Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505
2022-02-02 20:17:13 +00:00
parent 8ec3dd97a4
commit 6de9eafa13
298 changed files with 20617 additions and 2 deletions
@@ -0,0 +1,81 @@
+// 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.Generic;
+using System.Linq;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+[Serializable]
+public class FixedTendonEntry {
+  [Tooltip("Only scalar joints can be used - hinge and slide.")]
+  public MjBaseJoint Joint;
+
+  [Tooltip("Multiplier for the value of the joint.")]
+  public float Coefficient = 1.0f;
+}
+
+public class MjFixedTendon : MjBaseTendon {
+
+  [Tooltip("In (scaled) radians/meters.")]
+  public float RangeLower;
+  [Tooltip("In (scaled) radians/meters.")]
+  public float RangeUpper;
+
+  public List<FixedTendonEntry> JointList = new List<FixedTendonEntry>() {};
+
+  protected override void FromMjcf(XmlElement mjcf) {
+    foreach (var child in mjcf.Cast<XmlNode>().OfType<XmlElement>()) {
+      var fixedTendonEntry = new FixedTendonEntry();
+      fixedTendonEntry.Joint = child.GetObjectReferenceAttribute<MjBaseJoint>("joint");
+      fixedTendonEntry.Coefficient = child.GetFloatAttribute("coef", defaultValue: 1.0f);
+      JointList.Add(fixedTendonEntry);
+    }
+    var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
+    RangeLower = rangeValues[0];
+    RangeUpper = rangeValues[1];
+  }
+
+  protected override XmlElement ToMjcf(XmlDocument doc) {
+    if (JointList.Count < 1) {
+      throw new ArgumentOutOfRangeException($"Fixed tendon {name} needs at least one joint.");
+    }
+    var mjcf = doc.CreateElement("fixed");
+    foreach (FixedTendonEntry fixedTendonEntry in JointList) {
+      var jointMjcf = doc.CreateElement("joint");
+      jointMjcf.SetAttribute("joint", fixedTendonEntry.Joint.MujocoName);
+      jointMjcf.SetAttribute("coef", $"{fixedTendonEntry.Coefficient}");
+      mjcf.AppendChild(jointMjcf);
+    }
+    if (RangeLower > RangeUpper) {
+      throw new ArgumentException("Lower range value can't be bigger than Higher");
+    }
+    mjcf.SetAttribute("range", $"{RangeLower} {RangeUpper}");
+
+    return mjcf;
+  }
+
+  public void OnValidate() {
+    foreach (FixedTendonEntry fixedTendonEntry in JointList) {
+      if (!(fixedTendonEntry.Joint is MjHingeJoint) &&
+          !(fixedTendonEntry.Joint is MjSlideJoint)) {
+        Debug.LogError("Only scalar joints (hinge or slide) are allowed.", this);
+        fixedTendonEntry.Joint = null;
+      }
+    }
+  }
+}
+}