }
+
+    public void CopyTo(T[] array, int arrayIndex) {
+      for (int i = 0; i < Count; ++i) {
+        array[arrayIndex + i] = this[i];
+      }
+    }
+
+    public bool Remove(T item) {
+      throw new NotSupportedException();
+    }
+
+    public bool IsReadOnly => false;
+
+    public int IndexOf(T item) {
+      for (int i = 0; i < Count; ++i) {
+        if (this[i].Equals(item)) {
+          return i;
+        }
+      }
+      return -1;
+    }
+
+    public void Insert(int index, T item) {
+      throw new NotSupportedException();
+    }
+
+    public void RemoveAt(int index) {
+      throw new NotSupportedException();
+    }
+
+    public abstract int Count { get; }
+    public abstract T this[int index] {
+      get;
+      set;
+    }
+  }
+}

unity/Runtime/Bindings/FixedSizeIListHelper.cs.meta

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unity/Runtime/Bindings/MujocoBinaryRetriever.cs

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+using System;
+using System.IO;
+using System.Runtime.InteropServices;
+using UnityEditor;
+using UnityEditor.PackageManager;
+using UnityEngine;
+
+namespace Mujoco {
+public class MujocoBinaryRetriever {
+
+  [InitializeOnLoadMethod]
+  static void SubscribeToEvent() {
+    // This causes the method to be invoked after the Editor registers the new list of packages.
+    Events.registeredPackages += RegisteredPackagesEventHandler;
+  }
+
+  static void RegisteredPackagesEventHandler(
+      PackageRegistrationEventArgs packageRegistrationEventArgs) {
+    var mujocoPath = packageRegistrationEventArgs.added[0].assetPath;
+    if (RuntimeInformation.IsOSPlatform(OSPlatform.OSX)) {
+      if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/mujoco.dylib") == null) {
+        File.Copy(
+            "/Applications/MuJoCo.app/Contents/Frameworks" +
+            "/MuJoCo.framework/Versions/Current/libmujoco.2.1.1.dylib",
+            mujocoPath + "/mujoco.dylib");
+        AssetDatabase.Refresh();
+      }
+    } else if (RuntimeInformation.IsOSPlatform(OSPlatform.Linux)) {
+      if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/libmujoco.so") == null) {
+        File.Copy(
+            Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) +
+            "/.mujoco/mujoco-2.1.1/lib/libmujoco_nogl.so.2.1.1",
+            mujocoPath + "/libmujoco.so");
+        AssetDatabase.Refresh();
+      }
+    } else {
+      if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/mujoco.dll") == null) {
+        File.Copy(
+            Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) +
+            "\\MuJoCo\\bin\\mujoco.dll",
+            mujocoPath + "\\mujoco.dll");
+        AssetDatabase.Refresh();
+      }
+    }
+  }
+}
+}

unity/Runtime/Bindings/MujocoBinaryRetriever.cs.meta

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unity/Runtime/Bindings/MujocoBindings.cs.meta

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