Convert user_api header and user_init source files to valid C code.
PiperOrigin-RevId: 629691192 Change-Id: I9be78aca27ae584fff0b733e9015b2bb3b927ca4
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
8d1f65c01a
commit
1b70907060
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// Copyright 2024 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <string.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjvisualize.h>
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#include "engine/engine_io.h"
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#include "user/user_api.h"
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// default model attributes
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void mjs_defaultSpec(mjSpec* spec) {
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memset(spec, 0, sizeof(mjSpec));
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// default statistics
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spec->stat.meaninertia = mjNAN;
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spec->stat.meanmass = mjNAN;
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spec->stat.meansize = mjNAN;
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spec->stat.extent = mjNAN;
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spec->stat.center[0] = mjNAN;
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// compiler settings
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spec->autolimits = 1;
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spec->settotalmass = -1;
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spec->degree = 1;
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spec->euler[0] = 'x';
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spec->euler[1] = 'y';
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spec->euler[2] = 'z';
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spec->convexhull = 1;
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spec->usethread = 1;
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spec->inertiafromgeom = mjINERTIAFROMGEOM_AUTO;
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spec->inertiagrouprange[1] = mjNGROUP-1;
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mj_defaultLROpt(&spec->LRopt);
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// engine data
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mj_defaultOption(&spec->option);
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mj_defaultVisual(&spec->visual);
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spec->memory = -1;
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spec->njmax = -1;
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spec->nconmax = -1;
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spec->nstack = -1;
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// user fields
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spec->nuser_body = -1;
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spec->nuser_jnt = -1;
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spec->nuser_geom = -1;
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spec->nuser_site = -1;
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spec->nuser_cam = -1;
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spec->nuser_tendon = -1;
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spec->nuser_actuator = -1;
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spec->nuser_sensor = -1;
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}
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// default orientation attributes
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void mjs_defaultOrientation(mjsOrientation* orient) {
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memset(orient, 0, sizeof(mjsOrientation));
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}
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// default body attributes
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void mjs_defaultBody(mjsBody* body) {
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memset(body, 0, sizeof(mjsBody));
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// body frame
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body->pos[0] = mjNAN;
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body->quat[0] = 1;
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// inertial frame
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body->ipos[0] = mjNAN;
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body->iquat[0] = 1;
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body->fullinertia[0] = mjNAN;
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}
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// default frame attributes
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void mjs_defaultFrame(mjsFrame* frame) {
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memset(frame, 0, sizeof(mjsFrame));
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frame->quat[0] = 1;
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}
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// default joint attributes
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void mjs_defaultJoint(mjsJoint* joint) {
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memset(joint, 0, sizeof(mjsJoint));
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joint->type = mjJNT_HINGE;
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joint->axis[2] = 1;
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joint->limited = mjLIMITED_AUTO;
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joint->actfrclimited = mjLIMITED_AUTO;
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mj_defaultSolRefImp(joint->solref_limit, joint->solimp_limit);
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mj_defaultSolRefImp(joint->solref_friction, joint->solimp_friction);
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joint->urdfeffort = -1;
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}
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// default geom attributes
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void mjs_defaultGeom(mjsGeom* geom) {
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memset(geom, 0, sizeof(mjsGeom));
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// type
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geom->type = mjGEOM_SPHERE;
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// frame
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geom->quat[0] = 1;
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geom->fromto[0] = mjNAN;
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// contact-related
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geom->contype = 1;
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geom->conaffinity = 1;
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geom->condim = 3;
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geom->friction[0] = 1;
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geom->friction[1] = 0.005;
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geom->friction[2] = 0.0001;
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geom->solmix = 1.0;
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mj_defaultSolRefImp(geom->solref, geom->solimp);
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// inertia-related
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geom->mass = mjNAN;
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geom->density = 1000; // water density (1000 Kg / m^3)
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geom->typeinertia = mjINERTIA_VOLUME;
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// color
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geom->rgba[0] = geom->rgba[1] = geom->rgba[2] = 0.5f;
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geom->rgba[3] = 1.0f;
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// fluid forces
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geom->fluid_coefs[0] = 0.5; // blunt drag
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geom->fluid_coefs[1] = 0.25; // slender drag
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geom->fluid_coefs[2] = 1.5; // angular drag
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geom->fluid_coefs[3] = 1.0; // kutta lift
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geom->fluid_coefs[4] = 1.0; // magnus lift
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// other
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geom->fitscale = 1;
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}
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// default site attributes
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void mjs_defaultSite(mjsSite* site) {
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memset(site, 0, sizeof(mjsSite));
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// type
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site->type = mjGEOM_SPHERE;
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// frame
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site->quat[0] = 1;
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site->size[0] = site->size[1] = site->size[2] = 0.005;
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site->fromto[0] = mjNAN;
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// color
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site->rgba[0] = site->rgba[1] = site->rgba[2] = 0.5f;
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site->rgba[3] = 1.0f;
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}
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// default cam attributes
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void mjs_defaultCamera(mjsCamera* cam) {
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memset(cam, 0, sizeof(mjsCamera));
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// mode
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cam->mode = mjCAMLIGHT_FIXED;
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// extrinsics
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cam->quat[0] = 1;
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// intrinsics
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cam->fovy = 45;
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cam->ipd = 0.068;
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cam->resolution[0] = cam->resolution[1] = 1;
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}
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// default light attributes
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void mjs_defaultLight(mjsLight* light) {
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memset(light, 0, sizeof(mjsLight));
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// mode
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light->mode = mjCAMLIGHT_FIXED;
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// extrinsics
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light->dir[2] = -1;
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// intrinsics
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light->castshadow = 1;
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light->bulbradius = 0.02;
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light->active = 1;
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light->attenuation[0] = 1;
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light->cutoff = 45;
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light->exponent = 10;
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light->diffuse[0] = light->diffuse[1] = light->diffuse[2] = 0.7;
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light->specular[0] = light->specular[1] = light->specular[2] = 0.3;
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}
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// default flex attributes
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void mjs_defaultFlex(mjsFlex* flex) {
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memset(flex, 0, sizeof(mjsFlex));
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// set contact defaults
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flex->contype = 1;
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flex->conaffinity = 1;
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flex->condim = 3;
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flex->friction[0] = 1;
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flex->friction[1] = 0.005;
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flex->friction[2] = 0.0001;
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flex->solmix = 1.0;
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mj_defaultSolRefImp(flex->solref, flex->solimp);
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// set other defaults
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flex->dim = 2;
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flex->radius = 0.005;
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flex->internal = 1;
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flex->selfcollide = mjFLEXSELF_AUTO;
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flex->activelayers = 1;
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flex->rgba[0] = flex->rgba[1] = flex->rgba[2] = 0.5f;
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flex->rgba[3] = 1.0f;
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}
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// default mesh attributes
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void mjs_defaultMesh(mjsMesh* mesh) {
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memset(mesh, 0, sizeof(mjsMesh));
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mesh->refquat[0] = 1;
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mesh->scale[0] = mesh->scale[1] = mesh->scale[2] = 1;
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}
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// default height field attributes
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void mjs_defaultHField(mjsHField* hfield) {
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memset(hfield, 0, sizeof(mjsHField));
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}
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// default skin attributes
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void mjs_defaultSkin(mjsSkin* skin) {
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memset(skin, 0, sizeof(mjsSkin));
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skin->rgba[0] = skin->rgba[1] = skin->rgba[2] = 0.5f;
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skin->rgba[3] = 1.0f;
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}
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// default texture attributes
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void mjs_defaultTexture(mjsTexture* texture) {
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memset(texture, 0, sizeof(mjsTexture));
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texture->type = mjTEXTURE_CUBE;
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texture->rgb1[0] = texture->rgb1[1] = texture->rgb1[2] = 0.8;
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texture->rgb2[0] = texture->rgb2[1] = texture->rgb2[2] = 0.5;
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texture->random = 0.01;
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texture->gridsize[0] = texture->gridsize[1] = 1;
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char defaultlayout[sizeof(texture->gridlayout)] = "............";
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strncpy(texture->gridlayout, defaultlayout, sizeof(texture->gridlayout));
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}
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// default material attributes
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void mjs_defaultMaterial(mjsMaterial* material) {
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memset(material, 0, sizeof(mjsMaterial));
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material->texrepeat[0] = material->texrepeat[1] = 1;
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material->specular = 0.5;
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material->shininess = 0.5;
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material->metallic = 1.;
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material->roughness = 1.0;
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material->rgba[0] = material->rgba[1] = material->rgba[2] = material->rgba[3] = 1;
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}
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// default pair attributes
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void mjs_defaultPair(mjsPair* pair) {
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memset(pair, 0, sizeof(mjsPair));
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pair->condim = 3;
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mj_defaultSolRefImp(pair->solref, pair->solimp);
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pair->friction[0] = 1;
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pair->friction[1] = 1;
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pair->friction[2] = 0.005;
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pair->friction[3] = 0.0001;
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pair->friction[4] = 0.0001;
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}
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// default equality attributes
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void mjs_defaultEquality(mjsEquality* equality) {
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memset(equality, 0, sizeof(mjsEquality));
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equality->type = mjEQ_CONNECT;
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equality->active = 1;
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mj_defaultSolRefImp(equality->solref, equality->solimp);
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equality->data[1] = 1;
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equality->data[10] = 1; // torque:force ratio
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}
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// default tendon attributes
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void mjs_defaultTendon(mjsTendon* tendon) {
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memset(tendon, 0, sizeof(mjsTendon));
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tendon->limited = mjLIMITED_AUTO;
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tendon->springlength[0] = tendon->springlength[1] = -1;
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mj_defaultSolRefImp(tendon->solref_limit, tendon->solimp_limit);
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mj_defaultSolRefImp(tendon->solref_friction, tendon->solimp_friction);
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tendon->width = 0.003;
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tendon->rgba[0] = tendon->rgba[1] = tendon->rgba[2] = 0.5f;
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tendon->rgba[3] = 1.0f;
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}
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// default actuator attributes
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void mjs_defaultActuator(mjsActuator* actuator) {
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memset(actuator, 0, sizeof(mjsActuator));
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// gain, bias
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actuator->gaintype = mjGAIN_FIXED;
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actuator->gainprm[0] = 1;
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actuator->biastype = mjBIAS_NONE;
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// activation state
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actuator->dyntype = mjDYN_NONE;
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actuator->dynprm[0] = 1;
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actuator->actdim = -1;
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// transmission
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actuator->trntype = mjTRN_UNDEFINED;
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actuator->gear[0] = 1;
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// input/output clamping
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actuator->ctrllimited = mjLIMITED_AUTO;
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actuator->forcelimited = mjLIMITED_AUTO;
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actuator->actlimited = mjLIMITED_AUTO;
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}
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// default sensor attributes
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void mjs_defaultSensor(mjsSensor* sensor) {
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memset(sensor, 0, sizeof(mjsSensor));
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sensor->type = mjSENS_TOUCH;
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sensor->datatype = mjDATATYPE_REAL;
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sensor->needstage = mjSTAGE_ACC;
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}
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// Default numeric attributes.
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void mjs_defaultNumeric(mjsNumeric* numeric) {
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memset(numeric, 0, sizeof(mjsNumeric));
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}
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// Default text attributes.
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void mjs_defaultText(mjsText* text) {
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memset(text, 0, sizeof(mjsText));
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}
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// Default tuple attributes.
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void mjs_defaultTuple(mjsTuple* tuple) {
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memset(tuple, 0, sizeof(mjsTuple));
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}
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// Default keyframe attributes.
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void mjs_defaultKey(mjsKey* key) {
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memset(key, 0, sizeof(mjsKey));
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}
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// default plugin attributes
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void mjs_defaultPlugin(mjsPlugin* plugin) {
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memset(plugin, 0, sizeof(mjsPlugin));
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plugin->plugin_slot = -1;
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}
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