Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:10 -07:00
parent 0e5d062302
commit 1913a02b40
275 changed files with 99607 additions and 935 deletions
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+// Copyright 2021 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.
+
+#ifndef MUJOCO_SRC_ENGINE_ENGINE_IO_H_
+#define MUJOCO_SRC_ENGINE_ENGINE_IO_H_
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjexport.h>
+#include <mujoco/mjmodel.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//------------------------------- initialization ---------------------------------------------------
+
+// Set default options for length range computation.
+MJAPI void mj_defaultLROpt(mjLROpt* opt);
+
+// set default solver paramters
+MJAPI void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp);
+
+// set options to default values
+MJAPI void mj_defaultOption(mjOption* opt);
+
+// set visual options to default values
+MJAPI void mj_defaultVisual(mjVisual* vis);
+
+// set statistics to default values; compute later in compiler
+void mj_defaultStatistic(mjStatistic* stat);
+
+
+//------------------------------- mjModel ----------------------------------------------------------
+
+// allocate mjModel
+mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int njnt,
+                      int ngeom, int nsite, int ncam, int nlight,
+                      int nmesh, int nmeshvert, int nmeshtexvert, int nmeshface, int nmeshgraph,
+                      int nskin, int nskinvert, int nskintexvert, int nskinface,
+                      int nskinbone, int nskinbonevert, int nhfield, int nhfielddata,
+                      int ntex, int ntexdata, int nmat, int npair, int nexclude,
+                      int neq, int ntendon, int nwrap, int nsensor,
+                      int nnumeric, int nnumericdata, int ntext, int ntextdata,
+                      int ntuple, int ntupledata, int nkey, int nmocap,
+                      int nuser_body, int nuser_jnt, int nuser_geom, int nuser_site, int nuser_cam,
+                      int nuser_tendon, int nuser_actuator, int nuser_sensor, int nnames);
+
+// copy mjModel; allocate new if dest is NULL
+MJAPI mjModel* mj_copyModel(mjModel* dest, const mjModel* src);
+
+// save model to binary file
+MJAPI void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buffer_sz);
+
+// load model from binary MJB file
+//  if vfs is not NULL, look up file in vfs before reading from disk
+MJAPI mjModel* mj_loadModel(const char* filename, const mjVFS* vfs);
+
+// de-allocate model
+MJAPI void mj_deleteModel(mjModel* m);
+
+// size of buffer needed to hold model
+MJAPI int mj_sizeModel(const mjModel* m);
+
+// validate reference fields in a model; return null if valid, error message otherwise
+MJAPI const char* mj_validateReferences(const mjModel* m);
+
+
+//------------------------------- mjData -----------------------------------------------------------
+
+// Allocate mjData correponding to given model.
+// If the model buffer is unallocated the initial configuration will not be set.
+MJAPI mjData* mj_makeData(const mjModel* m);
+
+// Copy mjData.
+// m is only required to contain the size fields from MJMODEL_INTS.
+MJAPI mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src);
+
+// set data to defaults
+MJAPI void mj_resetData(const mjModel* m, mjData* d);
+
+// set data to defaults, fill everything else with debug_value
+MJAPI void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_value);
+
+// reset data, set fields from specified keyframe
+MJAPI void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
+
+// mjData stack allocate
+MJAPI mjtNum* mj_stackAlloc(mjData* d, int size);
+
+// de-allocate data
+MJAPI void mj_deleteData(mjData* d);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // MUJOCO_SRC_ENGINE_ENGINE_IO_H_