Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505

unity/Tests/Editor/components/Equality/MjConnectTests.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 MjConnectTests {
+    private MjBody _body1;
+    private MjBody _body2;
+    private MjConnect _constraint;
+    private XmlDocument _doc;
+
+    [SetUp]
+    public void SetUp() {
+      _body1 = new GameObject("body1").AddComponent<MjBody>();
+      _body2 = new GameObject("body2").AddComponent<MjBody>();
+      _constraint = new GameObject("connect").AddComponent<MjConnect>();
+      _doc = new XmlDocument();
+    }
+
+    [TearDown]
+    public void TearDown() {
+      UnityEngine.Object.DestroyImmediate(_constraint.gameObject);
+      UnityEngine.Object.DestroyImmediate(_body1.gameObject);
+      UnityEngine.Object.DestroyImmediate(_body2.gameObject);
+    }
+
+    [Test]
+    public void ErrorThrownWhenBody1Empty() {
+      // This is an illegal MJCF, but the purpose of this test is to verify that if
+      // the user didn't assign the body in the editor, an error will be thrown when play is hit.
+      _doc.LoadXml("<body/>");
+      _constraint.ParseMjcf(_doc.GetElementsByTagName("body")[0] as XmlElement);
+      Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
+    }
+
+    // In this constraint both elements are required.
+    [Test]
+    public void ErrorThrownWhenBody2Empty() {
+      _doc.LoadXml("<body body1='body1'/>");
+      _constraint.ParseMjcf(_doc.GetElementsByTagName("body")[0] as XmlElement);
+      Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
+    }
+
+    [Test]
+    public void ParseXML() {
+      _doc.LoadXml("<connect body1='body1' body2='body2'/>");
+      _constraint.ParseMjcf(_doc.GetElementsByTagName("connect")[0] as XmlElement);
+      Assert.That(_constraint.Body1, Is.EqualTo(_body1));
+      Assert.That(_constraint.Body2, Is.EqualTo(_body2));
+    }
+
+    [Test]
+    public void GenerateXML() {
+      _constraint.Body1 = _body1;
+      _constraint.Body2 = _body2;
+      var mjcf = _constraint.GenerateMjcf("name", _doc);
+      Assert.That(mjcf.OuterXml, Does.Contain("<connect"));
+      Assert.That(mjcf.OuterXml, Does.Contain("body1=\""));
+      Assert.That(mjcf.OuterXml, Does.Contain("body2=\""));
+    }
+  }
+}

unity/Tests/Editor/components/Equality/MjConnectTests.cs.meta

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unity/Tests/Editor/components/Equality/MjDistanceTests.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 MjDistanceTests {
+    private MjGeom _geom1;
+    private MjGeom _geom2;
+    private MjDistance _distance;
+    private XmlDocument _doc;
+
+    [SetUp]
+    public void SetUp() {
+      _geom1 = new GameObject("geom1").AddComponent<MjGeom>();
+      _geom2 = new GameObject("geom2").AddComponent<MjGeom>();
+      _distance = new GameObject("distance").AddComponent<MjDistance>();
+      _doc = new XmlDocument();
+    }
+
+    [TearDown]
+    public void TearDown() {
+      UnityEngine.Object.DestroyImmediate(_distance.gameObject);
+      UnityEngine.Object.DestroyImmediate(_geom1.gameObject);
+      UnityEngine.Object.DestroyImmediate(_geom2.gameObject);
+    }
+
+    [Test]
+    public void ErrorThrownWhenGeom1Empty() {
+      // This is an illegal MJCF, but the purpose of this test is to verify that if
+      // the user didn't assign the geom in the editor, an error will be thrown when play is hit.
+      _doc.LoadXml("<geom/>");
+      _distance.ParseMjcf(_doc.GetElementsByTagName("geom")[0] as XmlElement);
+      Assert.That(() => { _distance.GenerateMjcf("name", _doc); }, Throws.Exception);
+    }
+
+    // In this constraint both elements are required.
+    [Test]
+    public void ErrorThrownWhenGeom2Empty() {
+      _doc.LoadXml("<geom geom1='geom1'/>");
+      _distance.ParseMjcf(_doc.GetElementsByTagName("geom")[0] as XmlElement);
+      Assert.That(() => { _distance.GenerateMjcf("name", _doc); }, Throws.Exception);
+    }
+
+    [Test]
+    public void ParseAndGenerate() {
+      _doc.LoadXml("<distance geom1='geom1' geom2='geom2'/>");
+      _distance.ParseMjcf(_doc.GetElementsByTagName("distance")[0] as XmlElement);
+      Assert.That(_distance.Geom1, Is.EqualTo(_geom1));
+      Assert.That(_distance.Geom2, Is.EqualTo(_geom2));
+      var mjcf = _distance.GenerateMjcf("name", _doc);
+      Assert.That(mjcf.OuterXml, Does.Contain("<distance"));
+      Assert.That(mjcf.OuterXml, Does.Contain("geom1=\""));
+      Assert.That(mjcf.OuterXml, Does.Contain("geom2=\""));
+    }
+  }
+}

unity/Tests/Editor/components/Equality/MjDistanceTests.cs.meta

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unity/Tests/Editor/components/Equality/MjJointConstraintTests.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 MjJointConstraintTests {
+    private MjHingeJoint _joint1;
+    private MjHingeJoint _joint2;
+    private MjJointConstraint _constraint;
+    private XmlDocument _doc;
+
+    [SetUp]
+    public void SetUp() {
+      _joint1 = new GameObject("joint1").AddComponent<MjHingeJoint>();
+      _joint2 = new GameObject("joint2").AddComponent<MjHingeJoint>();
+      _constraint = new GameObject("joint").AddComponent<MjJointConstraint>();
+      _doc = new XmlDocument();
+    }
+
+    [TearDown]
+    public void TearDown() {
+      UnityEngine.Object.DestroyImmediate(_constraint.gameObject);
+      UnityEngine.Object.DestroyImmediate(_joint1.gameObject);
+      UnityEngine.Object.DestroyImmediate(_joint2.gameObject);
+    }
+
+    [Test]
+    public void ErrorThrownWhenJoint1Empty() {
+      // This is an illegal MJCF, but the purpose of this test is to verify that if
+      // the user didn't assign the joint in the editor, an error will be thrown when play is hit.
+      _doc.LoadXml("<joint/>");
+      _constraint.ParseMjcf(_doc.GetElementsByTagName("joint")[0] as XmlElement);
+      Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
+    }
+
+    [Test]
+    public void Joint2Empty() {
+      _doc.LoadXml("<joint joint1='joint1'/>");
+      _constraint.ParseMjcf(_doc.GetElementsByTagName("joint")[0] as XmlElement);
+      _constraint.GenerateMjcf("name", _doc);
+    }
+
+    [Test]
+    public void ParseAllSettings() {
+      _doc.LoadXml("<joint joint1='joint1' joint2='joint2'/>");
+      _constraint.ParseMjcf(_doc.GetElementsByTagName("joint")[0] as XmlElement);
+      Assert.That(_constraint.Joint1, Is.EqualTo(_joint1));
+      Assert.That(_constraint.Joint2, Is.EqualTo(_joint2));
+    }
+  }
+}

unity/Tests/Editor/components/Equality/MjJointConstraintTests.cs.meta

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unity/Tests/Editor/components/Equality/MjTendonConstraintTests.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 MjTendonConstraintTests {
+    private MjFixedTendon _tendon1;
+    private MjFixedTendon _tendon2;
+    private MjTendonConstraint _constraint;
+    private XmlDocument _doc;
+
+    [SetUp]
+    public void SetUp() {
+      _tendon1 = new GameObject("tendon1").AddComponent<MjFixedTendon>();
+      _tendon2 = new GameObject("tendon2").AddComponent<MjFixedTendon>();
+      _constraint = new GameObject("tendon").AddComponent<MjTendonConstraint>();
+      _doc = new XmlDocument();
+    }
+
+    [TearDown]
+    public void TearDown() {
+      UnityEngine.Object.DestroyImmediate(_constraint.gameObject);
+      UnityEngine.Object.DestroyImmediate(_tendon1.gameObject);
+      UnityEngine.Object.DestroyImmediate(_tendon2.gameObject);
+    }
+
+    [Test]
+    public void ErrorThrownWhenTendon1Empty() {
+      // This is an illegal MJCF, but the purpose of this test is to verify that if
+      // the user didn't assign the tendon in the editor, an error will be thrown when play is hit.
+      _doc.LoadXml("<tendon/>");
+      _constraint.ParseMjcf(_doc.GetElementsByTagName("tendon")[0] as XmlElement);
+      Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
+    }
+
+    [Test]
+    public void Tendon2Empty() {
+      _doc.LoadXml("<tendon tendon1='tendon1'/>");
+      _constraint.ParseMjcf(_doc.GetElementsByTagName("tendon")[0] as XmlElement);
+      _constraint.GenerateMjcf("name", _doc);
+    }
+
+    [Test]
+    public void ParseAllSettings() {
+      _doc.LoadXml("<tendon tendon1='tendon1' tendon2='tendon2'/>");
+      _constraint.ParseMjcf(_doc.GetElementsByTagName("tendon")[0] as XmlElement);
+      Assert.That(_constraint.Tendon1, Is.EqualTo(_tendon1));
+      Assert.That(_constraint.Tendon2, Is.EqualTo(_tendon2));
+    }
+  }
+}

unity/Tests/Editor/components/Equality/MjTendonConstraintTests.cs.meta

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unity/Tests/Editor/components/Equality/MjWeldTests.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 MjWeldTests {
+    private MjBody _body1;
+    private MjBody _body2;
+    private MjWeld _constraint;
+    private XmlDocument _doc;
+
+    [SetUp]
+    public void SetUp() {
+      _body1 = new GameObject("body1").AddComponent<MjBody>();
+      _body2 = new GameObject("body2").AddComponent<MjBody>();
+      _constraint = new GameObject("weld").AddComponent<MjWeld>();
+      _doc = new XmlDocument();
+    }
+
+    [TearDown]
+    public void TearDown() {
+      UnityEngine.Object.DestroyImmediate(_constraint.gameObject);
+      UnityEngine.Object.DestroyImmediate(_body1.gameObject);
+      UnityEngine.Object.DestroyImmediate(_body2.gameObject);
+    }
+
+    [Test]
+    public void ParseXML() {
+      _doc.LoadXml("<weld body1='body1' body2='body2'/>");
+      _constraint.ParseMjcf(_doc.GetElementsByTagName("weld")[0] as XmlElement);
+      Assert.That(_constraint.Body1, Is.EqualTo(_body1));
+      Assert.That(_constraint.Body2, Is.EqualTo(_body2));
+    }
+
+    [Test]
+    public void GenerateXML() {
+      _constraint.Body1 = _body1;
+      _constraint.Body2 = _body2;
+      var mjcf = _constraint.GenerateMjcf("name", _doc);
+      Assert.That(mjcf.OuterXml, Does.Contain("<weld"));
+      Assert.That(mjcf.OuterXml, Does.Contain("body1=\""));
+      Assert.That(mjcf.OuterXml, Does.Contain("body2=\""));
+    }
+
+    [Test]
+    public void ErrorThrownWhenBody1Empty() {
+      // This is an illegal MJCF, but the purpose of this test is to verify that if
+      // the user didn't assign the body in the editor, an error will be thrown when play is hit.
+      _doc.LoadXml("<weld/>");
+      _constraint.ParseMjcf(_doc.GetElementsByTagName("weld")[0] as XmlElement);
+      Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
+    }
+
+    // In this constraint both elements are required.
+    [Test]
+    public void ErrorThrownWhenBody2Empty() {
+      _doc.LoadXml("<weld body1='body1'/>");
+      _constraint.ParseMjcf(_doc.GetElementsByTagName("weld")[0] as XmlElement);
+      Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
+    }
+  }
+}

unity/Tests/Editor/components/Equality/MjWeldTests.cs.meta

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