Version 2.1: documentation, public API headers, and sample programs.
PiperOrigin-RevId: 403900419
This commit is contained in:
Saran Tunyasuvunakool
@@ -0,0 +1,15 @@
|
||||
# Read the Docs configuration file
|
||||
# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
|
||||
|
||||
version: 2
|
||||
|
||||
sphinx:
|
||||
builder: html
|
||||
configuration: doc/conf.py
|
||||
fail_on_warning: false
|
||||
|
||||
python:
|
||||
version: 3.7
|
||||
install:
|
||||
- requirements: doc/requirements.txt
|
||||
|
||||
@@ -0,0 +1,26 @@
|
||||
# How to Contribute
|
||||
|
||||
We are in the process of preparing the MuJoCo codebase for open-sourcing.
|
||||
When that happens, we will be grateful to receive your contributions.
|
||||
Until then, you are welcome to participate in discussions, post
|
||||
issues on our tracker, or send us pull requests to improve the sample program
|
||||
code or documentation.
|
||||
|
||||
## Contributor License Agreement
|
||||
|
||||
Contributions to this project must be accompanied by a Contributor License
|
||||
Agreement. You (or your employer) retain the copyright to your contribution,
|
||||
this simply gives us permission to use and redistribute your contributions as
|
||||
part of the project. Head over to <https://cla.developers.google.com/> to see
|
||||
your current agreements on file or to sign a new one.
|
||||
|
||||
You generally only need to submit a CLA once, so if you've already submitted one
|
||||
(even if it was for a different project), you probably don't need to do it
|
||||
again.
|
||||
|
||||
## Code reviews
|
||||
|
||||
All submissions require review. Please use GitHub pull requests for this
|
||||
purpose. Consult
|
||||
[GitHub Help](https://help.github.com/articles/about-pull-requests/) for more
|
||||
information on pull requests.
|
||||
@@ -0,0 +1,202 @@
|
||||
|
||||
Apache License
|
||||
Version 2.0, January 2004
|
||||
http://www.apache.org/licenses/
|
||||
|
||||
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
|
||||
|
||||
1. Definitions.
|
||||
|
||||
"License" shall mean the terms and conditions for use, reproduction,
|
||||
and distribution as defined by Sections 1 through 9 of this document.
|
||||
|
||||
"Licensor" shall mean the copyright owner or entity authorized by
|
||||
the copyright owner that is granting the License.
|
||||
|
||||
"Legal Entity" shall mean the union of the acting entity and all
|
||||
other entities that control, are controlled by, or are under common
|
||||
control with that entity. For the purposes of this definition,
|
||||
"control" means (i) the power, direct or indirect, to cause the
|
||||
direction or management of such entity, whether by contract or
|
||||
otherwise, or (ii) ownership of fifty percent (50%) or more of the
|
||||
outstanding shares, or (iii) beneficial ownership of such entity.
|
||||
|
||||
"You" (or "Your") shall mean an individual or Legal Entity
|
||||
exercising permissions granted by this License.
|
||||
|
||||
"Source" form shall mean the preferred form for making modifications,
|
||||
including but not limited to software source code, documentation
|
||||
source, and configuration files.
|
||||
|
||||
"Object" form shall mean any form resulting from mechanical
|
||||
transformation or translation of a Source form, including but
|
||||
not limited to compiled object code, generated documentation,
|
||||
and conversions to other media types.
|
||||
|
||||
"Work" shall mean the work of authorship, whether in Source or
|
||||
Object form, made available under the License, as indicated by a
|
||||
copyright notice that is included in or attached to the work
|
||||
(an example is provided in the Appendix below).
|
||||
|
||||
"Derivative Works" shall mean any work, whether in Source or Object
|
||||
form, that is based on (or derived from) the Work and for which the
|
||||
editorial revisions, annotations, elaborations, or other modifications
|
||||
represent, as a whole, an original work of authorship. For the purposes
|
||||
of this License, Derivative Works shall not include works that remain
|
||||
separable from, or merely link (or bind by name) to the interfaces of,
|
||||
the Work and Derivative Works thereof.
|
||||
|
||||
"Contribution" shall mean any work of authorship, including
|
||||
the original version of the Work and any modifications or additions
|
||||
to that Work or Derivative Works thereof, that is intentionally
|
||||
submitted to Licensor for inclusion in the Work by the copyright owner
|
||||
or by an individual or Legal Entity authorized to submit on behalf of
|
||||
the copyright owner. For the purposes of this definition, "submitted"
|
||||
means any form of electronic, verbal, or written communication sent
|
||||
to the Licensor or its representatives, including but not limited to
|
||||
communication on electronic mailing lists, source code control systems,
|
||||
and issue tracking systems that are managed by, or on behalf of, the
|
||||
Licensor for the purpose of discussing and improving the Work, but
|
||||
excluding communication that is conspicuously marked or otherwise
|
||||
designated in writing by the copyright owner as "Not a Contribution."
|
||||
|
||||
"Contributor" shall mean Licensor and any individual or Legal Entity
|
||||
on behalf of whom a Contribution has been received by Licensor and
|
||||
subsequently incorporated within the Work.
|
||||
|
||||
2. Grant of Copyright License. Subject to the terms and conditions of
|
||||
this License, each Contributor hereby grants to You a perpetual,
|
||||
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
|
||||
copyright license to reproduce, prepare Derivative Works of,
|
||||
publicly display, publicly perform, sublicense, and distribute the
|
||||
Work and such Derivative Works in Source or Object form.
|
||||
|
||||
3. Grant of Patent License. Subject to the terms and conditions of
|
||||
this License, each Contributor hereby grants to You a perpetual,
|
||||
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
|
||||
(except as stated in this section) patent license to make, have made,
|
||||
use, offer to sell, sell, import, and otherwise transfer the Work,
|
||||
where such license applies only to those patent claims licensable
|
||||
by such Contributor that are necessarily infringed by their
|
||||
Contribution(s) alone or by combination of their Contribution(s)
|
||||
with the Work to which such Contribution(s) was submitted. If You
|
||||
institute patent litigation against any entity (including a
|
||||
cross-claim or counterclaim in a lawsuit) alleging that the Work
|
||||
or a Contribution incorporated within the Work constitutes direct
|
||||
or contributory patent infringement, then any patent licenses
|
||||
granted to You under this License for that Work shall terminate
|
||||
as of the date such litigation is filed.
|
||||
|
||||
4. Redistribution. You may reproduce and distribute copies of the
|
||||
Work or Derivative Works thereof in any medium, with or without
|
||||
modifications, and in Source or Object form, provided that You
|
||||
meet the following conditions:
|
||||
|
||||
(a) You must give any other recipients of the Work or
|
||||
Derivative Works a copy of this License; and
|
||||
|
||||
(b) You must cause any modified files to carry prominent notices
|
||||
stating that You changed the files; and
|
||||
|
||||
(c) You must retain, in the Source form of any Derivative Works
|
||||
that You distribute, all copyright, patent, trademark, and
|
||||
attribution notices from the Source form of the Work,
|
||||
excluding those notices that do not pertain to any part of
|
||||
the Derivative Works; and
|
||||
|
||||
(d) If the Work includes a "NOTICE" text file as part of its
|
||||
distribution, then any Derivative Works that You distribute must
|
||||
include a readable copy of the attribution notices contained
|
||||
within such NOTICE file, excluding those notices that do not
|
||||
pertain to any part of the Derivative Works, in at least one
|
||||
of the following places: within a NOTICE text file distributed
|
||||
as part of the Derivative Works; within the Source form or
|
||||
documentation, if provided along with the Derivative Works; or,
|
||||
within a display generated by the Derivative Works, if and
|
||||
wherever such third-party notices normally appear. The contents
|
||||
of the NOTICE file are for informational purposes only and
|
||||
do not modify the License. You may add Your own attribution
|
||||
notices within Derivative Works that You distribute, alongside
|
||||
or as an addendum to the NOTICE text from the Work, provided
|
||||
that such additional attribution notices cannot be construed
|
||||
as modifying the License.
|
||||
|
||||
You may add Your own copyright statement to Your modifications and
|
||||
may provide additional or different license terms and conditions
|
||||
for use, reproduction, or distribution of Your modifications, or
|
||||
for any such Derivative Works as a whole, provided Your use,
|
||||
reproduction, and distribution of the Work otherwise complies with
|
||||
the conditions stated in this License.
|
||||
|
||||
5. Submission of Contributions. Unless You explicitly state otherwise,
|
||||
any Contribution intentionally submitted for inclusion in the Work
|
||||
by You to the Licensor shall be under the terms and conditions of
|
||||
this License, without any additional terms or conditions.
|
||||
Notwithstanding the above, nothing herein shall supersede or modify
|
||||
the terms of any separate license agreement you may have executed
|
||||
with Licensor regarding such Contributions.
|
||||
|
||||
6. Trademarks. This License does not grant permission to use the trade
|
||||
names, trademarks, service marks, or product names of the Licensor,
|
||||
except as required for reasonable and customary use in describing the
|
||||
origin of the Work and reproducing the content of the NOTICE file.
|
||||
|
||||
7. Disclaimer of Warranty. Unless required by applicable law or
|
||||
agreed to in writing, Licensor provides the Work (and each
|
||||
Contributor provides its Contributions) on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
|
||||
implied, including, without limitation, any warranties or conditions
|
||||
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
|
||||
PARTICULAR PURPOSE. You are solely responsible for determining the
|
||||
appropriateness of using or redistributing the Work and assume any
|
||||
risks associated with Your exercise of permissions under this License.
|
||||
|
||||
8. Limitation of Liability. In no event and under no legal theory,
|
||||
whether in tort (including negligence), contract, or otherwise,
|
||||
unless required by applicable law (such as deliberate and grossly
|
||||
negligent acts) or agreed to in writing, shall any Contributor be
|
||||
liable to You for damages, including any direct, indirect, special,
|
||||
incidental, or consequential damages of any character arising as a
|
||||
result of this License or out of the use or inability to use the
|
||||
Work (including but not limited to damages for loss of goodwill,
|
||||
work stoppage, computer failure or malfunction, or any and all
|
||||
other commercial damages or losses), even if such Contributor
|
||||
has been advised of the possibility of such damages.
|
||||
|
||||
9. Accepting Warranty or Additional Liability. While redistributing
|
||||
the Work or Derivative Works thereof, You may choose to offer,
|
||||
and charge a fee for, acceptance of support, warranty, indemnity,
|
||||
or other liability obligations and/or rights consistent with this
|
||||
License. However, in accepting such obligations, You may act only
|
||||
on Your own behalf and on Your sole responsibility, not on behalf
|
||||
of any other Contributor, and only if You agree to indemnify,
|
||||
defend, and hold each Contributor harmless for any liability
|
||||
incurred by, or claims asserted against, such Contributor by reason
|
||||
of your accepting any such warranty or additional liability.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
APPENDIX: How to apply the Apache License to your work.
|
||||
|
||||
To apply the Apache License to your work, attach the following
|
||||
boilerplate notice, with the fields enclosed by brackets "[]"
|
||||
replaced with your own identifying information. (Don't include
|
||||
the brackets!) The text should be enclosed in the appropriate
|
||||
comment syntax for the file format. We also recommend that a
|
||||
file or class name and description of purpose be included on the
|
||||
same "printed page" as the copyright notice for easier
|
||||
identification within third-party archives.
|
||||
|
||||
Copyright [yyyy] [name of copyright owner]
|
||||
|
||||
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.
|
||||
@@ -0,0 +1,106 @@
|
||||
# MuJoCo Physics
|
||||
|
||||
**MuJoCo** stands for **Mu**lti-**Jo**int dynamics with **Co**ntact. It is a
|
||||
general purpose physics engine that aims to facilitate research and development
|
||||
in robotics, biomechanics, graphics and animation, machine learning, and other
|
||||
areas which demand fast and accurate simulation of articulated structures
|
||||
interacting with their environment.
|
||||
|
||||
DeepMind has acquired MuJoCo, and we are currently making preparations to open
|
||||
source the codebase. In the meantime, MuJoCo is available for download as a free
|
||||
and unrestricted precompiled binary under the Apache 2.0 license from
|
||||
[mujoco.org](https://mujoco.org/).
|
||||
|
||||
MuJoCo's source code will be released through this GitHub repository once it is
|
||||
ready. In the meantime, the repository hosts MuJoCo's documentation, C header
|
||||
files for its public API, and sample program code. If you wish to report bugs or
|
||||
make feature requests, please file them as [GitHub Issues]. You are also
|
||||
welcome to make pull requests for the [documentation source files].
|
||||
|
||||
## Overview
|
||||
|
||||
MuJoCo is a C/C++ library with a C API, intended for researchers and developers.
|
||||
The runtime simulation module is tuned to maximize performance and operates on
|
||||
low-level data structures which are preallocated by the built-in XML parser and
|
||||
compiler. The user defines models in the native MJCF scene description language
|
||||
-- an XML file format designed to be as human readable and editable as possible.
|
||||
URDF model files can also be loaded. The library includes interactive
|
||||
visualization with a native GUI, rendered in OpenGL. MuJoCo further exposes a
|
||||
large number of utility functions for computing physics-related quantities, not
|
||||
necessarily in a simulation loop. Features include
|
||||
|
||||
- Simulation in generalized coordinates, avoiding joint violations.
|
||||
|
||||
- Inverse dynamics that are well-defined even in the presence of contacts.
|
||||
|
||||
- Unified continuous-time formulation of constraints via convex optimization.
|
||||
|
||||
- Constraints include soft contacts, limits, dry friction, equality
|
||||
constraints.
|
||||
|
||||
- Simulation of particle systems, cloth, rope and soft objects.
|
||||
|
||||
- Actuators including motors, cylinders, muscles, tendons, slider-cranks.
|
||||
|
||||
- Choice of Newton, Conjugate Gradient, or Projected Gauss-Seidel solvers.
|
||||
|
||||
- Choice of pyramidal or elliptic friction cones, dense or sparse Jacobians.
|
||||
|
||||
- Choice of Euler or Runge-Kutta numerical integrators.
|
||||
|
||||
- Multi-threaded sampling and finite-difference approximations.
|
||||
|
||||
- Intuitive XML model format (called MJCF) and built-in model compiler.
|
||||
|
||||
- Cross-platform GUI with interactive 3D visualization in OpenGL.
|
||||
|
||||
- Run-time module written in ANSI C and hand-tuned for performance.
|
||||
|
||||
|
||||
## Requirements
|
||||
|
||||
MuJoCo binaries are currently built for Linux, macOS (Intel), and Windows.
|
||||
|
||||
|
||||
## Documentation
|
||||
|
||||
MuJoco's current documentation is available at [mujoco.org/book], which is
|
||||
serving Sphinx-based webpages derived from the ReStructuredText
|
||||
[documentation source files].
|
||||
|
||||
|
||||
## Citation
|
||||
|
||||
If you use MuJoCo for published research, please cite:
|
||||
|
||||
```
|
||||
@inproceedings{todorov2012mujoco,
|
||||
title={Mujoco: A physics engine for model-based control},
|
||||
author={Todorov, Emanuel and Erez, Tom and Tassa, Yuval},
|
||||
booktitle={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
|
||||
pages={5026--5033},
|
||||
year={2012},
|
||||
organization={IEEE}
|
||||
}
|
||||
```
|
||||
|
||||
|
||||
## License and Disclaimer
|
||||
|
||||
Copyright 2021 DeepMind Technologies Limited
|
||||
|
||||
ReStructuredText documents, images, and videos in the `doc` directory are made
|
||||
available under the terms of the Creative Commons Attribution 4.0 (CC BY 4.0)
|
||||
license. You may obtain a copy of the License at
|
||||
https://creativecommons.org/licenses/by/4.0/legalcode.
|
||||
|
||||
Source code is licensed under the Apache License, Version 2.0. You may obtain a
|
||||
copy of the License at https://www.apache.org/licenses/LICENSE-2.0.
|
||||
|
||||
This is not an officially supported Google product.
|
||||
|
||||
|
||||
[GitHub Issues]: https://github.com/deepmind/mujoco/issues
|
||||
[documentation source files]: https://github.com/deepmind/mujoco/tree/main/doc
|
||||
[mujoco.org/book]: https://mujoco.org/book
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,18 @@
|
||||
# Minimal makefile for Sphinx documentation
|
||||
|
||||
# You can set these variables from the command line.
|
||||
SPHINXOPTS =
|
||||
SPHINXBUILD = sphinx-build
|
||||
SOURCEDIR = .
|
||||
BUILDDIR = _build
|
||||
|
||||
# Put it first so that "make" without argument is like "make help".
|
||||
help:
|
||||
@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
|
||||
|
||||
.PHONY: help Makefile
|
||||
|
||||
# Catch-all target: route all unknown targets to Sphinx using the new
|
||||
# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS).
|
||||
%: Makefile
|
||||
@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
|
||||
File diff suppressed because it is too large
Load Diff
Vendored
+130
@@ -0,0 +1,130 @@
|
||||
% Force-Length-Velocity function of MuJoCo muscle model
|
||||
% Defaults: FLV(0.5, 1.6, 1.5, 1.3, 1.2)
|
||||
|
||||
|
||||
function FLV(lmin, lmax, vmax, fpmax, fvmax)
|
||||
|
||||
% derived quantities
|
||||
a = 0.5*(lmin+1);
|
||||
b = 0.5*(1+lmax);
|
||||
c = fvmax-1;
|
||||
|
||||
% length and velocity ranges to plot
|
||||
LL = linspace(lmin, lmax, 51);
|
||||
VV = linspace(-vmax, vmax, 51);
|
||||
|
||||
% length-passive
|
||||
FP = zeros(size(LL));
|
||||
for i=1:length(LL)
|
||||
L = LL(i);
|
||||
|
||||
if L<=1
|
||||
FP(i) = 0;
|
||||
elseif L<=b
|
||||
x = (L-1)/(b-1);
|
||||
FP(i) = 0.25*fpmax*x*x*x;
|
||||
else
|
||||
x = (L-b)/(b-1);
|
||||
FP(i) = 0.25*fpmax*(1+3*x);
|
||||
end
|
||||
end
|
||||
|
||||
% length-active
|
||||
FL = zeros(size(LL));
|
||||
for i=1:length(LL)
|
||||
L = LL(i);
|
||||
|
||||
FL(i) = bump(L, lmin, 1, lmax) + 0.15*bump(L, lmin, 0.5*(lmin+0.95), 0.95);
|
||||
end
|
||||
|
||||
% velocity-active
|
||||
FV = zeros(size(VV));
|
||||
for i=1:length(VV)
|
||||
V = VV(i)/vmax;
|
||||
|
||||
if V<=-1
|
||||
FV(i) = 0;
|
||||
elseif V<=0
|
||||
FV(i) = (V+1)*(V+1);
|
||||
elseif V<=c
|
||||
FV(i) = fvmax - (c-V)*(c-V)/c;
|
||||
else
|
||||
FV(i) = fvmax;
|
||||
end
|
||||
end
|
||||
|
||||
% plot length
|
||||
figure(1);
|
||||
clf;
|
||||
subplot(2,2,1);
|
||||
plot(LL, FL, 'r', 'linewidth', 1);
|
||||
hold on;
|
||||
plot(LL, 0.5*FL, 'b', 'linewidth', 1);
|
||||
plot(LL, FP, 'k', 'linewidth', 1);
|
||||
axis tight;
|
||||
xlabel('length (L0)');
|
||||
ylabel('force (F0)');
|
||||
text(0.9, 0.85, 'act = 1.0');
|
||||
text(0.9, 0.4, 'act = 0.5');
|
||||
text(1.3, 1.2, 'passive');
|
||||
box off;
|
||||
grid on;
|
||||
set(gca, 'xtick', [lmin 1 lmax], 'xticklabel', {'lmin', '1', 'lmax'}, ...
|
||||
'ytick', [0 1 fpmax], 'yticklabel', {'0', '1', 'fpmax'});
|
||||
|
||||
% plot velocity
|
||||
subplot(2,2,2);
|
||||
set( plot(VV, FV, 'linewidth', 1), 'color', [.1 .5 .1]);
|
||||
axis tight;
|
||||
xlabel('velocity (L0/s)');
|
||||
ylabel('force (F0)');
|
||||
box off;
|
||||
grid on;
|
||||
set(gca, 'xtick', [-vmax 0 vmax], 'xticklabel', {'-vmax', '0', 'vmax'}, ...
|
||||
'ytick', [0 1 fvmax], 'yticklabel', {'0', '1', 'fvmax'});
|
||||
|
||||
% plot full activation
|
||||
subplot(2,2,3);
|
||||
surf(LL, VV, FV'*FL + ones(size(VV))'*FP);
|
||||
axis tight;
|
||||
xlabel('length');
|
||||
ylabel('velocity');
|
||||
zlabel('force');
|
||||
title('act = 1.0');
|
||||
box off;
|
||||
set(gca, 'xtick', [lmin, 1, lmax], 'ytick', [-vmax, 0, vmax], 'ztick', [0, 1]);
|
||||
|
||||
% plot half activation
|
||||
subplot(2,2,4);
|
||||
surf(LL, VV, 0.5*FV'*FL + ones(size(VV))'*FP);
|
||||
axis tight;
|
||||
xlabel('length');
|
||||
ylabel('velocity');
|
||||
zlabel('force');
|
||||
title('act = 0.5');
|
||||
box off;
|
||||
set(gca, 'xtick', [lmin, 1, lmax], 'ytick', [-vmax, 0, vmax], 'ztick', [0, 1]);
|
||||
end
|
||||
|
||||
|
||||
% skewed bump function: quadratic spline
|
||||
function y = bump(L, A, mid, B)
|
||||
left = 0.5*(A+mid);
|
||||
right = 0.5*(mid+B);
|
||||
|
||||
if (L<=A) || (L>=B)
|
||||
y = 0;
|
||||
elseif L<left
|
||||
x = (L-A)/(left-A);
|
||||
y = 0.5*x*x;
|
||||
elseif L<mid
|
||||
x = (mid-L)/(mid-left);
|
||||
y = 1-0.5*x*x;
|
||||
elseif L<right
|
||||
x = (L-mid)/(right-mid);
|
||||
y = 1-0.5*x*x;
|
||||
else
|
||||
x = (B-L)/(B-right);
|
||||
y = 0.5*x*x;
|
||||
end
|
||||
end
|
||||
Vendored
BIN
Binary file not shown.
|
After Width: | Height: | Size: 1.8 MiB |
Vendored
BIN
Binary file not shown.
Vendored
+42
@@ -0,0 +1,42 @@
|
||||
<mujoco model="example">
|
||||
<compiler coordinate="global"/>
|
||||
|
||||
<default>
|
||||
<geom rgba=".8 .6 .4 1"/>
|
||||
</default>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<light pos="0 1 1" dir="0 -1 -1" diffuse="1 1 1"/>
|
||||
<body>
|
||||
<geom type="capsule" fromto="0 0 1 0 0 0.6" size="0.06"/>
|
||||
<joint type="ball" pos="0 0 1"/>
|
||||
<body>
|
||||
<geom type="capsule" fromto="0 0 0.6 0.3 0 0.6" size="0.04"/>
|
||||
<joint type="hinge" pos="0 0 0.6" axis="0 1 0"/>
|
||||
<joint type="hinge" pos="0 0 0.6" axis="1 0 0"/>
|
||||
<body>
|
||||
<geom type="ellipsoid" pos="0.4 0 0.6" size="0.1 0.08 0.02"/>
|
||||
<site name="end1" pos="0.5 0 0.6" type="sphere" size="0.01"/>
|
||||
<joint type="hinge" pos="0.3 0 0.6" axis="0 1 0"/>
|
||||
<joint type="hinge" pos="0.3 0 0.6" axis="0 0 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body>
|
||||
<geom type="cylinder" fromto="0.5 0 0.2 0.5 0 0" size="0.07"/>
|
||||
<site name="end2" pos="0.5 0 0.2" type="sphere" size="0.01"/>
|
||||
<joint type="free"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<tendon>
|
||||
<spatial limited="true" range="0 0.6" width="0.005">
|
||||
<site site="end1"/>
|
||||
<site site="end2"/>
|
||||
</spatial>
|
||||
</tendon>
|
||||
</mujoco>
|
||||
Vendored
+678
@@ -0,0 +1,678 @@
|
||||
MuJoCo version 2.10
|
||||
model name example
|
||||
|
||||
nq 15
|
||||
nv 13
|
||||
nu 0
|
||||
na 0
|
||||
nbody 5
|
||||
njnt 6
|
||||
ngeom 4
|
||||
nsite 2
|
||||
ncam 0
|
||||
nlight 1
|
||||
nmesh 0
|
||||
nmeshvert 0
|
||||
nmeshface 0
|
||||
nmeshtexvert 0
|
||||
nmeshgraph 0
|
||||
nskin 0
|
||||
nskinvert 0
|
||||
nskintexvert 0
|
||||
nskinface 0
|
||||
nskinbone 0
|
||||
nskinbonevert 0
|
||||
nhfield 0
|
||||
nhfielddata 0
|
||||
ntex 1
|
||||
ntexdata 1179648
|
||||
nmat 0
|
||||
npair 0
|
||||
nexclude 0
|
||||
neq 0
|
||||
ntendon 1
|
||||
nwrap 2
|
||||
nsensor 0
|
||||
nnumeric 0
|
||||
nnumericdata 0
|
||||
ntext 0
|
||||
ntextdata 0
|
||||
ntuple 0
|
||||
ntupledata 0
|
||||
nkey 0
|
||||
nuser_body 0
|
||||
nuser_jnt 0
|
||||
nuser_geom 0
|
||||
nuser_site 0
|
||||
nuser_cam 0
|
||||
nuser_tendon 0
|
||||
nuser_actuator 0
|
||||
nuser_sensor 0
|
||||
nnames 41
|
||||
|
||||
nM 49
|
||||
nemax 0
|
||||
njmax 500
|
||||
nconmax 100
|
||||
nstack 1316805
|
||||
nuserdata 0
|
||||
nmocap 0
|
||||
nsensordata 0
|
||||
nbuffer 1185209
|
||||
|
||||
timestep 0.002
|
||||
apirate 1e+02
|
||||
impratio 1
|
||||
tolerance 1e-08
|
||||
noslip_tolerance 1e-06
|
||||
mpr_tolerance 1e-06
|
||||
gravity 0 0 -9.8
|
||||
wind 0 0 0
|
||||
magnetic 0 -0.5 0
|
||||
density 0
|
||||
viscosity 0
|
||||
o_margin 0
|
||||
o_solref 0.02 1
|
||||
o_solimp 0.9 0.95 0.001 0.5 2
|
||||
integrator 0
|
||||
collision 0
|
||||
collision 0
|
||||
cone 0
|
||||
jacobian 2
|
||||
solver 2
|
||||
iterations 100
|
||||
noslip_iterations 0
|
||||
mpr_iterations 50
|
||||
disableflags 0
|
||||
enableflags 0
|
||||
|
||||
totalmass 11
|
||||
|
||||
meaninertia 0.86
|
||||
meanmass 2.7
|
||||
meansize 0.17
|
||||
extent 1.1
|
||||
center 0.18 0 0.52
|
||||
|
||||
qpos0 1 0 0 0 0 0 0 0 0.5 0 0.1 1 0 0 0
|
||||
|
||||
qpos_spring 1 0 0 0 0 0 0 0 0.5 0 0.1 1 0 0 0
|
||||
|
||||
|
||||
BODY 0:
|
||||
name world
|
||||
parentid 0
|
||||
rootid 0
|
||||
weldid 0
|
||||
mocapid -1
|
||||
jntnum 0
|
||||
jntadr -1
|
||||
dofnum 0
|
||||
dofadr -1
|
||||
geomnum 0
|
||||
geomadr -1
|
||||
simple 1
|
||||
sameframe 1
|
||||
pos 0 0 0
|
||||
quat 1 0 0 0
|
||||
ipos 0 0 0
|
||||
iquat 1 0 0 0
|
||||
mass 0
|
||||
subtreemass 11
|
||||
inertia 0 0 0
|
||||
invweight0 0 0
|
||||
|
||||
BODY 1:
|
||||
name
|
||||
parentid 0
|
||||
rootid 1
|
||||
weldid 1
|
||||
mocapid -1
|
||||
jntnum 1
|
||||
jntadr 0
|
||||
dofnum 3
|
||||
dofadr 0
|
||||
geomnum 1
|
||||
geomadr 0
|
||||
simple 0
|
||||
sameframe 1
|
||||
pos 0 0 0.8
|
||||
quat 1 0 0 0
|
||||
ipos 0 0 0
|
||||
iquat 1 0 0 0
|
||||
mass 5.2
|
||||
subtreemass 7.6
|
||||
inertia 0.096 0.096 0.0094
|
||||
invweight0 0.051 7.3
|
||||
|
||||
BODY 2:
|
||||
name
|
||||
parentid 1
|
||||
rootid 1
|
||||
weldid 2
|
||||
mocapid -1
|
||||
jntnum 2
|
||||
jntadr 1
|
||||
dofnum 2
|
||||
dofadr 3
|
||||
geomnum 1
|
||||
geomadr 1
|
||||
simple 0
|
||||
sameframe 1
|
||||
pos 0.15 0 -0.2
|
||||
quat 0.71 0 -0.71 0
|
||||
ipos 0 0 0
|
||||
iquat 1 0 0 0
|
||||
mass 1.7
|
||||
subtreemass 2.4
|
||||
inertia 0.017 0.017 0.0014
|
||||
invweight0 0.31 1.6e+02
|
||||
|
||||
BODY 3:
|
||||
name
|
||||
parentid 2
|
||||
rootid 1
|
||||
weldid 3
|
||||
mocapid -1
|
||||
jntnum 2
|
||||
jntadr 3
|
||||
dofnum 2
|
||||
dofadr 5
|
||||
geomnum 1
|
||||
geomadr 2
|
||||
simple 0
|
||||
sameframe 1
|
||||
pos 5.6e-17 0 -0.25
|
||||
quat 0.71 0 0.71 0
|
||||
ipos 0 0 0
|
||||
iquat 1 0 0 0
|
||||
mass 0.67
|
||||
subtreemass 0.67
|
||||
inertia 0.00091 0.0014 0.0022
|
||||
invweight0 0.9 2.8e+02
|
||||
|
||||
BODY 4:
|
||||
name
|
||||
parentid 0
|
||||
rootid 4
|
||||
weldid 4
|
||||
mocapid -1
|
||||
jntnum 1
|
||||
jntadr 5
|
||||
dofnum 6
|
||||
dofadr 7
|
||||
geomnum 1
|
||||
geomadr 3
|
||||
simple 1
|
||||
sameframe 1
|
||||
pos 0.5 0 0.1
|
||||
quat 1 0 0 0
|
||||
ipos 0 0 0
|
||||
iquat 1 0 0 0
|
||||
mass 3.1
|
||||
subtreemass 3.1
|
||||
inertia 0.014 0.014 0.0075
|
||||
invweight0 0.32 92
|
||||
|
||||
|
||||
JOINT 0:
|
||||
name
|
||||
type 1
|
||||
qposadr 0
|
||||
dofadr 0
|
||||
bodyid 1
|
||||
group 0
|
||||
limited 0
|
||||
pos 0 0 0.2
|
||||
axis 0 0 1
|
||||
stiffness 0
|
||||
range 0 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
margin 0
|
||||
|
||||
JOINT 1:
|
||||
name
|
||||
type 3
|
||||
qposadr 4
|
||||
dofadr 3
|
||||
bodyid 2
|
||||
group 0
|
||||
limited 0
|
||||
pos -3.3e-17 0 0.15
|
||||
axis 0 1 0
|
||||
stiffness 0
|
||||
range 0 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
margin 0
|
||||
|
||||
JOINT 2:
|
||||
name
|
||||
type 3
|
||||
qposadr 5
|
||||
dofadr 4
|
||||
bodyid 2
|
||||
group 0
|
||||
limited 0
|
||||
pos -3.3e-17 0 0.15
|
||||
axis 2.2e-16 0 -1
|
||||
stiffness 0
|
||||
range 0 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
margin 0
|
||||
|
||||
JOINT 3:
|
||||
name
|
||||
type 3
|
||||
qposadr 6
|
||||
dofadr 5
|
||||
bodyid 3
|
||||
group 0
|
||||
limited 0
|
||||
pos -0.1 0 0
|
||||
axis 0 1 0
|
||||
stiffness 0
|
||||
range 0 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
margin 0
|
||||
|
||||
JOINT 4:
|
||||
name
|
||||
type 3
|
||||
qposadr 7
|
||||
dofadr 6
|
||||
bodyid 3
|
||||
group 0
|
||||
limited 0
|
||||
pos -0.1 0 0
|
||||
axis 0 0 1
|
||||
stiffness 0
|
||||
range 0 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
margin 0
|
||||
|
||||
JOINT 5:
|
||||
name
|
||||
type 0
|
||||
qposadr 8
|
||||
dofadr 7
|
||||
bodyid 4
|
||||
group 0
|
||||
limited 0
|
||||
pos 0 0 0
|
||||
axis 0 0 1
|
||||
stiffness 0
|
||||
range 0 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
margin 0
|
||||
|
||||
|
||||
DOF 0:
|
||||
bodyid 1
|
||||
jntid 0
|
||||
parentid -1
|
||||
Madr 0
|
||||
simplenum 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 7.3
|
||||
M0 0.69
|
||||
|
||||
DOF 1:
|
||||
bodyid 1
|
||||
jntid 0
|
||||
parentid 0
|
||||
Madr 1
|
||||
simplenum 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 7.3
|
||||
M0 0.85
|
||||
|
||||
DOF 2:
|
||||
bodyid 1
|
||||
jntid 0
|
||||
parentid 1
|
||||
Madr 3
|
||||
simplenum 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 7.3
|
||||
M0 0.17
|
||||
|
||||
DOF 3:
|
||||
bodyid 2
|
||||
jntid 1
|
||||
parentid 2
|
||||
Madr 6
|
||||
simplenum 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 17
|
||||
M0 0.16
|
||||
|
||||
DOF 4:
|
||||
bodyid 2
|
||||
jntid 2
|
||||
parentid 3
|
||||
Madr 10
|
||||
simplenum 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 4.4e+02
|
||||
M0 0.0023
|
||||
|
||||
DOF 5:
|
||||
bodyid 3
|
||||
jntid 3
|
||||
parentid 4
|
||||
Madr 15
|
||||
simplenum 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 3.1e+02
|
||||
M0 0.0081
|
||||
|
||||
DOF 6:
|
||||
bodyid 3
|
||||
jntid 4
|
||||
parentid 5
|
||||
Madr 21
|
||||
simplenum 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 2.5e+02
|
||||
M0 0.0089
|
||||
|
||||
DOF 7:
|
||||
bodyid 4
|
||||
jntid 5
|
||||
parentid -1
|
||||
Madr 28
|
||||
simplenum 6
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 0.32
|
||||
M0 3.1
|
||||
|
||||
DOF 8:
|
||||
bodyid 4
|
||||
jntid 5
|
||||
parentid 7
|
||||
Madr 29
|
||||
simplenum 5
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 0.32
|
||||
M0 3.1
|
||||
|
||||
DOF 9:
|
||||
bodyid 4
|
||||
jntid 5
|
||||
parentid 8
|
||||
Madr 31
|
||||
simplenum 4
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 0.32
|
||||
M0 3.1
|
||||
|
||||
DOF 10:
|
||||
bodyid 4
|
||||
jntid 5
|
||||
parentid 9
|
||||
Madr 34
|
||||
simplenum 3
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 92
|
||||
M0 0.014
|
||||
|
||||
DOF 11:
|
||||
bodyid 4
|
||||
jntid 5
|
||||
parentid 10
|
||||
Madr 38
|
||||
simplenum 2
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 92
|
||||
M0 0.014
|
||||
|
||||
DOF 12:
|
||||
bodyid 4
|
||||
jntid 5
|
||||
parentid 11
|
||||
Madr 43
|
||||
simplenum 1
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 92
|
||||
M0 0.0075
|
||||
|
||||
|
||||
GEOM 0:
|
||||
name
|
||||
type 3
|
||||
contype 1
|
||||
conaffinity 1
|
||||
condim 3
|
||||
bodyid 1
|
||||
dataid -1
|
||||
matid -1
|
||||
group 0
|
||||
priority 0
|
||||
sameframe 1
|
||||
solmix 1
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
size 0.06 0.2 0
|
||||
rbound 0.26
|
||||
pos 0 0 0
|
||||
quat 1 0 0 0
|
||||
friction 1 0.005 0.0001
|
||||
margin 0
|
||||
gap 0
|
||||
rgba 0.8 0.6 0.4 1
|
||||
|
||||
|
||||
GEOM 1:
|
||||
name
|
||||
type 3
|
||||
contype 1
|
||||
conaffinity 1
|
||||
condim 3
|
||||
bodyid 2
|
||||
dataid -1
|
||||
matid -1
|
||||
group 0
|
||||
priority 0
|
||||
sameframe 1
|
||||
solmix 1
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
size 0.04 0.15 0
|
||||
rbound 0.19
|
||||
pos 0 0 0
|
||||
quat 1 0 0 0
|
||||
friction 1 0.005 0.0001
|
||||
margin 0
|
||||
gap 0
|
||||
rgba 0.8 0.6 0.4 1
|
||||
|
||||
|
||||
GEOM 2:
|
||||
name
|
||||
type 4
|
||||
contype 1
|
||||
conaffinity 1
|
||||
condim 3
|
||||
bodyid 3
|
||||
dataid -1
|
||||
matid -1
|
||||
group 0
|
||||
priority 0
|
||||
sameframe 1
|
||||
solmix 1
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
size 0.1 0.08 0.02
|
||||
rbound 0.1
|
||||
pos 0 0 0
|
||||
quat 1 0 0 0
|
||||
friction 1 0.005 0.0001
|
||||
margin 0
|
||||
gap 0
|
||||
rgba 0.8 0.6 0.4 1
|
||||
|
||||
|
||||
GEOM 3:
|
||||
name
|
||||
type 5
|
||||
contype 1
|
||||
conaffinity 1
|
||||
condim 3
|
||||
bodyid 4
|
||||
dataid -1
|
||||
matid -1
|
||||
group 0
|
||||
priority 0
|
||||
sameframe 1
|
||||
solmix 1
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
size 0.07 0.1 0
|
||||
rbound 0.12
|
||||
pos 0 0 0
|
||||
quat 1 0 0 0
|
||||
friction 1 0.005 0.0001
|
||||
margin 0
|
||||
gap 0
|
||||
rgba 0.8 0.6 0.4 1
|
||||
|
||||
|
||||
|
||||
SITE 0:
|
||||
name end1
|
||||
type 2
|
||||
bodyid 3
|
||||
matid -1
|
||||
group 0
|
||||
sameframe 0
|
||||
size 0.01 0.005 0.005
|
||||
pos 0.1 0 0
|
||||
quat 1 0 0 0
|
||||
rgba 0.5 0.5 0.5 1
|
||||
|
||||
|
||||
SITE 1:
|
||||
name end2
|
||||
type 2
|
||||
bodyid 4
|
||||
matid -1
|
||||
group 0
|
||||
sameframe 0
|
||||
size 0.01 0.005 0.005
|
||||
pos 0 0 0.1
|
||||
quat 1 0 0 0
|
||||
rgba 0.5 0.5 0.5 1
|
||||
|
||||
|
||||
|
||||
LIGHT 0:
|
||||
name
|
||||
mode 0
|
||||
bodyid 0
|
||||
targetbodyid -1
|
||||
directional 0
|
||||
castshadow 1
|
||||
active 1
|
||||
pos 0 1 1
|
||||
dir 0 -0.71 -0.71
|
||||
poscom0 -0.19 1 0.45
|
||||
pos0 0 1 1
|
||||
dir0 0 -0.71 -0.71
|
||||
attenuation 1 0 0
|
||||
cutoff 45
|
||||
exponent 10
|
||||
ambient 0 0 0
|
||||
diffuse 1 1 1
|
||||
specular 0.3 0.3 0.3
|
||||
|
||||
|
||||
TEXTURE 0:
|
||||
name
|
||||
type 2
|
||||
height 1536
|
||||
width 256
|
||||
adr 0
|
||||
|
||||
|
||||
TENDON 0:
|
||||
name
|
||||
num 2
|
||||
limited 1
|
||||
matid -1
|
||||
group 0
|
||||
width 0.005
|
||||
solreflimit 0.02 1
|
||||
solimplimit 0.9 0.95 0.001 0.5 2
|
||||
solreffrctn 0.02 1
|
||||
solimpfrctn 0.9 0.95 0.001 0.5 2
|
||||
range 0 0.6
|
||||
margin 0
|
||||
stiffness 0
|
||||
damping 0
|
||||
frictionloss 0
|
||||
lengthspring 0.4
|
||||
length0 0.4
|
||||
invweight0 5.9
|
||||
rgba 0.5 0.5 0.5 1
|
||||
|
||||
path
|
||||
3 0 0
|
||||
3 1 0
|
||||
Vendored
+44
@@ -0,0 +1,44 @@
|
||||
<mujoco model="example">
|
||||
<compiler angle="radian" />
|
||||
<size njmax="500" nconmax="100" />
|
||||
<default class="main">
|
||||
<geom size="0" rgba="0.8 0.6 0.4 1" />
|
||||
<site size="0" />
|
||||
</default>
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="0.6 0.8 1" width="256" height="1536" />
|
||||
</asset>
|
||||
<worldbody>
|
||||
<light pos="0 1 1" dir="0 -0.707107 -0.707107" diffuse="1 1 1" />
|
||||
<body pos="0 0 0.8">
|
||||
<inertial pos="0 0 0" mass="5.20248" diaginertia="0.0964192 0.0964192 0.00936446" />
|
||||
<joint pos="0 0 0.2" type="ball" />
|
||||
<geom type="capsule" size="0.06 0.2" />
|
||||
<body pos="0.15 0 -0.2" quat="0.707107 0 -0.707107 0">
|
||||
<inertial pos="0 0 0" mass="1.70903" diaginertia="0.0171472 0.0171472 0.00136722" />
|
||||
<joint pos="0 0 0.15" axis="0 1 0" />
|
||||
<joint pos="0 0 0.15" axis="0 0 -1" />
|
||||
<geom type="capsule" size="0.04 0.15" />
|
||||
<body pos="0 0 -0.25" quat="0.707107 0 0.707107 0">
|
||||
<inertial pos="0 0 0" mass="0.670206" diaginertia="0.000911481 0.00139403 0.00219828" />
|
||||
<joint pos="-0.1 0 0" axis="0 1 0" />
|
||||
<joint pos="-0.1 0 0" axis="0 0 1" />
|
||||
<geom type="ellipsoid" size="0.1 0.08 0.02" />
|
||||
<site name="end1" pos="0.1 0 0" size="0.01" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body pos="0.5 0 0.1">
|
||||
<inertial pos="0 0 0" mass="3.07876" diaginertia="0.014034 0.014034 0.00754296" />
|
||||
<joint type="free" />
|
||||
<geom type="cylinder" size="0.07 0.1" />
|
||||
<site name="end2" pos="0 0 0.1" size="0.01" />
|
||||
</body>
|
||||
</worldbody>
|
||||
<tendon>
|
||||
<spatial limited="true" width="0.005" range="0 0.6">
|
||||
<site site="end1" />
|
||||
<site site="end2" />
|
||||
</spatial>
|
||||
</tendon>
|
||||
</mujoco>
|
||||
Vendored
+34
@@ -0,0 +1,34 @@
|
||||
#include "mujoco.h"
|
||||
#include "stdio.h"
|
||||
|
||||
char error[1000];
|
||||
mjModel* m;
|
||||
mjData* d;
|
||||
|
||||
int main(void)
|
||||
{
|
||||
// activate MuJoCo Pro
|
||||
mj_activate("mjkey.txt");
|
||||
|
||||
// load model from file and check for errors
|
||||
m = mj_loadXML("hello.xml", NULL, error, 1000);
|
||||
if( !m )
|
||||
{
|
||||
printf("%s\n", error);
|
||||
return 1;
|
||||
}
|
||||
|
||||
// make data corresponding to model
|
||||
d = mj_makeData(m);
|
||||
|
||||
// run simulation for 10 seconds
|
||||
while( d->time<10 )
|
||||
mj_step(m, d);
|
||||
|
||||
// free model and data, deactivate
|
||||
mj_deleteData(d);
|
||||
mj_deleteModel(m);
|
||||
mj_deactivate();
|
||||
|
||||
return 0;
|
||||
}
|
||||
Vendored
+10
@@ -0,0 +1,10 @@
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom type="box" size=".1 .2 .3" rgba="0 .9 0 1"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Vendored
+72
@@ -0,0 +1,72 @@
|
||||
<mujoco model="test">
|
||||
<compiler coordinate="global"/>
|
||||
|
||||
<default>
|
||||
<geom rgba=".9 .7 .1 1" size="0.01"/>
|
||||
<site type="sphere" rgba=".9 .9 .9 1" size="0.005"/>
|
||||
<joint type="hinge" axis="0 1 0" limited="true" range="0 60" solimplimit="0.95 0.95 0.1"/>
|
||||
</default>
|
||||
|
||||
<visual>
|
||||
<headlight diffuse=".7 .7 .7"/>
|
||||
</visual>
|
||||
|
||||
<worldbody>
|
||||
<body>
|
||||
<geom type="cylinder" fromto="-0.03 0 0.2 -0.03 0 0.15"
|
||||
size="0.03" rgba=".2 .2 .5 1" density="5000"/>
|
||||
<joint type="slide" pos="-0.03 0 0.2" axis="0 0 1" limited="false"/>
|
||||
<site name="s1" pos="-0.03 0 0.2"/>
|
||||
</body>
|
||||
|
||||
<site name="s2" pos="-0.03 0 0.32"/>
|
||||
|
||||
<body>
|
||||
<geom type="capsule" fromto="0 0 0.3 0.1 0 0.3"/>
|
||||
<geom name="g1" type="cylinder" fromto="0.0 0.015 0.3 0.0 -0.015 0.3"
|
||||
size="0.02" rgba=".3 .9 .3 .4"/>
|
||||
<joint pos="0 0 0.3"/>
|
||||
<site name="s3" pos="0.02 0 0.32"/>
|
||||
|
||||
<body>
|
||||
<geom type="capsule" fromto="0.1 0 0.3 0.2 0 0.3"/>
|
||||
<geom name="g2" type="cylinder" fromto="0.1 0.015 0.3 0.1 -0.015 0.3"
|
||||
size="0.02" rgba=".3 .9 .3 .4"/>
|
||||
<joint pos="0.1 0 0.3"/>
|
||||
<site name="s4" pos="0.13 0 0.31"/>
|
||||
<site name="s5" pos="0.15 0 0.32"/>
|
||||
<site name="side2" pos="0.1 0 0.33"/>
|
||||
|
||||
<body>
|
||||
<geom type="capsule" fromto="0.2 0 0.3 0.27 0 0.3"/>
|
||||
<geom name="g3" type="cylinder" fromto="0.2 0.015 0.3 0.2 -0.015 0.3"
|
||||
size="0.02" rgba=".3 .9 .3 .4"/>
|
||||
<joint pos="0.2 0 0.3"/>
|
||||
<site name="s6" pos="0.23 0 0.31"/>
|
||||
<site name="side3" pos="0.2 0 0.33"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<tendon>
|
||||
<spatial width="0.002" rgba=".95 .3 .3 1" limited="true" range="0 0.33">
|
||||
<site site="s1"/>
|
||||
<site site="s2"/>
|
||||
<geom geom="g1"/>
|
||||
<site site="s3"/>
|
||||
|
||||
<pulley divisor="2"/>
|
||||
<site site="s3"/>
|
||||
<geom geom="g2" sidesite="side2"/>
|
||||
<site site="s4"/>
|
||||
|
||||
<pulley divisor="2"/>
|
||||
<site site="s3"/>
|
||||
<geom geom="g2" sidesite="side2"/>
|
||||
<site site="s5"/>
|
||||
<geom geom="g3" sidesite="side3"/>
|
||||
<site site="s6"/>
|
||||
</spatial>
|
||||
</tendon>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,65 @@
|
||||
.. include:: includes/macros.rst
|
||||
.. include:: includes/roles.rst
|
||||
|
||||
=========
|
||||
Changelog
|
||||
=========
|
||||
|
||||
Version 2.1 (Oct. 18, 2021)
|
||||
---------------------------
|
||||
|
||||
New features
|
||||
^^^^^^^^^^^^
|
||||
|
||||
1. Keyframes now have ``mocap_pos`` and ``mocap_quat`` fields (mpos and quat attributes in the XML) allowing mocap
|
||||
poses to be stored in keyframes.
|
||||
2. New utility functions: ``mju_insertionSortInt`` (integer insertion sort) and ``mju_sigmoid`` (constructing a
|
||||
sigmoid from two half-quadratics).
|
||||
|
||||
General
|
||||
^^^^^^^
|
||||
|
||||
3. The pre-allocated sizes in the virtual file system (VFS) increased to 2000 and 1000, to allow for larger projects.
|
||||
#. The C structs in the ``mjuiItem`` union are now named, for compatibility.
|
||||
#. Fixed: ``mjcb_contactfilter`` type is ``mjfConFilt`` (was ``mjfGeneric``).
|
||||
#. Fixed: The array of sensors in ``mjCModel`` was not cleared.
|
||||
#. Cleaned up cross-platform code (internal changes, not visible via the API).
|
||||
#. Fixed a bug in parsing of XML ``texcoord`` data (related to number of vertices).
|
||||
#. Fixed a bug in `simulate.cc <https://github.com/deepmind/mujoco/blob/main/sample/simulate.cc>`_ related to ``nkey``
|
||||
(the number of keyframes).
|
||||
#. Accelerated collision detection in the presence of large numbers of non-colliding geoms (with ``contype==0 and
|
||||
conaffinity==0``).
|
||||
|
||||
UI
|
||||
^^
|
||||
|
||||
11. Figure selection type changed from ``int`` to ``float``.
|
||||
#. Figures now show data coordinates, when selection and highlight are enabled.
|
||||
#. Changed ``mjMAXUIMULTI`` to 35, ``mjMAXUITEXT`` to 300, ``mjMAXUIRECT`` to 25.
|
||||
#. Added collapsable sub-sections, implemented as separators with state: ``mjSEPCLOSED`` collapsed, ``mjSEPCLOSED+1``
|
||||
expanded.
|
||||
#. Added ``mjITEM_RADIOLINE`` item type.
|
||||
#. Added function ``mjui_addToSection`` to simplify UI section construction.
|
||||
#. Added subplot titles to ``mjvFigure``.
|
||||
|
||||
Rendering
|
||||
^^^^^^^^^
|
||||
|
||||
18. ``render_gl2`` guards against non-finite floating point data in the axis range computation.
|
||||
#. ``render_gl2`` draws lines from back to front for better visibility.
|
||||
#. Added function ``mjr_label`` (for text labels).
|
||||
#. ``mjr_render`` exits immediately if ``ngeom==0``, to avoid errors from uninitialized scenes (e.g. ``frustrum==0``).
|
||||
#. Added scissor box in ``mjr_render``, so we don't clear the entire window at every frame.
|
||||
|
||||
|
||||
License manager
|
||||
^^^^^^^^^^^^^^^
|
||||
|
||||
23. Removed the entire license manager. The functions ``mj_activate`` and ``mj_deactivate`` are still there for
|
||||
backward compabitibily, but now they do nothing and it is no longer necessary to call them.
|
||||
#. Removed the remote license certificate functions ``mj_certXXX``.
|
||||
|
||||
Earlier Versions
|
||||
----------------
|
||||
|
||||
For changelogs of earlier versions please see `roboti.us <https://www.roboti.us/download.html>`_.
|
||||
+1420
File diff suppressed because it is too large
Load Diff
+104
@@ -0,0 +1,104 @@
|
||||
## 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.
|
||||
"""Configuration file for the Sphinx documentation builder."""
|
||||
|
||||
import doctest
|
||||
import inspect
|
||||
import os
|
||||
import sys
|
||||
|
||||
# -- Path setup --------------------------------------------------------------
|
||||
#
|
||||
# If extensions (or modules to document with autodoc) are in another directory,
|
||||
# add these directories to sys.path here. If the directory is relative to the
|
||||
# documentation root, use os.path.abspath to make it absolute, like shown here.
|
||||
|
||||
sys.path.insert(0, os.path.abspath('../'))
|
||||
sys.path.append(os.path.abspath('ext'))
|
||||
|
||||
import sphinxcontrib.katex as katex # pylint: disable=g-import-not-at-top
|
||||
|
||||
# -- Project information -----------------------------------------------------
|
||||
|
||||
project = 'MuJoCo'
|
||||
copyright = 'DeepMind Technologies Limited' # pylint: disable=redefined-builtin
|
||||
author = 'DeepMind'
|
||||
|
||||
# -- General configuration ---------------------------------------------------
|
||||
|
||||
master_doc = 'index'
|
||||
|
||||
# Add any Sphinx extension module names here, as strings. They can be
|
||||
# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
|
||||
# ones.
|
||||
extensions = [
|
||||
'sphinxcontrib.katex',
|
||||
'sphinx_reredirects',
|
||||
]
|
||||
|
||||
# Add any paths that contain templates here, relative to this directory.
|
||||
templates_path = ['templates']
|
||||
|
||||
# List of patterns, relative to source directory, that match files and
|
||||
# directories to ignore when looking for source files.
|
||||
# This pattern also affects html_static_path and html_extra_path.
|
||||
exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store', 'includes/*']
|
||||
|
||||
redirects = {
|
||||
# index.rst just contains the table of contents definition.
|
||||
'index': 'overview.html',
|
||||
}
|
||||
|
||||
# -- Options for autodoc -----------------------------------------------------
|
||||
|
||||
autodoc_default_options = {
|
||||
'member-order': 'bysource',
|
||||
'special-members': True,
|
||||
'exclude-members': '__repr__, __str__, __weakref__',
|
||||
}
|
||||
|
||||
# -- Options for HTML output -------------------------------------------------
|
||||
|
||||
# The theme to use for HTML and HTML Help pages. See the documentation for
|
||||
# a list of builtin themes.
|
||||
#
|
||||
html_theme = 'sphinx_rtd_theme'
|
||||
|
||||
# Add any paths that contain custom static files (such as style sheets) here,
|
||||
# relative to this directory. They are copied after the builtin static files,
|
||||
# so a file named "default.css" will overwrite the builtin "default.css".
|
||||
html_static_path = [
|
||||
'_static',
|
||||
'css',
|
||||
'favicons',
|
||||
]
|
||||
html_css_files = [
|
||||
'theme_overrides.css',
|
||||
]
|
||||
|
||||
html_favicon = 'favicons/favicon-32x32.png'
|
||||
|
||||
# -- Options for katex ------------------------------------------------------
|
||||
|
||||
# See: https://sphinxcontrib-katex.readthedocs.io/en/0.4.1/macros.html
|
||||
latex_macros = r"""
|
||||
\def \d #1{\operatorname{#1}}
|
||||
"""
|
||||
|
||||
# Translate LaTeX macros to KaTeX and add to options for HTML builder
|
||||
katex_macros = katex.latex_defs_to_katex_macros(latex_macros)
|
||||
katex_options = 'macros: {' + katex_macros + '}'
|
||||
|
||||
# Add LaTeX macros for LATEX builder
|
||||
latex_elements = {'preamble': latex_macros}
|
||||
@@ -0,0 +1,179 @@
|
||||
@import url('https://fonts.googleapis.com/css2?family=DM+Sans:ital,wght@0,400;0,500;0,700;1,400;1,500;1,700&display=swap');
|
||||
@import url('https://fonts.googleapis.com/css2?family=DM+Serif+Text:ital,wght@0,400;1,400&display=swap');
|
||||
@import url('https://fonts.googleapis.com/css2?family=DM+Serif+Display:ital,wght@0,400;1,400&display=swap');
|
||||
@import url('https://fonts.googleapis.com/css2?family=DM+Mono:ital,wght@0,400;0,500;1,400;1,500&display=swap');
|
||||
|
||||
body {
|
||||
font-family: 'DM Sans', 'Helvetica Neue', 'Arial', sans-serif;
|
||||
-webkit-font-smoothing: antialiased;
|
||||
color: rgb(20, 35, 75);
|
||||
}
|
||||
|
||||
.rst-content .toctree-wrapper>p.caption,h1 {
|
||||
font-size: 250%;
|
||||
font-family: 'DM Serif Display', 'Times New Roman', serif;
|
||||
font-weight: 400;
|
||||
color: rgb(0, 83, 214);
|
||||
}
|
||||
|
||||
.rst-content .toctree-wrapper>p.caption,h2,h3,h4,h5,h6,legend {
|
||||
font-family: 'DM Sans', 'Helvetica Neue', 'Arial', sans-serif;
|
||||
-webkit-font-smoothing: antialiased;
|
||||
font-weight: 700;
|
||||
color: rgb(18, 54, 147);
|
||||
}
|
||||
|
||||
/* Adjust paragraph margins to make top and bottom of images more symmetric. */
|
||||
p {
|
||||
margin: 20px 0px 20px 0px;
|
||||
}
|
||||
|
||||
/* Paragraph margins don't apply to table cell contents. */
|
||||
.rst-content table.docutils td>p {
|
||||
margin-top: 0px;
|
||||
}
|
||||
|
||||
/* Set padding of in-line highlighted text. */
|
||||
.rst-content div[class^=highlight] pre {
|
||||
padding: 6px;
|
||||
}
|
||||
|
||||
/* Don't change color of visited links. */
|
||||
.rst-content a.reference:visited {
|
||||
color: #2980b9;
|
||||
}
|
||||
|
||||
.rst-content code, .rst-content tt {
|
||||
font-size: 90%;
|
||||
padding: inherit;
|
||||
border: inherit;
|
||||
}
|
||||
|
||||
.rst-content table.align-default {
|
||||
margin-left: auto;
|
||||
margin-right: auto;
|
||||
}
|
||||
|
||||
ul.simple {
|
||||
list-style: disc;
|
||||
margin-left: 24px;
|
||||
}
|
||||
|
||||
ul.simple li {
|
||||
list-style: disc;
|
||||
}
|
||||
|
||||
/* Change background color of the nav bars. */
|
||||
.wy-side-nav-search,
|
||||
.wy-nav-top,
|
||||
.wy-nav-side {
|
||||
background-color: rgb(0, 83, 214);
|
||||
}
|
||||
|
||||
/* Make text wrap in table cells. */
|
||||
.wy-table-responsive table td,
|
||||
.wy-table-responsive table th {
|
||||
white-space: normal;
|
||||
}
|
||||
|
||||
html.writer-html5 .rst-content table.docutils td>p,
|
||||
html.writer-html5 .rst-content table.docutils th>p {
|
||||
line-height: normal;
|
||||
}
|
||||
|
||||
.wy-menu-vertical li.toctree-l1>a {
|
||||
font-size: 115%;
|
||||
}
|
||||
|
||||
.wy-menu-vertical li.toctree-l1.current>a {
|
||||
font-weight: 700;
|
||||
}
|
||||
|
||||
/* Change color of TOC text. */
|
||||
.wy-menu-vertical a,
|
||||
.wy-menu-vertical li.current a,
|
||||
.wy-menu-vertical li.current a:hover,
|
||||
.wy-menu-vertical li>a span.toctree-expand,
|
||||
.wy-menu-vertical li>a:hover span.toctree-expand,
|
||||
.wy-menu-vertical li.current>a span.toctree-expand,
|
||||
.wy-menu-vertical li.current>a:hover span.toctree-expand,
|
||||
.wy-menu-vertical li.toctree-l2 a span.toctree-expand,
|
||||
.wy-menu-vertical li.toctree-l3 a span.toctree-expand,
|
||||
.wy-menu-vertical li.toctree-l4 a span.toctree-expand,
|
||||
.wy-menu-vertical li.toctree-l5 a span.toctree-expand,
|
||||
.wy-menu-vertical li.toctree-l6 a span.toctree-expand,
|
||||
.wy-menu-vertical li.toctree-l7 a span.toctree-expand,
|
||||
.wy-menu-vertical li.toctree-l8 a span.toctree-expand,
|
||||
.wy-menu-vertical li.toctree-l9 a span.toctree-expand,
|
||||
.wy-menu-vertical li.toctree-l10 a span.toctree-expand,
|
||||
.wy-menu-vertical li.toctree-l2 a:hover span.toctree-expand,
|
||||
.wy-menu-vertical li.toctree-l3 a:hover span.toctree-expand,
|
||||
.wy-menu-vertical li.toctree-l4 a:hover span.toctree-expand,
|
||||
.wy-menu-vertical li.toctree-l5 a:hover span.toctree-expand,
|
||||
.wy-menu-vertical li.toctree-l6 a:hover span.toctree-expand,
|
||||
.wy-menu-vertical li.toctree-l7 a:hover span.toctree-expand,
|
||||
.wy-menu-vertical li.toctree-l8 a:hover span.toctree-expand,
|
||||
.wy-menu-vertical li.toctree-l9 a:hover span.toctree-expand,
|
||||
.wy-menu-vertical li.toctree-l10 a:hover span.toctree-expand {
|
||||
color: white;
|
||||
}
|
||||
|
||||
/* Change color of TOC background. */
|
||||
.wy-menu-vertical li a:hover,
|
||||
.wy-menu-vertical li.current,
|
||||
.wy-menu-vertical li.current>a,
|
||||
.wy-menu-vertical li.current a:hover,
|
||||
.wy-menu-vertical li.toctree-l1.current>a,
|
||||
.wy-menu-vertical li.toctree-l2.current>a,
|
||||
.wy-menu-vertical li.toctree-l2.current li.toctree-l3>a,
|
||||
.wy-menu-vertical li.toctree-l3.current li.toctree-l4>a,
|
||||
.wy-menu-vertical li.toctree-l4.current li.toctree-l5>a,
|
||||
.wy-menu-vertical li.toctree-l5.current li.toctree-l6>a,
|
||||
.wy-menu-vertical li.toctree-l6.current li.toctree-l7>a,
|
||||
.wy-menu-vertical li.toctree-l7.current li.toctree-l8>a,
|
||||
.wy-menu-vertical li.toctree-l8.current li.toctree-l9>a,
|
||||
.wy-menu-vertical li.toctree-l9.current li.toctree-l10>a {
|
||||
background-color: rgb(0, 83, 214);
|
||||
border: none;
|
||||
}
|
||||
|
||||
/* MJCF attributes table. */
|
||||
.rst-content table.mjcf-attributes {
|
||||
border-style: none;
|
||||
margin-left: 0px;
|
||||
margin-right: 0px;
|
||||
width: 100%;
|
||||
}
|
||||
|
||||
.rst-content table.mjcf-attributes:not(.field-list) tr td,
|
||||
.rst-content table.mjcf-attributes:not(.field-list) tr:nth-child(2n-1) td {
|
||||
border-style: none;
|
||||
background-color: rgba(255, 255, 255, 0);
|
||||
padding: 0px 0px 0px 0px;
|
||||
width: 33%;
|
||||
}
|
||||
|
||||
table td > div.wy-table-responsive {
|
||||
margin-bottom: 0px;
|
||||
}
|
||||
|
||||
/* MJCF element names. */
|
||||
.el {
|
||||
font-weight: bold;
|
||||
}
|
||||
|
||||
/* MJCF attribute names. */
|
||||
.at {
|
||||
color: darkred;
|
||||
}
|
||||
|
||||
/* MJCF attribute value specs. */
|
||||
.at-val {
|
||||
color: darkred;
|
||||
font-weight: normal;
|
||||
}
|
||||
|
||||
/* Hide the prefix for XML element names, but only in toctree */
|
||||
.toctree-l1 .el-prefix {
|
||||
display: none;
|
||||
}
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 1.1 KiB |
@@ -0,0 +1,214 @@
|
||||
<svg id="Layer_1" data-name="Layer 1" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 559.62 245.71">
|
||||
<defs>
|
||||
<style>
|
||||
.cls-1, .cls-4, .cls-6 {
|
||||
fill: none;
|
||||
}
|
||||
|
||||
.cls-1, .cls-6 {
|
||||
stroke: #b3b3b3;
|
||||
}
|
||||
|
||||
.cls-1 {
|
||||
stroke-width: 2px;
|
||||
}
|
||||
|
||||
.cls-2 {
|
||||
font-size: 12px;
|
||||
}
|
||||
|
||||
.cls-2, .cls-8 {
|
||||
font-family: ArialMT, Arial;
|
||||
}
|
||||
|
||||
.cls-3 {
|
||||
font-size: 9px;
|
||||
}
|
||||
|
||||
.cls-4, .cls-5 {
|
||||
stroke: #000;
|
||||
}
|
||||
|
||||
.cls-6 {
|
||||
stroke-dasharray: 5 5;
|
||||
}
|
||||
|
||||
.cls-7 {
|
||||
font-size: 8px;
|
||||
}
|
||||
|
||||
.cls-8 {
|
||||
font-size: 24px;
|
||||
}
|
||||
</style>
|
||||
</defs>
|
||||
<line class="cls-1" x1="28.52" y1="139.62" x2="79.67" y2="174.04"/>
|
||||
<line class="cls-1" x1="28.52" y1="139.62" x2="72.1" y2="113.9"/>
|
||||
<line class="cls-1" x1="28.52" y1="139.62" x2="28.52" y2="69.94"/>
|
||||
<text class="cls-2" transform="translate(25.61 10.3)">e<tspan class="cls-3" x="6.67" y="3">1</tspan></text>
|
||||
<text class="cls-2" transform="translate(126 209.44)">e<tspan class="cls-3" x="6.67" y="3">2</tspan></text>
|
||||
<text class="cls-2" transform="translate(123.42 85.94)">e<tspan class="cls-3" x="6.67" y="3">3</tspan></text>
|
||||
<g>
|
||||
<path class="cls-4" d="M-316.59,62.5c0-11,6.36-20,14.2-20s14.19,9,14.19,20" transform="translate(373.33 55.94)"/>
|
||||
<path d="M-288.2,61.73l2.7-1.64.06.09-1.75,4.41c-.34,1.53-.67,3.07-1,4.61-.34-1.54-.68-3.08-1-4.61L-291,60.18l0-.09Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<g>
|
||||
<path class="cls-4" d="M-283,124.1c0-11-6.35-20-14.19-20s-14.19,9-14.19,20" transform="translate(373.33 55.94)"/>
|
||||
<path d="M-311.39,123.33l2.7-1.64.06.09-1.75,4.41c-.34,1.53-.68,3.07-1,4.6l-1-4.6-1.75-4.41.05-.09Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<g>
|
||||
<path class="cls-4" d="M-351.84,27.29c14.25,0,25.8-5.49,25.8-12.26s-11.55-12.26-25.8-12.26" transform="translate(373.33 55.94)"/>
|
||||
<path d="M-351.08,2.77l1.64,2.71-.09.06-4.41-1.75-4.6-1,4.6-1L-349.53,0l.09,0Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<text class="cls-2" transform="translate(0 62.46)">e<tspan class="cls-3" x="6.67" y="3">4</tspan></text>
|
||||
<text class="cls-2" transform="translate(58.77 199.36)">e<tspan class="cls-3" x="6.67" y="3">5</tspan></text>
|
||||
<text class="cls-2" transform="translate(81.16 136.09)">e<tspan class="cls-3" x="6.67" y="3">6</tspan></text>
|
||||
<text class="cls-2" transform="translate(18.39 122.2)">x</text>
|
||||
<text class="cls-2" transform="translate(41.29 162.53)">y</text>
|
||||
<text class="cls-2" transform="translate(50.31 137.92)">z</text>
|
||||
<path class="cls-5" d="M-341.33,83.63a3.48,3.48,0,0,1-3.48,3.48,3.48,3.48,0,0,1-3.49-3.48,3.48,3.48,0,0,1,3.49-3.48A3.48,3.48,0,0,1-341.33,83.63Z" transform="translate(373.33 55.94)"/>
|
||||
<g>
|
||||
<line class="cls-4" x1="28.52" y1="48.07" x2="28.52" y2="22.19"/>
|
||||
<path d="M-344.81-33l-2.71,1.64-.06-.09,1.75-4.41,1-4.61c.33,1.54.67,3.07,1,4.61l1.75,4.41-.05.09Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<g>
|
||||
<line class="cls-4" x1="94.7" y1="184.06" x2="115.42" y2="198"/>
|
||||
<path d="M-258.54,141.63l.14-3.16h.11l2.68,3.91c1.09,1.14,2.17,2.28,3.26,3.41l-4.39-1.73-4.63-1-.05-.09Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<g>
|
||||
<line class="cls-4" x1="88.95" y1="104.87" x2="110.74" y2="92.01"/>
|
||||
<path d="M-263.25,36.46-266,35l.05-.1,4.68-.74,4.48-1.46-3.45,3.21-2.9,3.75h-.11Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<text class="cls-2" transform="translate(265.54 123.6)">e<tspan class="cls-3" x="6.67" y="3">1</tspan></text>
|
||||
<text class="cls-2" transform="translate(229.69 111.4)">e<tspan class="cls-3" x="6.67" y="3">2</tspan></text>
|
||||
<text class="cls-2" transform="translate(307.66 91.78)">e<tspan class="cls-3" x="6.67" y="3">3</tspan></text>
|
||||
<text class="cls-2" transform="translate(188.06 133.82)">e<tspan class="cls-3" x="6.67" y="3">4</tspan></text>
|
||||
<line class="cls-1" x1="255.21" y1="174.82" x2="303.2" y2="207.11"/>
|
||||
<line class="cls-1" x1="255.21" y1="174.82" x2="298.79" y2="149.1"/>
|
||||
<line class="cls-1" x1="255.21" y1="174.82" x2="255.21" y2="105.14"/>
|
||||
<path class="cls-5" d="M-114.63,118.83a3.48,3.48,0,0,1-3.49,3.48,3.48,3.48,0,0,1-3.48-3.48,3.48,3.48,0,0,1,3.48-3.48A3.48,3.48,0,0,1-114.63,118.83Z" transform="translate(373.33 55.94)"/>
|
||||
<g>
|
||||
<path class="cls-6" d="M-72,36.44c7.4,10.56-7.74,29.27-33.83,41.8s-53.24,14.14-60.65,3.59,7.74-29.27,33.83-41.8S-79.41,25.89-72,36.44Z" transform="translate(373.33 55.94)"/>
|
||||
<g>
|
||||
<line class="cls-4" x1="209.77" y1="140.36" x2="255.21" y2="174.82"/>
|
||||
<path d="M-162.95,84.88l-.33,3.15h-.11L-165.84,84l-3.06-3.59,4.28,2,4.57,1.27.05.09Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<g>
|
||||
<line class="cls-4" x1="267.54" y1="136.09" x2="255.21" y2="174.82"/>
|
||||
<path d="M-106,80.87l-3.07.75,0-.11,3-3.66,2.36-4.09c-.14,1.57-.28,3.14-.43,4.7l.33,4.73-.07.07Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<g>
|
||||
<line class="cls-4" x1="242.89" y1="100.97" x2="255.21" y2="174.82"/>
|
||||
<path d="M-130.32,45.78l-2.39,2.07-.08-.08,1-4.64.24-4.71q.88,2.19,1.76,4.38l2.45,4.06,0,.09Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<g>
|
||||
<line class="cls-4" x1="300.66" y1="96.7" x2="255.21" y2="174.82"/>
|
||||
<path d="M-73,41.41l-3.17.07v-.11l3.72-2.93c1.07-1.16,2.13-2.32,3.2-3.47l-1.44,4.49-.71,4.68-.08.06Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
</g>
|
||||
<text class="cls-2" transform="translate(70.45 14.72)">elliptic basis: E = I<tspan class="cls-3" x="96.38" y="3">6</tspan></text>
|
||||
<text class="cls-2" transform="translate(312.5 17.19)">pyramidal basis: E = </text>
|
||||
<g>
|
||||
<g>
|
||||
<line class="cls-4" x1="255.97" y1="83.27" x2="255.97" y2="57.39"/>
|
||||
<path d="M-117.36,2.21l-2.7,1.64-.06-.09,1.75-4.41c.34-1.53.67-3.07,1-4.6l1,4.6,1.75,4.41,0,.09Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<g>
|
||||
<path class="cls-4" d="M-130.39,31.48c14.26,0,25.81-5.49,25.81-12.26S-116.13,7-130.39,7" transform="translate(373.33 55.94)"/>
|
||||
<path d="M-129.62,7l1.64,2.7-.09.06L-132.48,8l-4.6-1,4.6-1,4.41-1.75.09,0Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<text class="cls-2" transform="translate(239.43 76.17)">e<tspan class="cls-3" x="6.67" y="3">5</tspan></text>
|
||||
</g>
|
||||
<g>
|
||||
<g>
|
||||
<line class="cls-4" x1="255.97" y1="40.49" x2="255.97" y2="14.61"/>
|
||||
<path d="M-117.36-40.57l-2.7,1.65-.06-.1,1.75-4.4c.34-1.54.67-3.07,1-4.61l1,4.61,1.75,4.4,0,.1Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<g>
|
||||
<path class="cls-4" d="M-104.58-10.29c-14.25,0-25.81-5.49-25.81-12.26s11.56-12.26,25.81-12.26" transform="translate(373.33 55.94)"/>
|
||||
<path d="M-105.35-34.81l-1.64-2.7.09-.06,4.41,1.75,4.61,1-4.61,1L-106.9-32l-.09-.05Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<text class="cls-2" transform="translate(260.75 35.64)">e<tspan class="cls-3" x="6.67" y="3">6</tspan></text>
|
||||
</g>
|
||||
<g>
|
||||
<g>
|
||||
<path class="cls-4" d="M-50.09,157.37c0-11-6.36-20-14.2-20s-14.19,9-14.19,20" transform="translate(373.33 55.94)"/>
|
||||
<path d="M-78.48,156.61l2.7-1.65.07.1-1.75,4.4-1,4.61c-.34-1.54-.67-3.07-1-4.61l-1.75-4.4,0-.1Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<g>
|
||||
<line class="cls-4" x1="309.01" y1="211" x2="309.01" y2="185.12"/>
|
||||
<path d="M-64.32,129.94-67,131.58l-.06-.09,1.75-4.4,1-4.61c.33,1.54.67,3.07,1,4.61l1.75,4.4,0,.09Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<text class="cls-2" transform="translate(301.82 221.38)">e<tspan class="cls-3" x="6.67" y="3">7</tspan></text>
|
||||
</g>
|
||||
<g>
|
||||
<g>
|
||||
<path class="cls-4" d="M-49.09,174.8c0-11.05,6.35-20,14.19-20s14.19,8.95,14.19,20" transform="translate(373.33 55.94)"/>
|
||||
<path d="M-20.71,174l2.71-1.65.06.09-1.75,4.41-1,4.61c-.33-1.54-.67-3.07-1-4.61l-1.75-4.41,0-.09Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<g>
|
||||
<line class="cls-4" x1="338.39" y1="228.43" x2="338.39" y2="202.55"/>
|
||||
<path d="M-34.94,147.37l-2.7,1.64-.06-.09,1.75-4.4c.34-1.54.67-3.07,1-4.61l1,4.61,1.75,4.4,0,.09Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<text class="cls-2" transform="translate(331.21 238.81)">e<tspan class="cls-3" x="6.67" y="3">8</tspan></text>
|
||||
</g>
|
||||
<g>
|
||||
<g>
|
||||
<path class="cls-4" d="M-79.48,91.21c0-11,6.36-20,14.19-20s14.2,9,14.2,20" transform="translate(373.33 55.94)"/>
|
||||
<path d="M-51.09,90.45l2.7-1.65.06.09-1.75,4.41c-.34,1.54-.67,3.07-1,4.61l-1-4.61-1.75-4.41,0-.09Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<g>
|
||||
<line class="cls-4" x1="308.01" y1="144.84" x2="308.01" y2="118.96"/>
|
||||
<path d="M-65.32,63.78-68,65.42l-.06-.09,1.75-4.4,1-4.61c.33,1.53.67,3.07,1,4.61l1.75,4.4,0,.09Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<text class="cls-2" transform="translate(300.82 155.22)">e<tspan class="cls-3" x="6.67" y="3">9</tspan></text>
|
||||
</g>
|
||||
<g>
|
||||
<g>
|
||||
<path class="cls-4" d="M-20.25,72.12c0-11.05-6.36-20-14.2-20s-14.19,9-14.19,20" transform="translate(373.33 55.94)"/>
|
||||
<path d="M-48.64,71.35l2.7-1.64.06.09-1.75,4.41c-.33,1.54-.67,3.07-1,4.61-.34-1.54-.67-3.07-1-4.61L-51.4,69.8l0-.09Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<g>
|
||||
<line class="cls-4" x1="338.85" y1="125.75" x2="338.85" y2="99.87"/>
|
||||
<path d="M-34.48,44.69l-2.71,1.64-.06-.09,1.75-4.41,1-4.6c.33,1.53.67,3.07,1,4.6l1.75,4.41-.05.09Z" transform="translate(373.33 55.94)"/>
|
||||
</g>
|
||||
<text class="cls-2" transform="translate(331.66 136.13)">e<tspan class="cls-3" x="6.67" y="3">10</tspan></text>
|
||||
</g>
|
||||
<text class="cls-2" transform="translate(378.74 44.29)">1</text>
|
||||
<text class="cls-2" transform="translate(373.33 65.99)">+m<tspan class="cls-7" x="17" y="3">1</tspan></text>
|
||||
<text class="cls-2" transform="translate(378.74 89.16)">0</text>
|
||||
<text class="cls-2" transform="translate(378.74 111.6)">0</text>
|
||||
<text class="cls-2" transform="translate(378.74 134.03)">0</text>
|
||||
<text class="cls-2" transform="translate(378.74 157.91)">0</text>
|
||||
<text class="cls-2" transform="translate(407.55 44.29)">1</text>
|
||||
<text class="cls-2" transform="translate(407.55 89.16)">0</text>
|
||||
<text class="cls-2" transform="translate(407.55 111.6)">0</text>
|
||||
<text class="cls-2" transform="translate(407.55 134.03)">0</text>
|
||||
<text class="cls-2" transform="translate(407.55 157.91)">0</text>
|
||||
<text class="cls-2" transform="translate(402.13 65.99)">-m<tspan class="cls-7" x="13.99" y="3">1</tspan></text>
|
||||
<text class="cls-2" transform="translate(435.2 44.29)">1</text>
|
||||
<text class="cls-2" transform="translate(429.78 88.42)">+m<tspan class="cls-7" x="17" y="3">2</tspan></text>
|
||||
<text class="cls-2" transform="translate(435.2 66.73)">0</text>
|
||||
<text class="cls-2" transform="translate(435.2 111.6)">0</text>
|
||||
<text class="cls-2" transform="translate(435.2 134.03)">0</text>
|
||||
<text class="cls-2" transform="translate(435.2 157.91)">0</text>
|
||||
<text class="cls-2" transform="translate(463 44.29)">1</text>
|
||||
<text class="cls-2" transform="translate(463 66.73)">0</text>
|
||||
<text class="cls-2" transform="translate(463 111.6)">0</text>
|
||||
<text class="cls-2" transform="translate(463 134.03)">0</text>
|
||||
<text class="cls-2" transform="translate(463 157.91)">0</text>
|
||||
<text class="cls-2" transform="translate(457.59 88.42)">-m<tspan class="cls-7" x="13.99" y="3">2</tspan></text>
|
||||
<text class="cls-2" transform="translate(517.79 44.29)">1</text>
|
||||
<text class="cls-2" transform="translate(512.37 157.17)">+m<tspan class="cls-7" x="17" y="3">5</tspan></text>
|
||||
<text class="cls-2" transform="translate(517.79 66.73)">0</text>
|
||||
<text class="cls-2" transform="translate(517.79 89.16)">0</text>
|
||||
<text class="cls-2" transform="translate(517.79 111.6)">0</text>
|
||||
<text class="cls-2" transform="translate(517.79 134.03)">0</text>
|
||||
<text class="cls-2" transform="translate(546.59 44.29)">1</text>
|
||||
<text class="cls-2" transform="translate(546.59 66.73)">0</text>
|
||||
<text class="cls-2" transform="translate(546.59 89.16)">0</text>
|
||||
<text class="cls-2" transform="translate(546.59 111.6)">0</text>
|
||||
<text class="cls-2" transform="translate(546.59 134.03)">0</text>
|
||||
<text class="cls-2" transform="translate(541.18 157.17)">-m<tspan class="cls-7" x="13.99" y="3">5</tspan></text>
|
||||
<text class="cls-8" transform="translate(485.39 98.39)">...</text>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 12 KiB |
@@ -0,0 +1,72 @@
|
||||
<svg id="Layer_1" data-name="Layer 1" xmlns="http://www.w3.org/2000/svg" viewBox="0 0 455.01 171.24">
|
||||
<defs>
|
||||
<style>
|
||||
.cls-1, .cls-10, .cls-4, .cls-5, .cls-6, .cls-7 {
|
||||
fill: none;
|
||||
}
|
||||
|
||||
.cls-1, .cls-9 {
|
||||
stroke: #999;
|
||||
}
|
||||
|
||||
.cls-10, .cls-2, .cls-4, .cls-5, .cls-7 {
|
||||
stroke: #231f20;
|
||||
}
|
||||
|
||||
.cls-3 {
|
||||
font-size: 12px;
|
||||
font-family: ArialMT, Arial;
|
||||
}
|
||||
|
||||
.cls-4 {
|
||||
stroke-dasharray: 5 5;
|
||||
}
|
||||
|
||||
.cls-5 {
|
||||
stroke-dasharray: 5;
|
||||
}
|
||||
|
||||
.cls-6 {
|
||||
stroke: #000;
|
||||
stroke-width: 3px;
|
||||
}
|
||||
|
||||
.cls-8 {
|
||||
fill: #231f20;
|
||||
}
|
||||
|
||||
.cls-9 {
|
||||
fill: #f3f3f3;
|
||||
}
|
||||
|
||||
.cls-10 {
|
||||
stroke-dasharray: 4 4;
|
||||
}
|
||||
</style>
|
||||
</defs>
|
||||
<line class="cls-1" x1="68" y1="151.26" x2="133.33" y2="67.93"/>
|
||||
<line class="cls-1" x1="68" y1="151.26" x2="2.67" y2="67.93"/>
|
||||
<circle class="cls-2" cx="122.19" cy="116.89" r="2.67" transform="translate(-32.08 186.75) rotate(-67.5)"/>
|
||||
<text class="cls-3" transform="translate(0 45.93)">cone<tspan x="0" y="14.4">constraint</tspan></text>
|
||||
<text class="cls-3" transform="translate(133.33 134.6)">unconstrained<tspan x="0" y="14.4">minimum</tspan></text>
|
||||
<line class="cls-4" x1="122.67" y1="118.6" x2="122.67" y2="81.54"/>
|
||||
<line class="cls-5" x1="125.33" y1="118.6" x2="93.61" y2="118.6"/>
|
||||
<line class="cls-6" x1="93.14" y1="119.2" x2="122.67" y2="81.54"/>
|
||||
<g>
|
||||
<line class="cls-7" x1="104" y1="53.93" x2="104" y2="88.93"/>
|
||||
<path class="cls-8" d="M103.52,86.46l2.7-1.64.06.09-1.75,4.4c-.33,1.54-.67,3.07-1,4.61-.34-1.54-.67-3.07-1-4.61l-1.75-4.4,0-.09Z" transform="translate(0.48 1.71)"/>
|
||||
</g>
|
||||
<text class="cls-3" transform="translate(85.81 35.63)">continuum of<tspan x="0" y="14.4">PGS local minima</tspan></text>
|
||||
<line class="cls-1" x1="387.29" y1="170.93" x2="452.62" y2="87.6"/>
|
||||
<line class="cls-1" x1="387.29" y1="170.93" x2="321.96" y2="87.6"/>
|
||||
<path class="cls-9" d="M454,76c0,19.83-30.19,35.9-67.44,35.9S319.14,95.82,319.14,76s30.2-35.9,67.45-35.9S454,56.16,454,76Z" transform="translate(0.48 1.71)"/>
|
||||
<path class="cls-2" d="M417.37,68.73a1.86,1.86,0,1,1-1.86-1.86A1.85,1.85,0,0,1,417.37,68.73Z" transform="translate(0.48 1.71)"/>
|
||||
<text class="cls-3" transform="translate(402.51 10.3)">search<tspan x="0" y="14.4">ray</tspan></text>
|
||||
<text class="cls-3" transform="translate(297.84 33.33)">search<tspan x="0" y="14.4">ellipsoid</tspan></text>
|
||||
<g>
|
||||
<line class="cls-7" x1="416.79" y1="68.24" x2="429.11" y2="25.33"/>
|
||||
<path class="cls-8" d="M428.42,24.36l-3.05.83,0-.1,2.89-3.75,2.25-4.15-.3,4.71.47,4.71-.07.08Z" transform="translate(0.48 1.71)"/>
|
||||
</g>
|
||||
<line class="cls-10" x1="403.95" y1="112.94" x2="416.79" y2="68.24"/>
|
||||
<line class="cls-7" x1="387.29" y1="170.93" x2="403.95" y2="112.94"/>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 2.8 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 65 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 236 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 447 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 396 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 482 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 302 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 246 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 167 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 114 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 426 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 202 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 65 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 151 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 335 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 355 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 405 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 28 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 565 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 762 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 161 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 102 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 112 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 138 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 328 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 23 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 43 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 65 KiB |
@@ -0,0 +1,11 @@
|
||||
..
|
||||
Macro for adding non-breaking spaces for indentation.
|
||||
|
||||
.. |_| unicode:: 0xA0 0xA0
|
||||
:trim:
|
||||
|
||||
.. |_2| unicode:: 0xA0 0xA0 0xA0 0xA0
|
||||
:trim:
|
||||
|
||||
.. |_3| unicode:: 0xA0 0xA0 0xA0 0xA0 0xA0 0xA0
|
||||
:trim:
|
||||
@@ -0,0 +1,15 @@
|
||||
..
|
||||
Role for XML elements in the MJCF spec.
|
||||
.. role:: el
|
||||
|
||||
..
|
||||
Role for the prefix of XML element names in the MJCF spec.
|
||||
.. role:: el-prefix
|
||||
|
||||
..
|
||||
Role for XML attribute names in the MJCF spec.
|
||||
.. role:: at
|
||||
|
||||
..
|
||||
Role for attribute value specs in MJCF spec.
|
||||
.. role:: at-val
|
||||
@@ -0,0 +1,16 @@
|
||||
..
|
||||
This file is not used as index.html, but only to define the toctree.
|
||||
This is because toctree cannot contain a reference to the page where it's
|
||||
defined (https://github.com/sphinx-doc/sphinx/issues/4602).
|
||||
The `redirects` setting in conf.py makes this page redirect to overview.html.
|
||||
|
||||
.. toctree::
|
||||
:hidden:
|
||||
|
||||
overview
|
||||
computation
|
||||
modeling
|
||||
XMLreference
|
||||
programming
|
||||
APIreference
|
||||
changelog
|
||||
+1371
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,813 @@
|
||||
Overview
|
||||
========
|
||||
|
||||
Introduction
|
||||
------------
|
||||
|
||||
**MuJoCo** stands for **Mu**\ lti-**Jo**\ int dynamics with **Co**\ ntact. It is a general purpose physics engine that
|
||||
aims to facilitate research and development in robotics, biomechanics, graphics and animation, machine learning, and
|
||||
other areas that demand fast and accurate simulation of articulated structures interacting with their environment.
|
||||
Initially developed by Roboti LLC, it was acquired and made `freely available
|
||||
<https://www.github.com/deepmind/mujoco/LICENSE>`__ by DeepMind in October 2021, with the goal of making MuJoCo an
|
||||
open-source project. The MuJoCo codebase will be made available at the `deepmind/mujoco
|
||||
<https://github.com/deepmind/mujoco>`__ repository on GitHub.
|
||||
|
||||
MuJoCo is a C/C++ library with a C API, intended for researchers and developers. The runtime simulation module is tuned
|
||||
to maximize performance and operates on low-level data structures which are preallocated by the built-in XML parser and
|
||||
compiler. The user defines models in the native MJCF scene description language -- an XML file format designed to be as
|
||||
human readable and editable as possible. URDF model files can also be loaded. The library includes interactive
|
||||
visualization with a native GUI, rendered in OpenGL. MuJoCo further exposes a large number of utility functions for
|
||||
computing physics-related quantities.
|
||||
|
||||
MuJoCo can be used to implement model-based computations such as control synthesis, state estimation, system
|
||||
identification, mechanism design, data analysis through inverse dynamics, and parallel sampling for machine learning
|
||||
applications. It can also be used as a more traditional simulator, including for gaming and interactive virtual
|
||||
environments.
|
||||
|
||||
|
||||
.. _Features:
|
||||
|
||||
Key features
|
||||
~~~~~~~~~~~~
|
||||
|
||||
MuJoCo has a long list of features. Here we outline the most notable ones.
|
||||
|
||||
Generalized coordinates combined with modern contact dynamics
|
||||
Physics engines have traditionally separated in two categories. Robotics and biomechanics engines use efficient and
|
||||
accurate recursive algorithms in generalized or joint coordinates. However they either leave out contact dynamics, or
|
||||
rely on the earlier spring-damper approach which requires very small time-steps. Gaming engines use a more modern
|
||||
approach where contact forces are found by solving an optimization problem. However, they often resort to the
|
||||
over-specified Cartesian representation where joint constraints are imposed numerically, causing inaccuracies and
|
||||
instabilities when elaborate kinematic structures are involved. MuJoCo was the first general-purpose engine to
|
||||
combine the best of both worlds: simulation in generalized coordinates and optimization-based contact dynamics. Other
|
||||
simulators have more recently been adapted to use MuJoCo's approach, but that is not usually compatible with all of
|
||||
their functionality because they were not designed to do this from the start. Users accustomed to gaming engines may
|
||||
find the generalized coordinates counterintuitive at first; see :ref:`Clarifications` section below.
|
||||
|
||||
Soft, convex and analytically-invertible contact dynamics
|
||||
In the modern approach to contact dynamics, the forces or impulses caused by frictional contacts are usually defined
|
||||
as the solution to a linear or non-linear complementarity problem (LCP or NCP), both of which are NP-hard. MuJoCo is
|
||||
based on a different formulation of the physics of contact which reduces to a convex optimization problem, as
|
||||
explained in detail in the :doc:`computation` chapter. Our model allows soft contacts and other constraints, and has
|
||||
a uniquely-defined inverse facilitating data analysis and control applications. There is a choice of optimization
|
||||
algorithms, including a generalization to the projected Gauss-Siedel method that can handle elliptic friction cones.
|
||||
The solver provides unified treatment of frictional contacts including torsional and rolling friction, frictionless
|
||||
contacts, joint and tendon limits, dry friction in joints and tendons, as well as a variety of equality constraints.
|
||||
|
||||
Tendon geometry
|
||||
MuJoCo can model the 3D geometry of tendons - which are minimum-path-length strings obeying wrapping and via-point
|
||||
constraints. The mechanism is similar to the one in OpenSim but implements a more restricted, closed-form set of
|
||||
wrapping options to speed up computation. It also offers robotics-specific structures such as pulleys and coupled
|
||||
degrees of freedom. Tendons can be used for actuation as well as to impose inequality or equality constraints on the
|
||||
tendon length.
|
||||
|
||||
General actuation model
|
||||
Designing a sufficiently rich actuation model while using a model-agnostic API is challenging. MuJoCo achieves this
|
||||
goal by adopting an abstract actuation model that can have different types of transmission, force generation, and
|
||||
internal dynamics (i.e. state variables which make the overall dynamics 3rd order). These components can be
|
||||
instantiated so as to model motors, pneumatic and hydraulic cylinders, PD controllers, biological muscles and many
|
||||
other actuators in a unified way.
|
||||
|
||||
Reconfigurable computation pipeline
|
||||
MuJoCo has a top-level stepper function :ref:`mj_step` which runs the entire forward dynamics and advances the state
|
||||
of the simulation. In many applications beyond simulation, however, it is beneficial to be able to run selected parts
|
||||
of the computation pipeline. To this end MuJoCo provides a large number of :ref:`flags <option-flag>` which can be
|
||||
set in any combination, allowing the user to reconfigure the pipeline as needed, beyond the selection of algorithms
|
||||
and algorithm parameters via :ref:`options <option>`. Furthermore many lower-level functions can be called directly.
|
||||
User-defined callbacks can implement custom force fields, actuators, collision routines, and feedback controllers.
|
||||
|
||||
Model compilation
|
||||
As mentioned above, the user defines a MuJoCo model in an XML file format called MJCF. This model is then compiled by
|
||||
the built-in compiler into the low-level data structure :ref:`mjModel`, which is cross-indexed and optimized for
|
||||
runtime computation. The compiled model can also be saved in a binary MJB file.
|
||||
|
||||
Separation of model and data
|
||||
MuJoCo separates simulation parameters into two data structures (C structs) at runtime:
|
||||
|
||||
- ``mjModel`` contains the model description and is expected to remain constant. There are other structures embedded
|
||||
in it that contain simulation and visualization options, and those options need to be changed occasionally, but
|
||||
this is done by the user.
|
||||
- ``mjData`` contains all dynamic variables and intermediate results. It is used as a scratch pad where all
|
||||
functions read their inputs and write their outputs -- which then become the inputs to subsequent stages in the
|
||||
simulation pipeline. It also contains a pre-allocated and internally managed stack, so that the runtime module
|
||||
does not need to call memory allocation functions after the model is initialized.
|
||||
|
||||
``mjModel`` is constructed by the compiler. :ref:`mjData` is constructed at runtime, given
|
||||
``mjModel``. This separation makes it easy to simulate multiple models as well as multiple states and controls for
|
||||
each model, in turn facilitating :ref:`multi-threading <siMultithread>` for sampling and :ref:`finite
|
||||
differences <saDerivative>`. The top-level API functions reflect this basic separation, and have
|
||||
the format:
|
||||
|
||||
.. code:: C
|
||||
|
||||
void mj_step(const mjModel* m, mjData* d);
|
||||
|
||||
Interactive simulation and visualization
|
||||
The native :ref:`3D visualizer <Visualization>` provides rendering of meshes and geometric primitives, textures,
|
||||
reflections, shadows, fog, transparency, wireframes, skyboxes, stereoscopic visualization (on video cards supporting
|
||||
quad-buffered OpenGL). This functionality is used to generate 3D rendering that helps the user gain insight into the
|
||||
physics simulation, including visual aids such as automatically generated model skeletons, equivalent inertia boxes,
|
||||
contact positions and normals, contact forces that can be separated into normal and tangential components, external
|
||||
perturbation forces, local frames, joint and actuator axes, and text labels. The visualizer expects a generic window
|
||||
with an OpenGL rendering context, thereby allowing users to adopt a GUI library of their choice. The code sample
|
||||
:ref:`simulate.cc <saSimulate>` distributed with MuJoCo shows how to do that with the GLFW library. A related
|
||||
usability feature is the ability to "reach into" the simulation, push objects around and see how the physics respond.
|
||||
The user selects the body to which the external forces and torques will be applied, and sees a real-time rendering of
|
||||
the perturbations together with their dynamic consequences. This can be used to debug the model visually, to test the
|
||||
response of a feedback controller, or to configure the model into a desired pose.
|
||||
|
||||
Powerful yet intuitive modeling language
|
||||
MuJoCo has its own modeling language called MJCF. The goal of MJCF is to provide access to all of MuJoCo's compute
|
||||
capabilities, and at the same time enable users to develop new models quickly and experiment with them. This goal is
|
||||
achieved in large part due to an extensive :ref:`default setting <CDefault>` mechanism that resembles Cascading Style
|
||||
Sheets (CSS) in HTML. While MJCF has many elements and attributes, the user needs to set surprisingly few of them in
|
||||
any given model. This makes MJCF files shorter and more readable than many other formats.
|
||||
|
||||
Automated generation of composite flexible objects
|
||||
MuJoCo's soft constraints can be used to model ropes, cloth, and deformable 3D objects. This requires a large
|
||||
collection of regular bodies, joint, tendons and constraints to work together. The modeling language has high-level
|
||||
macros which are automatically expanded by the model compiler into the necessary collections of standard model
|
||||
elements. Importantly, these resulting flexible objects are able to fully interact with the rest of the simulation.
|
||||
|
||||
.. _Instance:
|
||||
|
||||
Model instances
|
||||
~~~~~~~~~~~~~~~
|
||||
|
||||
There are several entities called "model" in MuJoCo. The user defines the model in an XML file written in MJCF or URDF.
|
||||
The software can then create multiple instances of the same model in different media (file or memory) and on different
|
||||
levels of description (high or low). All combinations are possible as shown in the following table:
|
||||
|
||||
+------------+----------------------+----------------------+
|
||||
| | High level | Low level |
|
||||
+============+======================+======================+
|
||||
| **File** | MJCF/URDF (XML) | MJB (binary) |
|
||||
+------------+----------------------+----------------------+
|
||||
| **Memory** | mjCModel (C++ class) | mjModel (C struct) |
|
||||
+------------+----------------------+----------------------+
|
||||
|
||||
All runtime computations are performed with ``mjModel`` which is too complex to create manually. This is why we have two
|
||||
levels of modeling. The high level exists for user convenience: its sole purpose is to be compiled into a low level
|
||||
model on which computations can be performed. The resulting ``mjModel`` can be loaded and saved into a binary file
|
||||
(MJB), however those are version-specific and cannot be decompiled, thus models should always be maintained as XML
|
||||
files.
|
||||
|
||||
The (internal) C++ class ``mjCModel`` is roughly in one-to-one correspondence with the MJCF file format. The XML parser
|
||||
interprets the MJCF or URDF file and creates the corresponding ``mjCModel``. In principle the user can create
|
||||
``mjCModel`` programmatically and then save it to MJCF or compile it. However this functionality is not yet exposed
|
||||
because a C++ API cannot be exported from a compiler-independent library. There is a plan to develop a C wrapper around
|
||||
it, but for the time being the parser and compiler are always invoked together, and models can only be created in XML.
|
||||
|
||||
The following diagram shows the different paths to obtaining an ``mjModel`` (again, the second bullet point is not yet
|
||||
available):
|
||||
|
||||
- (text editor) → MJCF/URDF file → (MuJoCo parser → mjCModel → MuJoCo compiler) → mjModel
|
||||
- (user code) → mjCModel → (MuJoCo compiler) → mjModel
|
||||
- MJB file → (MuJoCo loader) → mjModel
|
||||
|
||||
.. _Examples:
|
||||
|
||||
Examples
|
||||
~~~~~~~~
|
||||
|
||||
Here is a simple model in MuJoCo's MJCF format. It defines a plane fixed to the world, a light to better illuminate
|
||||
objects and cast shadows, and a floating box with 6 DOFs (this is what the "free" joint does).
|
||||
|
||||
`hello.xml <_static/hello.xml>`__:
|
||||
|
||||
.. code:: xml
|
||||
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom type="box" size=".1 .2 .3" rgba="0 .9 0 1"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
|
||||
The built-in OpenGL visualizer renders this model as:
|
||||
|
||||
.. image:: images/overview/hello.png
|
||||
:width: 300px
|
||||
:align: center
|
||||
|
||||
If this model is simulated, the box will fall on the ground. Basic simulation code for the passive dynamics, without
|
||||
rendering, is given below.
|
||||
|
||||
`hello.c <_static/hello.c>`__:
|
||||
|
||||
.. code:: c
|
||||
|
||||
#include "mujoco.h"
|
||||
#include "stdio.h"
|
||||
|
||||
char error[1000];
|
||||
mjModel* m;
|
||||
mjData* d;
|
||||
|
||||
int main(void)
|
||||
{
|
||||
// load model from file and check for errors
|
||||
m = mj_loadXML("hello.xml", NULL, error, 1000);
|
||||
if( !m )
|
||||
{
|
||||
printf("%s\n", error);
|
||||
return 1;
|
||||
}
|
||||
|
||||
// make data corresponding to model
|
||||
d = mj_makeData(m);
|
||||
|
||||
// run simulation for 10 seconds
|
||||
while( d->time<10 )
|
||||
mj_step(m, d);
|
||||
|
||||
// free model and data
|
||||
mj_deleteData(d);
|
||||
mj_deleteModel(m);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
This is technically a C file, but it is also a legitimate C++ file. Indeed the MuJoCo API is compatible with both C and
|
||||
C++. Normally user code would be written in C++ because it adds convenience, and does not sacrifice efficiency because
|
||||
the computational bottlenecks are in the simulator which is already highly optimized.
|
||||
|
||||
The function :ref:`mj_step` is the top-level function which advances the simulation state by one time step. This example
|
||||
of course is just a passive dynamical system. Things get more interesting when the user specifies controls or applies
|
||||
forces and starts interacting with the system.
|
||||
|
||||
Next we provide a more elaborate example illustrating several features of MJCF.
|
||||
|
||||
`example.xml <_static/example.xml>`__:
|
||||
|
||||
.. code:: xml
|
||||
|
||||
<mujoco model="example">
|
||||
<compiler coordinate="global"/>
|
||||
<default>
|
||||
<geom rgba=".8 .6 .4 1"/>
|
||||
</default>
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1"
|
||||
width="256" height="256"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<light pos="0 1 1" dir="0 -1 -1" diffuse="1 1 1"/>
|
||||
<body>
|
||||
<geom type="capsule" fromto="0 0 1 0 0 0.6" size="0.06"/>
|
||||
<joint type="ball" pos="0 0 1"/>
|
||||
<body>
|
||||
<geom type="capsule" fromto="0 0 0.6 0.3 0 0.6" size="0.04"/>
|
||||
<joint type="hinge" pos="0 0 0.6" axis="0 1 0"/>
|
||||
<joint type="hinge" pos="0 0 0.6" axis="1 0 0"/>
|
||||
<body>
|
||||
<geom type="ellipsoid" pos="0.4 0 0.6" size="0.1 0.08 0.02"/>
|
||||
<site name="end1" pos="0.5 0 0.6" type="sphere" size="0.01"/>
|
||||
<joint type="hinge" pos="0.3 0 0.6" axis="0 1 0"/>
|
||||
<joint type="hinge" pos="0.3 0 0.6" axis="0 0 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body>
|
||||
<geom type="cylinder" fromto="0.5 0 0.2 0.5 0 0" size="0.07"/>
|
||||
<site name="end2" pos="0.5 0 0.2" type="sphere" size="0.01"/>
|
||||
<joint type="free"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
<tendon>
|
||||
<spatial limited="true" range="0 0.6" width="0.005">
|
||||
<site site="end1"/>
|
||||
<site site="end2"/>
|
||||
</spatial>
|
||||
</tendon>
|
||||
</mujoco>
|
||||
|
||||
.. raw:: html
|
||||
|
||||
<figure class="align-right">
|
||||
<video width="200" height="295" muted autoplay loop>
|
||||
<source src="_static/example.mp4" type="video/mp4">
|
||||
</video>
|
||||
</figure>
|
||||
|
||||
This model is a 7 degree-of-freedom arm "holding" a string with a cylinder attached at the other end. The string is
|
||||
implemented as a tendon with length limits. There is ball joint at the shoulder and pairs of hinge joints at the elbow
|
||||
and wrist. The box inside the cylinder indicates a free "joint". The outer body element in the XML is the required
|
||||
:el:`worldbody`. Note that using multiple joints between two bodies does not require creating dummy bodies.
|
||||
|
||||
The MJCF file contains the minimum information needed to specify the model. Capsules are defined by line-segments in
|
||||
space -- in which case only the radius of the capsule is needed. The positions and orientations of body frames are
|
||||
inferred from the geoms belonging to them. Inertial properties are inferred from the geom shape under a uniform density
|
||||
assumption. The two sites are named because the tendon definition needs to reference them, but nothing else is named.
|
||||
Joint axes are defined only for the hinge joints but not the ball joint. Collision rules are defined automatically.
|
||||
Friction properties, gravity, simulation time step etc. are set to their defaults. The default geom color specified at
|
||||
the top applies to all geoms.
|
||||
|
||||
Apart from saving the compiled model in the binary MJB format, we can save it as MJCF or as human-readable text; see
|
||||
`example_saved.xml <_static/example_saved.xml>`__ and `example_saved.txt <_static/example_saved.txt>`__
|
||||
respectively. The XML version is similar to the original, while the text version contains all information from
|
||||
``mjModel``. Comparing the text version to the XML version reveals how much work the model compiler did for us.
|
||||
|
||||
.. _Elements:
|
||||
|
||||
Model elements
|
||||
--------------
|
||||
|
||||
This section provides brief descriptions of all elements that can be included in a MuJoCo model. Later we explain in
|
||||
more detail the underlying computations, the way elements are specified in MJCF, and their representation in
|
||||
``mjModel``.
|
||||
|
||||
.. _Options:
|
||||
|
||||
Options
|
||||
~~~~~~~
|
||||
|
||||
Each model has three sets of options listed below. They are always included. If their values are not specified in the
|
||||
XML file, default values are used. The options are designed such that the user can change their values before each
|
||||
simulation time step. Within a time step however none of the options should be changed.
|
||||
|
||||
``mjOption``
|
||||
This structure contains all options that affect the physics simulation. It is used to select algorithms and set their
|
||||
parameters, enable and disable different portions of the simulation pipeline, and adjust system-level physical
|
||||
properties such as gravity.
|
||||
|
||||
``mjVisual``
|
||||
This structure contains all visualization options. There are additional OpenGL rendering options, but these are
|
||||
session-dependent and are not part of the model.
|
||||
|
||||
``mjStatistic``
|
||||
This structure contains statistics about the model which are computed by the compiler: average body mass, spatial
|
||||
extent of the model etc. It is included for information purposes, and also because the visualizer uses it for
|
||||
automatic scaling.
|
||||
|
||||
.. _Assets:
|
||||
|
||||
Assets
|
||||
~~~~~~
|
||||
|
||||
Assets are not in themselves model elements. Model elements can reference them, in which case the asset somehow changes
|
||||
the properties of the referencing element. One asset can be referenced by multiple model elements. Since the sole
|
||||
purpose of including an asset is to reference it, and referencing can only be done by name, every asset has a name
|
||||
(which may be inferred from a file name when applicable). In contrast, the names of regular elements can be left
|
||||
undefined.
|
||||
|
||||
Mesh
|
||||
MuJoCo can load triangulated meshes from binary STL files. Software such as `MeshLab <https://www.meshlab.net/>`__
|
||||
can be used to convert from other formats. While any collection of triangles can be loaded and visualized as a mesh,
|
||||
the collision detector works with the convex hull. There are compile-time options for scaling the mesh, as well as
|
||||
fitting a primitive geometric shape to it. The mesh can also be used to automatically infer inertial properties - by
|
||||
treating it as a union of triangular pyramids and combining their masses and inertias. Note that the STL format does
|
||||
not support color; some software packages write color information in unused fields but this is not consistent.
|
||||
Instead the mesh is colored using the material properties of the referencing geom. In contrast, all spatial
|
||||
properties are determined by the mesh data. MuJoCo supports a custom binary file format that can additionally specify
|
||||
normals and texture coordinates. Meshes can also be embedded directly in the XML.
|
||||
|
||||
Skin
|
||||
Skinned meshes (or skins) are meshes whose shape can deform at runtime. Their vertices are attached to rigid bodies
|
||||
(called bones in this context) and each vertex can belong to multiple bones, resulting in smooth deformations of the
|
||||
skin. Skins are purely visualization objects and do not affect the physics, but nevertheless they can enhance visual
|
||||
realism significantly. Skins can be loaded from custom binary files, or embedded directly in the XML, similar to
|
||||
meshes. When generating composite flexible objects automatically, the model compiler also generates skins for these
|
||||
objects.
|
||||
|
||||
Height field
|
||||
Height fields can be loaded from PNG files (converted to gray-scale internally) or from files in a custom binary
|
||||
format described later. A height field is a rectangular grid of elevation data. The compiler normalizes the data to
|
||||
the range [0-1]. The actual spatial extent of the height field is then determined by the size parameters of the
|
||||
referencing geom. Height fields can only be referenced from geoms that are attached to the world body. For rendering
|
||||
and collision detection purposes, the grid rectangles are automatically triangulated, thus the height field is treated
|
||||
as a union of triangular prisms. Collision detection with such a composite object can in principle generate a large
|
||||
number of contact points for a single geom pair. If that happens, only the first 64 contact points are kept. The
|
||||
rationale is that height fields should be used to model terrain maps whose spatial features are large compared to the
|
||||
other objects in the simulation, so the number of contacts will be small for well-designed models.
|
||||
|
||||
Texture
|
||||
Textures can be loaded from PNG files or synthesized by the compiler based on user-defined procedural parameters.
|
||||
There is also the option to leave the texture empty at model creation time and change it later at runtime -- so as to
|
||||
render video in a MuJoCo simulation, or create other dynamic effects. The visualizer supports two types of texture
|
||||
mapping: 2D and cube. 2D mapping is useful for planes and height fields. Cube mapping is useful for "shrink-wrapping"
|
||||
textures around 3D objects without having to specify texture coordinates. It is also used to create a skybox. The six
|
||||
sides of a cube maps can be loaded from separate image files, or from one composite image file, or generated by
|
||||
repeating the same image. Unlike all other assets which are referenced directly from model elements, textures can
|
||||
only be referenced from another asset (namely material) which is then referenced from model elements.
|
||||
|
||||
Material
|
||||
Materials are used to control the appearance of geoms, sites and tendons. This is done by referencing the material
|
||||
from the corresponding model element. Appearance includes texture mapping as well as other properties that interact
|
||||
with OpenGL lights below: RGBA, specularity, shininess, emission. Materials can also be used to make objects
|
||||
reflective. Currently reflections are rendered only on planes and on the Z+ faces of boxes. Note that model elements
|
||||
can also have their local RGBA parameter for setting color. If both material and local RGBA are specified, the local
|
||||
definition has precedence.
|
||||
|
||||
.. _Kinematic:
|
||||
|
||||
Kinematic tree
|
||||
~~~~~~~~~~~~~~
|
||||
|
||||
MuJoCo simulates the dynamics of a collection of rigid bodies whose motion is usually constrained. The system state is
|
||||
represented in joint coordinates and the bodies are explicitly organized into kinematic trees. Each body except for the
|
||||
top-level "world" body has a unique parent. Kinematic loops are not allowed; if loop joints are needed they should be
|
||||
modeled with equality constraints. Thus the backbone of a MuJoCo model is one or several kinematic trees formed by
|
||||
nested body definitions; an isolated floating body counts as a tree. Several other elements listed below are defined
|
||||
within a body and belong to that body. This is in contrast with the stand-alone elements listed later which cannot be
|
||||
associated with a single body.
|
||||
|
||||
Body
|
||||
Bodies have mass and inertial properties but do not have any geometric properties. Instead geometric shapes (or
|
||||
geoms) are attached to the bodies. Each body has two coordinate frames: the frame used to define it as well as to
|
||||
position other elements relative to it, and an inertial frame centered at the body's center of mass and aligned with
|
||||
its principal axes of inertia. The body inertia matrix is therefore diagonal in this frame. At each time step MuJoCo
|
||||
computes the forward kinematics recursively, yielding all body positions and orientations in global Cartesian
|
||||
coordinates. This provides the basis for all subsequent computations.
|
||||
|
||||
Joint
|
||||
Joints are defined within bodies. They create motion degrees of freedom (DOFs) between the body and its parent. In
|
||||
the absence of joints the body is welded to its parent. This is the opposite of gaming engines which use
|
||||
over-complete Cartesian coordinates, where joints remove DOFs instead of adding them. There are four types of joints:
|
||||
ball, slide, hinge, and a "free joint" which creates floating bodies. A single body can have multiple joints. In this
|
||||
way composite joints are created automatically, without having to define dummy bodies. The orientation components of
|
||||
ball and free joints are represented as unit quaternions, and all computations in MuJoCo respect the properties of
|
||||
quaternions.
|
||||
|
||||
DOF
|
||||
Degrees of freedom are closely related to joints, but are not in one-to-one correspondence because ball and free
|
||||
joints have multiple DOFs. Think of joints as specifying positional information, and of DOFs as specifying velocity
|
||||
and force information. More formally, the joint positions are coordinates over the configuration manifold of the
|
||||
system, while the joint velocities are coordinates over the tangent space to this manifold at the current position.
|
||||
DOFs have velocity-related properties such as friction loss, damping, armature inertia. All generalized forces acting
|
||||
on the system are expressed in the space of DOFs. In contrast, joints have position-related properties such as limits
|
||||
and spring stiffness. DOFs are not specified directly by the user. Instead they are created by the compiler given the
|
||||
joints.
|
||||
|
||||
Geom
|
||||
Geoms are 3D shapes rigidly attached to the bodies. Multiple geoms can be attached to the same body. This is
|
||||
particularly useful in light of the fact that MuJoCo only supports convex geom-geom collisions, and the only way to
|
||||
create non-convex objects is to represent them as a union of convex geoms. Apart from collision detection and
|
||||
subsequent computation of contact forces, geoms are used for rendering, as well as automatic inference of body masses
|
||||
and inertias when the latter are omitted. MuJoCo supports several primitive geometric shapes: plane, sphere, capsule,
|
||||
ellipsoid, cylinder, box. A geom can also be a mesh or a height field; this is done by referencing the corresponding
|
||||
asset. Geoms have a number of material properties that affect the simulation and visualization.
|
||||
|
||||
Site
|
||||
Sites are essentially light geoms. They represent locations of interest within the body frame. Sites do not
|
||||
participate in collision detection or automated computation of inertial properties, however they can be used to
|
||||
specify the spatial properties of other objects like sensors, tendon routing, and slider-crank endpoints.
|
||||
|
||||
Camera
|
||||
Multiple cameras can be defined in a model. There is always a default camera which the user can freely move with the
|
||||
mouse in the interactive visualizer. However it is often convenient to define additional cameras that are either
|
||||
fixed to the world, or are attached to one of the bodies and move with it. In addition to the camera position and
|
||||
orientation, the user can adjust the field of view and the inter-pupilary distance for stereoscopic rendering, as
|
||||
well as create oblique projections needed for stereoscopic virtual environments.
|
||||
|
||||
Light
|
||||
Lights can be fixed to the world body or attached to moving bodies. The visualizer provides access to the full
|
||||
lighting model in OpenGL (fixed function) including ambient, diffuse and specular components, attenuation and cutoff,
|
||||
positional and directional lighting, fog. Lights, or rather the objects illuminated by them, can also cast shadows.
|
||||
However, similar to material reflections, each shadow-casting light adds one rendering pass so this feature should be
|
||||
used with caution. Documenting the lighting model in detail is beyond the scope of this chapter; see `OpenGL
|
||||
documentation <http://www.glprogramming.com/red/chapter05.html>`__ instead. Note that in addition to lights defined
|
||||
by the user in the kinematic tree, there is a default headlight that moves with the camera. Its properties are
|
||||
adjusted through the mjVisual options.
|
||||
|
||||
.. _Standalone:
|
||||
|
||||
Stand-alone elements
|
||||
~~~~~~~~~~~~~~~~~~~~
|
||||
|
||||
Here we describe the model elements which do not belong to an individual body, and therefore are described outside the
|
||||
kinematic tree.
|
||||
|
||||
Reference pose
|
||||
The reference pose is a vector of joint positions stored in ``mjModel.qpos0``. It corresponds to the numeric values
|
||||
of the joints when the model is in its initial configuration. In our earlier example the elbow was created in a bent
|
||||
configuration at 90° angle. But MuJoCo does not know what an elbow is, and so by default it treats this joint
|
||||
configuration as having numeric value of 0. We can override the default behavior and specify that the initial
|
||||
configuration corresponds to 90°, using the ref attribute of :ref:`joint <joint>`. The reference values of all joints
|
||||
are assembled into the vector ``mjModel.qpos0``. Whenever the simulation is reset, the joint configuration
|
||||
``mjData.qpos`` is set to ``mjModel.qpos0``. At runtime the joint position vector is interpreted relative to the
|
||||
reference pose. In particular, the amount of spatial transformation applied by the joints is ``mjData.qpos -
|
||||
mjModel.qpos0``. This transformation is in addition to the parent-child translation and rotation offsets stored in
|
||||
the body elements of ``mjModel``. The ref attribute only applies to scalar joints (slide and hinge). For ball joints,
|
||||
the quaternion saved in ``mjModel.qpos0`` is always (1,0,0,0) which corresponds to the null rotation. For free
|
||||
joints, the global 3D position and quaternion of the floating body are saved in ``mjModel.qpos0``.
|
||||
|
||||
Spring reference pose
|
||||
This is the pose in which all joint and tendon springs achieve their resting length. Spring forces are generated
|
||||
when the joint configuration deviates from the spring reference pose, and are linear in the amount of deviation. The
|
||||
spring reference pose is saved in ``mjModel.qpos_spring``. For slide and hinge joints, the spring reference is
|
||||
specified with the attribute springref. For ball and free joints, the spring reference corresponds to the initial
|
||||
model configuration.
|
||||
|
||||
Tendon
|
||||
Tendons are scalar length elements that can be used for actuation, imposing limits and equality constraints, or
|
||||
creating spring-dampers and friction loss. There are two types of tendons: fixed and spatial. Fixed tendons are
|
||||
linear combinations of (scalar) joint positions. They are useful for modeling mechanical coupling. Spatial tendons
|
||||
are defined as the shortest path that passes through a sequence of specified sites (or via-points) or wraps around
|
||||
specified geoms. Only spheres and cylinders are supported as wrapping geoms, and cylinders are treated as having
|
||||
infinite length for wrapping purposes. To avoid abrupt jumps of the tendon from one side of the wrapping geom to the
|
||||
other, the user can also specify the preferred side. If there are multiple wrapping geoms in the tendon path they
|
||||
must be separated by sites, so as to avoid the need for an iterative solver. Spatial tendons can also be split into
|
||||
multiple branches using pulleys.
|
||||
|
||||
Actuator
|
||||
MuJoCo provides a flexible actuator model, with three components that can be specified independently. Together they
|
||||
determine how the actuator works. Common actuator types are obtained by specifying these components in a coordinated
|
||||
way. The three components are transmission, activation dynamics, and force generation. The transmission specifies how
|
||||
the actuator is attached to the rest of the system; available types are joint, tendon and slider-crank. The
|
||||
activation dynamics can be used to model internal activation states of pneumatic or hydraulic cylinders as well as
|
||||
biological muscles; using such actuators makes the overall system dynamics 3rd-order. The force generation mechanism
|
||||
determines how the scalar control signal provided as input to the actuator is mapped into a scalar force, which is in
|
||||
turn mapped into a generalized force by the moment arms inferred from the transmission.
|
||||
|
||||
Sensor
|
||||
MuJoCo can generate simulated sensor data which is saved in the global array ``mjData.sensordata``. The result is not
|
||||
used in any internal computations; instead it is provided because the user presumably needs it for custom computation
|
||||
or data analysis. Available sensor types include touch sensors, inertial measurement units (IMUs), force-torque
|
||||
sensors, joint and tendon position and velocity sensors, actuator position, velocity and force sensors, motion
|
||||
capture marker positions and quaternions, and magnetometers. Some of these require extra computation, while others
|
||||
are copied from the corresponding fields of ``mjData``. There is also a user sensor, allowing user code to insert any
|
||||
other quantity of interest in the sensor data array. MuJoCo also has off-screen rendering capabilities, making it
|
||||
straightforward to simulate both color and depth camera sensors. This is not included in the standard sensor model
|
||||
and instead has to be done programmatically, as illustrated in the code sample `simulate.cc
|
||||
<https://github.com/deepmind/mujoco/blob/main/sample/simulate.cc>`_.
|
||||
|
||||
Equality
|
||||
Equality constraints can impose additional constraints beyond those already imposed by the kinematic tree structure
|
||||
and the joints/DOFs defined in it. They can be used to create loop joints, or in general model mechanical coupling.
|
||||
The internal forces that enforce these constraints are computed together with all other constraint forces. The
|
||||
available equality constraint types are: connect two bodies at a point (creating a ball joint outside the kinematic
|
||||
tree); weld two bodies together; make two surfaces slide on each other; fix the position of a joint or tendon; couple
|
||||
the positions of two joints or two tendons via a cubic polynomial.
|
||||
|
||||
Contact pair
|
||||
Contact generation in MuJoCo is an elaborate process. Geom pairs that are checked for contact can come from two
|
||||
sources: automated proximity tests and other filters collectively called "dynamic", as well as an explicit list of
|
||||
geom pairs provided in the model. The latter is a separate type of model element. Because a contact involves a
|
||||
combination of two geoms, the explicit specification allows the user to define contact parameters in ways that cannot
|
||||
be done with the dynamic mechanism. It is also useful for fine-tuning the contact model, in particular adding contact
|
||||
pairs that were removed by an aggressive filtering scheme.
|
||||
|
||||
Contact exclude
|
||||
This is the opposite of contact pairs: it specifies pairs of bodies (rather than geoms) which should be excluded from
|
||||
the generation of candidate contact pairs. It is useful for disabling contacts between bodies whose geometry causes
|
||||
an undesirable permanent contact. Note that MuJoCo has other mechanisms for dealing with this situation (in
|
||||
particular geoms cannot collide if they belong to the same body or to a parent and a child body), but sometimes these
|
||||
automated mechanisms are not sufficient and explicit exclusion becomes necessary.
|
||||
|
||||
Custom numeric
|
||||
There are three ways to enter custom numbers in a MuJoCo simulation. First, global numeric fields can be defined in
|
||||
the XML. They have a name and an array of real values. Second, the definition of certain model elements can be
|
||||
extended with element-specific custom arrays. This is done by setting the attributes ``nuser_XXX`` in the XML element
|
||||
``size``. Third, there is the array ``mjData.userdata`` which is not used by any MuJoCo computations. The user can
|
||||
store results from custom computations there; recall that everything that changes over time should be stored in
|
||||
``mjData`` and not in ``mjModel``.
|
||||
|
||||
Custom text
|
||||
Custom text fields can be saved in the model. They can be used in custom computations - either to specify keyword
|
||||
commands, or to provide some other textual information. Do not use them for comments though; there is no benefit to
|
||||
saving comments in a compiled model. XML has its own commenting mechanism (ignored by MuJoCo's parser and compiler)
|
||||
which is more suitable.
|
||||
|
||||
Custom tuple
|
||||
Custom tuples are lists of MuJoCo model elements, possibly including other tuples. They are not used by the
|
||||
simulator, but are available for specifying groups of elements that are needed for user code. For example, one can
|
||||
use tuples to define pairs of bodies for custom contact processing.
|
||||
|
||||
Keyframe
|
||||
A keyframe is a snapshot of the simulation state variables. It contains the vectors of joint positions, joint
|
||||
velocities, actuator activations when present, and the simulation time. The model can contain a library of keyframes.
|
||||
They are useful for resetting the state of the system to a point of interest. Note that keyframes are not intended
|
||||
for storing trajectory data in the model; external files should be used for this purpose.
|
||||
|
||||
.. _Clarifications:
|
||||
|
||||
Clarifications
|
||||
--------------
|
||||
|
||||
The reader is likely to have experience with other physics simulators and related conventions, as well as general
|
||||
programming practices that are not aligned with MuJoCo. This has the potential to cause confusion. The goal of this
|
||||
section is to preemptively clarify the aspects that are most likely to be confusing; it is somewhere in-between a FAQ
|
||||
and a tutorial on selected topics. We will need to refer to material covered later in the documentation, but
|
||||
nevertheless the text below is as self-contained and introductory as possible.
|
||||
|
||||
.. _NotObject:
|
||||
|
||||
Not object-oriented
|
||||
~~~~~~~~~~~~~~~~~~~
|
||||
|
||||
Object-oriented programming is a very useful abstraction, built on top of the more fundamental (and closer-to-hardware)
|
||||
notion of data structures vs. functions that operate on them. An object is a collection of data structures and functions
|
||||
that correspond to one semantic entity, and thereby have stronger dependencies among them than with the rest of the
|
||||
application. The reason we are not using this here is because the dependency structure is such that the natural entity
|
||||
is the entire physics simulator. Instead of objects, we have a small number of data structures and a large number of
|
||||
functions that operate on them.
|
||||
|
||||
We still use a type of grouping, but it is different from the object-oriented approach. We separate the model
|
||||
(``mjModel``) from the data (``mjData``). These are both data structures. The model contains everything needed to
|
||||
describe the constant properties of the physical system being modeled, while the data contains the time-varying state
|
||||
and the reusable intermediate results of internal computations. All top-level functions expect pointers to ``mjModel``
|
||||
and ``mjData`` as arguments. In this way we avoid global variables which pollute the workspace and interfere with
|
||||
multi-threading, but we do so in a way that is different from how object-oriented programming achieves the same effect.
|
||||
|
||||
.. _Soft:
|
||||
|
||||
Softness and slip
|
||||
~~~~~~~~~~~~~~~~~
|
||||
|
||||
As we will explain at length in the :doc:`computation` chapter, MuJoCo is based on a mathematical model of the physics
|
||||
of contact and other constraints. This model is inherently soft, in the sense that pushing harder against a constraint
|
||||
will always result in larger acceleration, and so the inverse dynamics can be uniquely defined. This is desirable
|
||||
because it yields a convex optimization problem and enables analyses that rely on inverse dynamics, and furthermore,
|
||||
most contacts that we need to model in practice have some softness. However once we allow soft constraints, we are
|
||||
effectively creating a new type of dynamics -- namely deformation dynamics -- and now we must specify how these dynamics
|
||||
behave. This calls for elaborate parameterization of contacts and other constraints, involving the attributes
|
||||
:at:`solref` and :at:`solimp` that can be set per constraints and will be described later.
|
||||
|
||||
An often confusing aspect of this soft model is that gradual contact slip cannot be avoided. Similarly, frictional
|
||||
joints will gradually yield under gravity. This is not because the solver is unable to prevent slip, in the sense of
|
||||
reaching the friction cone or friction loss limit, but because it is not trying to prevent slip in the first place.
|
||||
Recall that larger force against a given constraint must result in larger acceleration. If slip were to be fully
|
||||
suppressed, this key property would have to be violated. So if you see gradual slip in your simulation, the intuitive
|
||||
explanation may be that the friction is insufficient, but that is rarely the case in MuJoCo. Instead the ``solref`` and
|
||||
``solimp`` parameter vectors need to be adjusted in order to reduce this effect. Increasing constraint impedance (first
|
||||
two elements of ``solimp``) as well as the global ``mjModel.opt.impratio`` setting can be particularly effective. Such
|
||||
adjustment often requires smaller time steps to keep the simulation stable, because they make the nonlinear dynamics
|
||||
more difficult to integrate numerically. Slip is also reduced by the Newton solver which is more accurate in general.
|
||||
|
||||
For situations where it is desirable to suppress slip completely, there is a second ``noslip`` solver which runs after
|
||||
the main solver. It updates the contact forces in friction dimensions by disregarding constraint softness. When this
|
||||
option is used however, MuJoCo is no longer solving the convex optimization problem it was designed to solve, and the
|
||||
simulation may become less robust. Thus using the Newton solver with elliptic friction cones and large value of
|
||||
``impratio`` is the recommended way of reducing slip.
|
||||
|
||||
.. _TypeNameId:
|
||||
|
||||
Types, names, ids
|
||||
~~~~~~~~~~~~~~~~~
|
||||
|
||||
MuJoCo supports a large number of model elements, as summarized earlier. Each element type has a corresponding section
|
||||
in ``mjModel`` listing its various properties. For example the joint limit data is in the array
|
||||
|
||||
.. code:: C
|
||||
|
||||
mjtNum* jnt_range; // joint limits (njnt x 2)
|
||||
|
||||
The size of each array (``njnt`` in this case) is also given in ``mjModel``. The limits of the first joint are included
|
||||
first, followed by the limits of the second joint etc. This ordering reflects the fact that all matrices in MuJoCo have
|
||||
row-major format.
|
||||
|
||||
The available element types are defined in
|
||||
`mjmodel.h <https://github.com/deepmind/mujoco/blob/main/include/mjmodel.h#L243>`_, in the enum type :ref:`mjtObj`.
|
||||
These enums are mostly used internally. One exception are the functions :ref:`mj_name2id` and :ref:`mj_id2name` in the
|
||||
MuJoCo API, which map element names to integer ids and vice versa. These functions take an element type as input.
|
||||
|
||||
Naming model elements in the XML is optional. Two elements of the same type (e.g. two joints) cannot have the same name.
|
||||
Naming is required only when a given element needs to be referenced elsewhere in the model; referencing in the XML can
|
||||
only be done by name. Once the model is compiled, the names are still stored in ``mjModel`` for user convenience,
|
||||
although they have no further effect on the simulation. Names are useful for finding the corresponding integer ids, as
|
||||
well as rendering: if you enable joint labels for example, a string will be shown next to each joint (elements with
|
||||
undefined names are labeled as "joint N" where N is the id).
|
||||
|
||||
The integer ids of the elements are essential for indexing the MuJoCo data arrays. The ids are 0-based, following the C
|
||||
convention. Suppose we already have ``mjModel* m``. To print the range of a joint named "elbow", do:
|
||||
|
||||
.. code:: C
|
||||
|
||||
int jntid = mj_name2id(m, mjOBJ_JOINT, "elbow");
|
||||
if( jntid>=0 )
|
||||
printf("(%f, %f)\n", m->jnt_range[2*jntid], m->jnt_range[2*jntid+1]);
|
||||
|
||||
If the name is not found the function returns -1, which is why one should always check for id>=0.
|
||||
|
||||
.. _BodyGeomSite:
|
||||
|
||||
Bodies, geoms, sites
|
||||
~~~~~~~~~~~~~~~~~~~~
|
||||
|
||||
Bodies, geoms and sites are MuJoCo elements which roughly correspond to rigid bodies in the physical world. So why are
|
||||
they separate? For semantic as well as computational reasons explained here.
|
||||
|
||||
First the similarities. Bodies, geoms and sites all have spatial frames attached to them (although bodies also have a
|
||||
second frame which is centered at the body center of mass and aligned with the principal axes of inertia). The positions
|
||||
and orientations of these frames are computed at each time step from ``mjData.qpos`` via forward kinematics. The results
|
||||
of forward kinematics are availabe in ``mjData`` as xpos, xquat and xmat for bodies, geom_xpos and geom_xmat for geoms,
|
||||
site_xpos and site_xmat for sites.
|
||||
|
||||
Now the differences. Bodies are used to construct the kinematic tree and are containers for other elements, including
|
||||
geoms and sites. Bodies have a spatial frame, inertial properties, but no properties related to appearance or collision
|
||||
geometry. This is because such properties do not affect the physics (except for contacts of course, but these are
|
||||
handled separately). If you have seen diagrams of kinematic trees in robotics textbooks, the bodies are usually drawn as
|
||||
amorphous shapes - to make the point that their actual shape is irrelevant to the physics.
|
||||
|
||||
Geoms (short for geometric primitive) are used to specify appearance and collision geometry. Each geom belongs to a body
|
||||
and is rigidly attached to that body. Multiple geoms can be attached to the same body. This is particularly useful in
|
||||
light of the fact that MuJoCo's collision detector assumes that all geoms are convex (it internally replaces meshes with
|
||||
their convex hulls if the meshes are not convex). Thus if you want to model a non-convex shape, you have to decompose it
|
||||
into a union of convex geoms and attach all of them to the same body. Geoms can also have mass and inertia in the XML
|
||||
model (or rather material density which is used to compute the mass and inertia), but that is only used to compute the
|
||||
body mass and inertia in the model compiler. In the actual ``mjModel`` being simulated geoms do not have inertial
|
||||
properties.
|
||||
|
||||
Sites are light geoms. They have the same appearance properties but cannot participate in collisions and cannot be used
|
||||
to infer body masses. On the other hand sites can do things that geoms cannot do: they can specify the volumes of touch
|
||||
sensors, the attachment of IMU sensors, the routing of spatial tendons, the end-points of slider-crank actuators. These
|
||||
are all spatial quantities, and yet they do not correspond to entities that should have mass or collide other entities -
|
||||
which is why the site element was created. Sites can also be used to specify points (or rather frames) of interest to
|
||||
the user.
|
||||
|
||||
The following example illustrates the point that multiple sites and geoms can be attached to the same body: two sites
|
||||
and two geoms to one body in this case.
|
||||
|
||||
.. code:: XML
|
||||
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<body pos="0 0 0">
|
||||
<geom type="sphere" size=".1" rgba=".9 .9 .1 1"/>
|
||||
<geom type="capsule" pos="0 0 .1" size=".05 .1" rgba=".9 .9 .1 1"/>
|
||||
<site type="box" pos="0 -.1 .3" size=".02 .02 .02" rgba=".9 .1 .9 1"/>
|
||||
<site type="ellipsoid" pos="0 .1 .3" size=".02 .03 .04" rgba=".9 .1 .9 1"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
|
||||
.. figure:: images/overview/bodygeomsite.png
|
||||
:width: 200px
|
||||
:align: right
|
||||
|
||||
This model is rendered by the OpenGL visualizer as:
|
||||
|
||||
Note the red box. This is an equivalent-inertia box rendering of the body inertial properties, and is generated by
|
||||
MuJoCo internally. The box is over the geoms but not over the sites. This is because only the geoms were used to
|
||||
(automatically) infer the inertial properties of the body. If we happen to know the latter, we can of course specify
|
||||
them directly. But it is often more convenient to let the model compiler infer these body properties from the geoms
|
||||
attached to it, using the assumption of uniform density (geom density can be specified in the XML; the default is the
|
||||
density of water).
|
||||
|
||||
.. _JointCo:
|
||||
|
||||
Joint coordinates
|
||||
~~~~~~~~~~~~~~~~~
|
||||
|
||||
One of the key distinctions between MuJoCo and gaming engines (such as ODE, Bullet, Havoc, PhysX) is that MuJoCo
|
||||
operates in generalized or joint coordinates, while gaming engines operate in Cartesian coordinates, although Bullet now
|
||||
supports generalized coordinates. The differences between these two approaches can be summarized as follows:
|
||||
|
||||
Joint coordinates:
|
||||
|
||||
- Best suited for elaborate kinematic structures such as robots;
|
||||
- Joints add degrees of freedom among bodies that would be welded together by default;
|
||||
- Joint constraints are implicit in the representation and cannot be violated;
|
||||
- The positions and orientations of the simulated bodies are obtained from the generalized coordinates via forward
|
||||
kinematics, and cannot be manipulated directly (except for root bodies).
|
||||
|
||||
Cartesian coordinates:
|
||||
|
||||
- Best suited for many bodies that bounce off each other, as in molecular dynamics and box stacking;
|
||||
- Joints remove degrees of freedom among bodies that would be free-floating by default;
|
||||
- Joint constraints are enforced numerically and can be violated;
|
||||
- The positions and orientations of the simulated bodies are represented explicitly and can be manipulated directly,
|
||||
although this can introduce further joint constraint violations.
|
||||
|
||||
Joint coordinates can be particularly confusing when working with free-floating bodies that are part of a model which
|
||||
also contains kinematic trees. This is clarified below.
|
||||
|
||||
.. _Floating:
|
||||
|
||||
Floating objects
|
||||
~~~~~~~~~~~~~~~~
|
||||
|
||||
When working in joint coordinates, you cannot simply set the position and orientation of an arbitrary body to whatever
|
||||
you want. To achieve that effect you would have to implement some form of inverse kinematics, which computes a (not
|
||||
necessarily unique) set of joint coordinates for which the forward kinematics place the body where you want it to be.
|
||||
|
||||
The situation is different for floating bodies, i.e. bodies that are connected to the world with a free joint. The
|
||||
positions and orientations as well as the linear and angular velocities of such bodies are explicitly represented in
|
||||
``mjData.qpos`` and ``mjData.qvel``, and can therefore be manipulated directly. The general approach is to find the
|
||||
addresses in qpos and qvel where the body's data are. Of course qpos and qvel represents joints and not bodies, so you
|
||||
need the corresponding joint addresses. Suppose the body was named "myfloatingbody" in the XML. The necessary addresses
|
||||
can be obtained as:
|
||||
|
||||
.. code:: C
|
||||
|
||||
int bodyid = mj_name2id(m, mjOBJ_BODY, "myfloatingbody");
|
||||
int qposadr = -1, qveladr = -1;
|
||||
|
||||
// make sure we have a floating body: it has a single free joint
|
||||
if( bodyid>=0 && m->body_jntnum[bodyid]==1 &&
|
||||
m->jnt_type[m->body_jntadr[bodyid]]==mjJNT_FREE )
|
||||
{
|
||||
// extract the addresses from the joint specification
|
||||
qposadr = m->jnt_qposadr[m->body_jntadr[bodyid]];
|
||||
qveladr = m->jnt_dofadr[m->body_jntadr[bodyid]];
|
||||
}
|
||||
|
||||
Now if everything went well (i.e. "myfloatingbody" was indeed a floating body), qposadr and qveladr are the addresses in
|
||||
qpos and qvel where the data for our floating body/joint lives. The position data is 7 numbers (3D position followed by
|
||||
unit quaternion) while the velocity data is 6 numbers (3D linear velocity followed by 3D angular velocity). These
|
||||
numbers can now be set to the desired pose and velocity of the body.
|
||||
+1986
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,10 @@
|
||||
sphinx==3.5.4
|
||||
sphinx_rtd_theme==0.5.2
|
||||
sphinxcontrib-katex==0.8.6
|
||||
sphinx-reredirects==0.0.1
|
||||
nbsphinx==0.8.0
|
||||
pandoc==1.0.2
|
||||
pygments==2.7.4
|
||||
jq==1.1.1
|
||||
Jinja2==2.11.3
|
||||
wheel
|
||||
Vendored
+21
@@ -0,0 +1,21 @@
|
||||
{% extends "!layout.html" %}
|
||||
{% block htmltitle %}
|
||||
<link rel=“preconnect” href=“https://fonts.googleapis.com“ crossorigin>
|
||||
<link rel=“preconnect” href=“https://fonts.gstatic.com” crossorigin>
|
||||
{{ super() }}
|
||||
{% endblock %}
|
||||
{% block scripts %}
|
||||
{{ super() }}
|
||||
{# Override home link to point to MuJoCo homepage.
|
||||
Ideally this would be done as part of the theme rather than in JS.
|
||||
#}
|
||||
<script>
|
||||
document.addEventListener('DOMContentLoaded', (event) => {
|
||||
let home_link = document.querySelector('a.icon');
|
||||
{# Be extra safe and don't break the page if theme changes and querySelector can't match. #}
|
||||
if (home_link) {
|
||||
home_link.href="https://mujoco.org";
|
||||
}
|
||||
});
|
||||
</script>
|
||||
{% endblock %}
|
||||
Executable
+342
@@ -0,0 +1,342 @@
|
||||
// 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_MJDATA_H_
|
||||
#define MUJOCO_MJDATA_H_
|
||||
|
||||
//---------------------------- primitive types (mjt) ------------------------------------
|
||||
|
||||
typedef enum _mjtWarning // warning types
|
||||
{
|
||||
mjWARN_INERTIA = 0, // (near) singular inertia matrix
|
||||
mjWARN_CONTACTFULL, // too many contacts in contact list
|
||||
mjWARN_CNSTRFULL, // too many constraints
|
||||
mjWARN_VGEOMFULL, // too many visual geoms
|
||||
mjWARN_BADQPOS, // bad number in qpos
|
||||
mjWARN_BADQVEL, // bad number in qvel
|
||||
mjWARN_BADQACC, // bad number in qacc
|
||||
mjWARN_BADCTRL, // bad number in ctrl
|
||||
|
||||
mjNWARNING // number of warnings
|
||||
} mjtWarning;
|
||||
|
||||
|
||||
typedef enum _mjtTimer
|
||||
{
|
||||
// main api
|
||||
mjTIMER_STEP = 0, // step
|
||||
mjTIMER_FORWARD, // forward
|
||||
mjTIMER_INVERSE, // inverse
|
||||
|
||||
// breakdown of step/forward
|
||||
mjTIMER_POSITION, // fwdPosition
|
||||
mjTIMER_VELOCITY, // fwdVelocity
|
||||
mjTIMER_ACTUATION, // fwdActuation
|
||||
mjTIMER_ACCELERATION, // fwdAcceleration
|
||||
mjTIMER_CONSTRAINT, // fwdConstraint
|
||||
|
||||
// breakdown of fwdPosition
|
||||
mjTIMER_POS_KINEMATICS, // kinematics, com, tendon, transmission
|
||||
mjTIMER_POS_INERTIA, // inertia computations
|
||||
mjTIMER_POS_COLLISION, // collision detection
|
||||
mjTIMER_POS_MAKE, // make constraints
|
||||
mjTIMER_POS_PROJECT, // project constraints
|
||||
|
||||
mjNTIMER // number of timers
|
||||
} mjtTimer;
|
||||
|
||||
|
||||
//------------------------------ mjContact ----------------------------------------------
|
||||
|
||||
struct _mjContact // result of collision detection functions
|
||||
{
|
||||
// contact parameters set by geom-specific collision detector
|
||||
mjtNum dist; // distance between nearest points; neg: penetration
|
||||
mjtNum pos[3]; // position of contact point: midpoint between geoms
|
||||
mjtNum frame[9]; // normal is in [0-2]
|
||||
|
||||
// contact parameters set by mj_collideGeoms
|
||||
mjtNum includemargin; // include if dist<includemargin=margin-gap
|
||||
mjtNum friction[5]; // tangent1, 2, spin, roll1, 2
|
||||
mjtNum solref[mjNREF]; // constraint solver reference
|
||||
mjtNum solimp[mjNIMP]; // constraint solver impedance
|
||||
|
||||
// internal storage used by solver
|
||||
mjtNum mu; // friction of regularized cone, set by mj_makeConstraint
|
||||
mjtNum H[36]; // cone Hessian, set by mj_updateConstraint
|
||||
|
||||
// contact descriptors set by mj_collideGeoms
|
||||
int dim; // contact space dimensionality: 1, 3, 4 or 6
|
||||
int geom1; // id of geom 1
|
||||
int geom2; // id of geom 2
|
||||
|
||||
// flag set by mj_fuseContact or mj_instantianteEquality
|
||||
int exclude; // 0: include, 1: in gap, 2: fused, 3: equality, 4: no dofs
|
||||
|
||||
// address computed by mj_instantiateContact
|
||||
int efc_address; // address in efc; -1: not included, -2-i: distance constraint i
|
||||
};
|
||||
typedef struct _mjContact mjContact;
|
||||
|
||||
|
||||
//------------------------------ diagnostics --------------------------------------------
|
||||
|
||||
struct _mjWarningStat // warning statistics
|
||||
{
|
||||
int lastinfo; // info from last warning
|
||||
int number; // how many times was warning raised
|
||||
};
|
||||
typedef struct _mjWarningStat mjWarningStat;
|
||||
|
||||
|
||||
struct _mjTimerStat // timer statistics
|
||||
{
|
||||
mjtNum duration; // cumulative duration
|
||||
int number; // how many times was timer called
|
||||
};
|
||||
typedef struct _mjTimerStat mjTimerStat;
|
||||
|
||||
|
||||
struct _mjSolverStat // per-iteration solver statistics
|
||||
{
|
||||
mjtNum improvement; // cost reduction, scaled by 1/trace(M(qpos0))
|
||||
mjtNum gradient; // gradient norm (primal only, scaled)
|
||||
mjtNum lineslope; // slope in linesearch
|
||||
int nactive; // number of active constraints
|
||||
int nchange; // number of constraint state changes
|
||||
int neval; // number of cost evaluations in line search
|
||||
int nupdate; // number of Cholesky updates in line search
|
||||
};
|
||||
typedef struct _mjSolverStat mjSolverStat;
|
||||
|
||||
|
||||
//---------------------------------- mjData ---------------------------------------------
|
||||
|
||||
struct _mjData
|
||||
{
|
||||
// constant sizes
|
||||
int nstack; // number of mjtNums that can fit in stack
|
||||
int nbuffer; // size of main buffer in bytes
|
||||
|
||||
// stack pointer
|
||||
int pstack; // first available mjtNum address in stack
|
||||
|
||||
// memory utilization stats
|
||||
int maxuse_stack; // maximum stack allocation
|
||||
int maxuse_con; // maximum number of contacts
|
||||
int maxuse_efc; // maximum number of scalar constraints
|
||||
|
||||
// diagnostics
|
||||
mjWarningStat warning[mjNWARNING]; // warning statistics
|
||||
mjTimerStat timer[mjNTIMER]; // timer statistics
|
||||
mjSolverStat solver[mjNSOLVER]; // solver statistics per iteration
|
||||
int solver_iter; // number of solver iterations
|
||||
int solver_nnz; // number of non-zeros in Hessian or efc_AR
|
||||
mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc
|
||||
|
||||
// variable sizes
|
||||
int ne; // number of equality constraints
|
||||
int nf; // number of friction constraints
|
||||
int nefc; // number of constraints
|
||||
int ncon; // number of detected contacts
|
||||
|
||||
// global properties
|
||||
mjtNum time; // simulation time
|
||||
mjtNum energy[2]; // potential, kinetic energy
|
||||
|
||||
//-------------------------------- end of info header
|
||||
|
||||
// buffers
|
||||
void* buffer; // main buffer; all pointers point in it (nbuffer bytes)
|
||||
mjtNum* stack; // stack buffer (nstack mjtNums)
|
||||
|
||||
//-------------------------------- main inputs and outputs of the computation
|
||||
|
||||
// state
|
||||
mjtNum* qpos; // position (nq x 1)
|
||||
mjtNum* qvel; // velocity (nv x 1)
|
||||
mjtNum* act; // actuator activation (na x 1)
|
||||
mjtNum* qacc_warmstart; // acceleration used for warmstart (nv x 1)
|
||||
|
||||
// control
|
||||
mjtNum* ctrl; // control (nu x 1)
|
||||
mjtNum* qfrc_applied; // applied generalized force (nv x 1)
|
||||
mjtNum* xfrc_applied; // applied Cartesian force/torque (nbody x 6)
|
||||
|
||||
// dynamics
|
||||
mjtNum* qacc; // acceleration (nv x 1)
|
||||
mjtNum* act_dot; // time-derivative of actuator activation (na x 1)
|
||||
|
||||
// mocap data
|
||||
mjtNum* mocap_pos; // positions of mocap bodies (nmocap x 3)
|
||||
mjtNum* mocap_quat; // orientations of mocap bodies (nmocap x 4)
|
||||
|
||||
// user data
|
||||
mjtNum* userdata; // user data, not touched by engine (nuserdata x 1)
|
||||
|
||||
// sensors
|
||||
mjtNum* sensordata; // sensor data array (nsensordata x 1)
|
||||
|
||||
//-------------------------------- POSITION dependent
|
||||
|
||||
// computed by mj_fwdPosition/mj_kinematics
|
||||
mjtNum* xpos; // Cartesian position of body frame (nbody x 3)
|
||||
mjtNum* xquat; // Cartesian orientation of body frame (nbody x 4)
|
||||
mjtNum* xmat; // Cartesian orientation of body frame (nbody x 9)
|
||||
mjtNum* xipos; // Cartesian position of body com (nbody x 3)
|
||||
mjtNum* ximat; // Cartesian orientation of body inertia (nbody x 9)
|
||||
mjtNum* xanchor; // Cartesian position of joint anchor (njnt x 3)
|
||||
mjtNum* xaxis; // Cartesian joint axis (njnt x 3)
|
||||
mjtNum* geom_xpos; // Cartesian geom position (ngeom x 3)
|
||||
mjtNum* geom_xmat; // Cartesian geom orientation (ngeom x 9)
|
||||
mjtNum* site_xpos; // Cartesian site position (nsite x 3)
|
||||
mjtNum* site_xmat; // Cartesian site orientation (nsite x 9)
|
||||
mjtNum* cam_xpos; // Cartesian camera position (ncam x 3)
|
||||
mjtNum* cam_xmat; // Cartesian camera orientation (ncam x 9)
|
||||
mjtNum* light_xpos; // Cartesian light position (nlight x 3)
|
||||
mjtNum* light_xdir; // Cartesian light direction (nlight x 3)
|
||||
|
||||
// computed by mj_fwdPosition/mj_comPos
|
||||
mjtNum* subtree_com; // center of mass of each subtree (nbody x 3)
|
||||
mjtNum* cdof; // com-based motion axis of each dof (nv x 6)
|
||||
mjtNum* cinert; // com-based body inertia and mass (nbody x 10)
|
||||
|
||||
// computed by mj_fwdPosition/mj_tendon
|
||||
int* ten_wrapadr; // start address of tendon's path (ntendon x 1)
|
||||
int* ten_wrapnum; // number of wrap points in path (ntendon x 1)
|
||||
int* ten_J_rownnz; // number of non-zeros in Jacobian row (ntendon x 1)
|
||||
int* ten_J_rowadr; // row start address in colind array (ntendon x 1)
|
||||
int* ten_J_colind; // column indices in sparse Jacobian (ntendon x nv)
|
||||
mjtNum* ten_length; // tendon lengths (ntendon x 1)
|
||||
mjtNum* ten_J; // tendon Jacobian (ntendon x nv)
|
||||
int* wrap_obj; // geom id; -1: site; -2: pulley (nwrap*2 x 1)
|
||||
mjtNum* wrap_xpos; // Cartesian 3D points in all path (nwrap*2 x 3)
|
||||
|
||||
// computed by mj_fwdPosition/mj_transmission
|
||||
mjtNum* actuator_length; // actuator lengths (nu x 1)
|
||||
mjtNum* actuator_moment; // actuator moments (nu x nv)
|
||||
|
||||
// computed by mj_fwdPosition/mj_crb
|
||||
mjtNum* crb; // com-based composite inertia and mass (nbody x 10)
|
||||
mjtNum* qM; // total inertia (nM x 1)
|
||||
|
||||
// computed by mj_fwdPosition/mj_factorM
|
||||
mjtNum* qLD; // L'*D*L factorization of M (nM x 1)
|
||||
mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
|
||||
mjtNum* qLDiagSqrtInv; // 1/sqrt(diag(D)) (nv x 1)
|
||||
|
||||
// computed by mj_fwdPosition/mj_collision
|
||||
mjContact* contact; // list of all detected contacts (nconmax x 1)
|
||||
|
||||
// computed by mj_fwdPosition/mj_makeConstraint
|
||||
int* efc_type; // constraint type (mjtConstraint) (njmax x 1)
|
||||
int* efc_id; // id of object of specified type (njmax x 1)
|
||||
int* efc_J_rownnz; // number of non-zeros in Jacobian row (njmax x 1)
|
||||
int* efc_J_rowadr; // row start address in colind array (njmax x 1)
|
||||
int* efc_J_rowsuper; // number of subsequent rows in supernode (njmax x 1)
|
||||
int* efc_J_colind; // column indices in Jacobian (njmax x nv)
|
||||
int* efc_JT_rownnz; // number of non-zeros in Jacobian row T (nv x 1)
|
||||
int* efc_JT_rowadr; // row start address in colind array T (nv x 1)
|
||||
int* efc_JT_rowsuper; // number of subsequent rows in supernode T (nv x 1)
|
||||
int* efc_JT_colind; // column indices in Jacobian T (nv x njmax)
|
||||
mjtNum* efc_J; // constraint Jacobian (njmax x nv)
|
||||
mjtNum* efc_JT; // constraint Jacobian transposed (nv x njmax)
|
||||
mjtNum* efc_pos; // constraint position (equality, contact) (njmax x 1)
|
||||
mjtNum* efc_margin; // inclusion margin (contact) (njmax x 1)
|
||||
mjtNum* efc_frictionloss; // frictionloss (friction) (njmax x 1)
|
||||
mjtNum* efc_diagApprox; // approximation to diagonal of A (njmax x 1)
|
||||
mjtNum* efc_KBIP; // stiffness, damping, impedance, imp' (njmax x 4)
|
||||
mjtNum* efc_D; // constraint mass (njmax x 1)
|
||||
mjtNum* efc_R; // inverse constraint mass (njmax x 1)
|
||||
|
||||
// computed by mj_fwdPosition/mj_projectConstraint
|
||||
int* efc_AR_rownnz; // number of non-zeros in AR (njmax x 1)
|
||||
int* efc_AR_rowadr; // row start address in colind array (njmax x 1)
|
||||
int* efc_AR_colind; // column indices in sparse AR (njmax x njmax)
|
||||
mjtNum* efc_AR; // J*inv(M)*J' + R (njmax x njmax)
|
||||
|
||||
//-------------------------------- POSITION, VELOCITY dependent
|
||||
|
||||
// computed by mj_fwdVelocity
|
||||
mjtNum* ten_velocity; // tendon velocities (ntendon x 1)
|
||||
mjtNum* actuator_velocity; // actuator velocities (nu x 1)
|
||||
|
||||
// computed by mj_fwdVelocity/mj_comVel
|
||||
mjtNum* cvel; // com-based velocity [3D rot; 3D tran] (nbody x 6)
|
||||
mjtNum* cdof_dot; // time-derivative of cdof (nv x 6)
|
||||
|
||||
// computed by mj_fwdVelocity/mj_rne (without acceleration)
|
||||
mjtNum* qfrc_bias; // C(qpos,qvel) (nv x 1)
|
||||
|
||||
// computed by mj_fwdVelocity/mj_passive
|
||||
mjtNum* qfrc_passive; // passive force (nv x 1)
|
||||
|
||||
// computed by mj_fwdVelocity/mj_referenceConstraint
|
||||
mjtNum* efc_vel; // velocity in constraint space: J*qvel (njmax x 1)
|
||||
mjtNum* efc_aref; // reference pseudo-acceleration (njmax x 1)
|
||||
|
||||
// computed by mj_sensorVel/mj_subtreeVel if needed
|
||||
mjtNum* subtree_linvel; // linear velocity of subtree com (nbody x 3)
|
||||
mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3)
|
||||
|
||||
//-------------------------------- POSITION, VELOCITY, CONTROL/ACCELERATION dependent
|
||||
|
||||
// computed by mj_fwdActuation
|
||||
mjtNum* actuator_force; // actuator force in actuation space (nu x 1)
|
||||
mjtNum* qfrc_actuator; // actuator force (nv x 1)
|
||||
|
||||
// computed by mj_fwdAcceleration
|
||||
mjtNum* qfrc_unc; // net unconstrained force (nv x 1)
|
||||
mjtNum* qacc_unc; // unconstrained acceleration (nv x 1)
|
||||
|
||||
// computed by mj_fwdConstraint/mj_inverse
|
||||
mjtNum* efc_b; // linear cost term: J*qacc_unc - aref (njmax x 1)
|
||||
mjtNum* efc_force; // constraint force in constraint space (njmax x 1)
|
||||
int* efc_state; // constraint state (mjtConstraintState) (njmax x 1)
|
||||
mjtNum* qfrc_constraint; // constraint force (nv x 1)
|
||||
|
||||
// computed by mj_inverse
|
||||
mjtNum* qfrc_inverse; // net external force; should equal: (nv x 1)
|
||||
// qfrc_applied + J'*xfrc_applied + qfrc_actuator
|
||||
|
||||
// computed by mj_sensorAcc/mj_rnePostConstraint if needed; rotation:translation format
|
||||
mjtNum* cacc; // com-based acceleration (nbody x 6)
|
||||
mjtNum* cfrc_int; // com-based interaction force with parent (nbody x 6)
|
||||
mjtNum* cfrc_ext; // com-based external force on body (nbody x 6)
|
||||
};
|
||||
typedef struct _mjData mjData;
|
||||
|
||||
|
||||
//---------------------------------- callback function types ----------------------------
|
||||
|
||||
// generic MuJoCo function
|
||||
typedef void (*mjfGeneric)(const mjModel* m, mjData* d);
|
||||
|
||||
// contact filter: 1- discard, 0- collide
|
||||
typedef int (*mjfConFilt)(const mjModel* m, mjData* d, int geom1, int geom2);
|
||||
|
||||
// sensor simulation
|
||||
typedef void (*mjfSensor)(const mjModel* m, mjData* d, int stage);
|
||||
|
||||
// timer
|
||||
typedef mjtNum (*mjfTime)(void);
|
||||
|
||||
// actuator dynamics, gain, bias
|
||||
typedef mjtNum (*mjfAct)(const mjModel* m, const mjData* d, int id);
|
||||
|
||||
// collision detection
|
||||
typedef int (*mjfCollision)(const mjModel* m, const mjData* d,
|
||||
mjContact* con, int g1, int g2, mjtNum margin);
|
||||
|
||||
#endif // MUJOCO_MJDATA_H_
|
||||
Executable
+957
@@ -0,0 +1,957 @@
|
||||
// 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_MJMODEL_H_
|
||||
#define MUJOCO_MJMODEL_H_
|
||||
|
||||
//---------------------------- floating-point definitions -------------------------------
|
||||
|
||||
// compile-time configuration options
|
||||
#define mjUSEDOUBLE // single or double precision for mjtNum
|
||||
#define mjUSEAVX // C or AVX intrinsics for custom BLAS
|
||||
|
||||
|
||||
// floating point data type and minval
|
||||
#ifdef mjUSEDOUBLE
|
||||
typedef double mjtNum;
|
||||
#define mjMINVAL 1E-15 // minimum value in any denominator
|
||||
#else
|
||||
typedef float mjtNum;
|
||||
#define mjMINVAL 1E-15f
|
||||
#endif
|
||||
|
||||
|
||||
// global constants
|
||||
#define mjPI 3.14159265358979323846
|
||||
#define mjMAXVAL 1E+10 // maximum value in qpos, qvel, qacc
|
||||
#define mjMINMU 1E-5 // minimum friction coefficient
|
||||
#define mjMINIMP 0.0001 // minimum constraint impedance
|
||||
#define mjMAXIMP 0.9999 // maximum constraint impedance
|
||||
#define mjMAXCONPAIR 50 // maximum number of contacts per geom pair
|
||||
#define mjMAXVFS 2000 // maximum number of files in virtual file system
|
||||
#define mjMAXVFSNAME 1000 // maximum filename size in virtual file system
|
||||
|
||||
|
||||
//---------------------------- sizes ----------------------------------------------------
|
||||
|
||||
#define mjNEQDATA 7 // number of eq_data fields
|
||||
#define mjNDYN 10 // number of actuator dynamics parameters
|
||||
#define mjNGAIN 10 // number of actuator gain parameters
|
||||
#define mjNBIAS 10 // number of actuator bias parameters
|
||||
#define mjNREF 2 // number of solver reference parameters
|
||||
#define mjNIMP 5 // number of solver impedance parameters
|
||||
#define mjNSOLVER 1000 // size of mjData.solver_XXX arrays
|
||||
|
||||
|
||||
//---------------------------- primitive types (mjt) ------------------------------------
|
||||
|
||||
typedef unsigned char mjtByte; // used for true/false
|
||||
|
||||
|
||||
typedef enum _mjtDisableBit // disable default feature bitflags
|
||||
{
|
||||
mjDSBL_CONSTRAINT = 1<<0, // entire constraint solver
|
||||
mjDSBL_EQUALITY = 1<<1, // equality constraints
|
||||
mjDSBL_FRICTIONLOSS = 1<<2, // joint and tendon frictionloss constraints
|
||||
mjDSBL_LIMIT = 1<<3, // joint and tendon limit constraints
|
||||
mjDSBL_CONTACT = 1<<4, // contact constraints
|
||||
mjDSBL_PASSIVE = 1<<5, // passive forces
|
||||
mjDSBL_GRAVITY = 1<<6, // gravitational forces
|
||||
mjDSBL_CLAMPCTRL = 1<<7, // clamp control to specified range
|
||||
mjDSBL_WARMSTART = 1<<8, // warmstart constraint solver
|
||||
mjDSBL_FILTERPARENT = 1<<9, // remove collisions with parent body
|
||||
mjDSBL_ACTUATION = 1<<10, // apply actuation forces
|
||||
mjDSBL_REFSAFE = 1<<11, // integrator safety: make ref[0]>=2*timestep
|
||||
|
||||
mjNDISABLE = 12 // number of disable flags
|
||||
} mjtDisableBit;
|
||||
|
||||
|
||||
typedef enum _mjtEnableBit // enable optional feature bitflags
|
||||
{
|
||||
mjENBL_OVERRIDE = 1<<0, // override contact parameters
|
||||
mjENBL_ENERGY = 1<<1, // energy computation
|
||||
mjENBL_FWDINV = 1<<2, // record solver statistics
|
||||
mjENBL_SENSORNOISE = 1<<3, // add noise to sensor data
|
||||
|
||||
mjNENABLE = 4 // number of enable flags
|
||||
} mjtEnableBit;
|
||||
|
||||
|
||||
typedef enum _mjtJoint // type of degree of freedom
|
||||
{
|
||||
mjJNT_FREE = 0, // global position and orientation (quat) (7)
|
||||
mjJNT_BALL, // orientation (quat) relative to parent (4)
|
||||
mjJNT_SLIDE, // sliding distance along body-fixed axis (1)
|
||||
mjJNT_HINGE // rotation angle (rad) around body-fixed axis (1)
|
||||
} mjtJoint;
|
||||
|
||||
|
||||
typedef enum _mjtGeom // type of geometric shape
|
||||
{
|
||||
// regular geom types
|
||||
mjGEOM_PLANE = 0, // plane
|
||||
mjGEOM_HFIELD, // height field
|
||||
mjGEOM_SPHERE, // sphere
|
||||
mjGEOM_CAPSULE, // capsule
|
||||
mjGEOM_ELLIPSOID, // ellipsoid
|
||||
mjGEOM_CYLINDER, // cylinder
|
||||
mjGEOM_BOX, // box
|
||||
mjGEOM_MESH, // mesh
|
||||
|
||||
mjNGEOMTYPES, // number of regular geom types
|
||||
|
||||
// rendering-only geom types: not used in mjModel, not counted in mjNGEOMTYPES
|
||||
mjGEOM_ARROW = 100, // arrow
|
||||
mjGEOM_ARROW1, // arrow without wedges
|
||||
mjGEOM_ARROW2, // arrow in both directions
|
||||
mjGEOM_LINE, // line
|
||||
mjGEOM_SKIN, // skin
|
||||
mjGEOM_LABEL, // text label
|
||||
|
||||
mjGEOM_NONE = 1001 // missing geom type
|
||||
} mjtGeom;
|
||||
|
||||
|
||||
typedef enum _mjtCamLight // tracking mode for camera and light
|
||||
{
|
||||
mjCAMLIGHT_FIXED = 0, // pos and rot fixed in body
|
||||
mjCAMLIGHT_TRACK, // pos tracks body, rot fixed in global
|
||||
mjCAMLIGHT_TRACKCOM, // pos tracks subtree com, rot fixed in body
|
||||
mjCAMLIGHT_TARGETBODY, // pos fixed in body, rot tracks target body
|
||||
mjCAMLIGHT_TARGETBODYCOM // pos fixed in body, rot tracks target subtree com
|
||||
} mjtCamLight;
|
||||
|
||||
|
||||
typedef enum _mjtTexture // type of texture
|
||||
{
|
||||
mjTEXTURE_2D = 0, // 2d texture, suitable for planes and hfields
|
||||
mjTEXTURE_CUBE, // cube texture, suitable for all other geom types
|
||||
mjTEXTURE_SKYBOX // cube texture used as skybox
|
||||
} mjtTexture;
|
||||
|
||||
|
||||
typedef enum _mjtIntegrator // integrator mode
|
||||
{
|
||||
mjINT_EULER = 0, // semi-implicit Euler
|
||||
mjINT_RK4 // 4th-order Runge Kutta
|
||||
} mjtIntegrator;
|
||||
|
||||
|
||||
typedef enum _mjtCollision // collision mode for selecting geom pairs
|
||||
{
|
||||
mjCOL_ALL = 0, // test precomputed and dynamic pairs
|
||||
mjCOL_PAIR, // test predefined pairs only
|
||||
mjCOL_DYNAMIC // test dynamic pairs only
|
||||
} mjtCollision;
|
||||
|
||||
|
||||
typedef enum _mjtCone // type of friction cone
|
||||
{
|
||||
mjCONE_PYRAMIDAL = 0, // pyramidal
|
||||
mjCONE_ELLIPTIC // elliptic
|
||||
} mjtCone;
|
||||
|
||||
|
||||
typedef enum _mjtJacobian // type of constraint Jacobian
|
||||
{
|
||||
mjJAC_DENSE = 0, // dense
|
||||
mjJAC_SPARSE, // sparse
|
||||
mjJAC_AUTO // dense if nv<60, sparse otherwise
|
||||
} mjtJacobian;
|
||||
|
||||
|
||||
typedef enum _mjtSolver // constraint solver algorithm
|
||||
{
|
||||
mjSOL_PGS = 0, // PGS (dual)
|
||||
mjSOL_CG, // CG (primal)
|
||||
mjSOL_NEWTON // Newton (primal)
|
||||
} mjtSolver;
|
||||
|
||||
|
||||
typedef enum _mjtEq // type of equality constraint
|
||||
{
|
||||
mjEQ_CONNECT = 0, // connect two bodies at a point (ball joint)
|
||||
mjEQ_WELD, // fix relative position and orientation of two bodies
|
||||
mjEQ_JOINT, // couple the values of two scalar joints with cubic
|
||||
mjEQ_TENDON, // couple the lengths of two tendons with cubic
|
||||
mjEQ_DISTANCE // fix the contact distance betweent two geoms
|
||||
} mjtEq;
|
||||
|
||||
|
||||
typedef enum _mjtWrap // type of tendon wrap object
|
||||
{
|
||||
mjWRAP_NONE = 0, // null object
|
||||
mjWRAP_JOINT, // constant moment arm
|
||||
mjWRAP_PULLEY, // pulley used to split tendon
|
||||
mjWRAP_SITE, // pass through site
|
||||
mjWRAP_SPHERE, // wrap around sphere
|
||||
mjWRAP_CYLINDER // wrap around (infinite) cylinder
|
||||
} mjtWrap;
|
||||
|
||||
|
||||
typedef enum _mjtTrn // type of actuator transmission
|
||||
{
|
||||
mjTRN_JOINT = 0, // force on joint
|
||||
mjTRN_JOINTINPARENT, // force on joint, expressed in parent frame
|
||||
mjTRN_SLIDERCRANK, // force via slider-crank linkage
|
||||
mjTRN_TENDON, // force on tendon
|
||||
mjTRN_SITE, // force on site
|
||||
|
||||
mjTRN_UNDEFINED = 1000 // undefined transmission type
|
||||
} mjtTrn;
|
||||
|
||||
|
||||
typedef enum _mjtDyn // type of actuator dynamics
|
||||
{
|
||||
mjDYN_NONE = 0, // no internal dynamics; ctrl specifies force
|
||||
mjDYN_INTEGRATOR, // integrator: da/dt = u
|
||||
mjDYN_FILTER, // linear filter: da/dt = (u-a) / tau
|
||||
mjDYN_MUSCLE, // piece-wise linear filter with two time constants
|
||||
mjDYN_USER // user-defined dynamics type
|
||||
} mjtDyn;
|
||||
|
||||
|
||||
typedef enum _mjtGain // type of actuator gain
|
||||
{
|
||||
mjGAIN_FIXED = 0, // fixed gain
|
||||
mjGAIN_MUSCLE, // muscle FLV curve computed by mju_muscleGain()
|
||||
mjGAIN_USER // user-defined gain type
|
||||
} mjtGain;
|
||||
|
||||
|
||||
typedef enum _mjtBias // type of actuator bias
|
||||
{
|
||||
mjBIAS_NONE = 0, // no bias
|
||||
mjBIAS_AFFINE, // const + kp*length + kv*velocity
|
||||
mjBIAS_MUSCLE, // muscle passive force computed by mju_muscleBias()
|
||||
mjBIAS_USER // user-defined bias type
|
||||
} mjtBias;
|
||||
|
||||
|
||||
typedef enum _mjtObj // type of MujoCo object
|
||||
{
|
||||
mjOBJ_UNKNOWN = 0, // unknown object type
|
||||
mjOBJ_BODY, // body
|
||||
mjOBJ_XBODY, // body, used to access regular frame instead of i-frame
|
||||
mjOBJ_JOINT, // joint
|
||||
mjOBJ_DOF, // dof
|
||||
mjOBJ_GEOM, // geom
|
||||
mjOBJ_SITE, // site
|
||||
mjOBJ_CAMERA, // camera
|
||||
mjOBJ_LIGHT, // light
|
||||
mjOBJ_MESH, // mesh
|
||||
mjOBJ_SKIN, // skin
|
||||
mjOBJ_HFIELD, // heightfield
|
||||
mjOBJ_TEXTURE, // texture
|
||||
mjOBJ_MATERIAL, // material for rendering
|
||||
mjOBJ_PAIR, // geom pair to include
|
||||
mjOBJ_EXCLUDE, // body pair to exclude
|
||||
mjOBJ_EQUALITY, // equality constraint
|
||||
mjOBJ_TENDON, // tendon
|
||||
mjOBJ_ACTUATOR, // actuator
|
||||
mjOBJ_SENSOR, // sensor
|
||||
mjOBJ_NUMERIC, // numeric
|
||||
mjOBJ_TEXT, // text
|
||||
mjOBJ_TUPLE, // tuple
|
||||
mjOBJ_KEY // keyframe
|
||||
} mjtObj;
|
||||
|
||||
|
||||
typedef enum _mjtConstraint // type of constraint
|
||||
{
|
||||
mjCNSTR_EQUALITY = 0, // equality constraint
|
||||
mjCNSTR_FRICTION_DOF, // dof friction
|
||||
mjCNSTR_FRICTION_TENDON, // tendon friction
|
||||
mjCNSTR_LIMIT_JOINT, // joint limit
|
||||
mjCNSTR_LIMIT_TENDON, // tendon limit
|
||||
mjCNSTR_CONTACT_FRICTIONLESS, // frictionless contact
|
||||
mjCNSTR_CONTACT_PYRAMIDAL, // frictional contact, pyramidal friction cone
|
||||
mjCNSTR_CONTACT_ELLIPTIC // frictional contact, elliptic friction cone
|
||||
} mjtConstraint;
|
||||
|
||||
|
||||
typedef enum _mjtConstraintState // constraint state
|
||||
{
|
||||
mjCNSTRSTATE_SATISFIED = 0, // constraint satisfied, zero cost (limit, contact)
|
||||
mjCNSTRSTATE_QUADRATIC, // quadratic cost (equality, friction, limit, contact)
|
||||
mjCNSTRSTATE_LINEARNEG, // linear cost, negative side (friction)
|
||||
mjCNSTRSTATE_LINEARPOS, // linear cost, positive side (friction)
|
||||
mjCNSTRSTATE_CONE // squared distance to cone cost (elliptic contact)
|
||||
} mjtConstraintState;
|
||||
|
||||
|
||||
typedef enum _mjtSensor // type of sensor
|
||||
{
|
||||
// common robotic sensors, attached to a site
|
||||
mjSENS_TOUCH = 0, // scalar contact normal forces summed over sensor zone
|
||||
mjSENS_ACCELEROMETER, // 3D linear acceleration, in local frame
|
||||
mjSENS_VELOCIMETER, // 3D linear velocity, in local frame
|
||||
mjSENS_GYRO, // 3D angular velocity, in local frame
|
||||
mjSENS_FORCE, // 3D force between site's body and its parent body
|
||||
mjSENS_TORQUE, // 3D torque between site's body and its parent body
|
||||
mjSENS_MAGNETOMETER, // 3D magnetometer
|
||||
mjSENS_RANGEFINDER, // scalar distance to nearest geom or site along z-axis
|
||||
|
||||
// sensors related to scalar joints, tendons, actuators
|
||||
mjSENS_JOINTPOS, // scalar joint position (hinge and slide only)
|
||||
mjSENS_JOINTVEL, // scalar joint velocity (hinge and slide only)
|
||||
mjSENS_TENDONPOS, // scalar tendon position
|
||||
mjSENS_TENDONVEL, // scalar tendon velocity
|
||||
mjSENS_ACTUATORPOS, // scalar actuator position
|
||||
mjSENS_ACTUATORVEL, // scalar actuator velocity
|
||||
mjSENS_ACTUATORFRC, // scalar actuator force
|
||||
|
||||
// sensors related to ball joints
|
||||
mjSENS_BALLQUAT, // 4D ball joint quaterion
|
||||
mjSENS_BALLANGVEL, // 3D ball joint angular velocity
|
||||
|
||||
// joint and tendon limit sensors, in constraint space
|
||||
mjSENS_JOINTLIMITPOS, // joint limit distance-margin
|
||||
mjSENS_JOINTLIMITVEL, // joint limit velocity
|
||||
mjSENS_JOINTLIMITFRC, // joint limit force
|
||||
mjSENS_TENDONLIMITPOS, // tendon limit distance-margin
|
||||
mjSENS_TENDONLIMITVEL, // tendon limit velocity
|
||||
mjSENS_TENDONLIMITFRC, // tendon limit force
|
||||
|
||||
// sensors attached to an object with spatial frame: (x)body, geom, site, camera
|
||||
mjSENS_FRAMEPOS, // 3D position
|
||||
mjSENS_FRAMEQUAT, // 4D unit quaternion orientation
|
||||
mjSENS_FRAMEXAXIS, // 3D unit vector: x-axis of object's frame
|
||||
mjSENS_FRAMEYAXIS, // 3D unit vector: y-axis of object's frame
|
||||
mjSENS_FRAMEZAXIS, // 3D unit vector: z-axis of object's frame
|
||||
mjSENS_FRAMELINVEL, // 3D linear velocity
|
||||
mjSENS_FRAMEANGVEL, // 3D angular velocity
|
||||
mjSENS_FRAMELINACC, // 3D linear acceleration
|
||||
mjSENS_FRAMEANGACC, // 3D angular acceleration
|
||||
|
||||
// sensors related to kinematic subtrees; attached to a body (which is the subtree root)
|
||||
mjSENS_SUBTREECOM, // 3D center of mass of subtree
|
||||
mjSENS_SUBTREELINVEL, // 3D linear velocity of subtree
|
||||
mjSENS_SUBTREEANGMOM, // 3D angular momentum of subtree
|
||||
|
||||
// user-defined sensor
|
||||
mjSENS_USER // sensor data provided by mjcb_sensor callback
|
||||
} mjtSensor;
|
||||
|
||||
|
||||
typedef enum _mjtStage // computation stage
|
||||
{
|
||||
mjSTAGE_NONE = 0, // no computations
|
||||
mjSTAGE_POS, // position-dependent computations
|
||||
mjSTAGE_VEL, // velocity-dependent computations
|
||||
mjSTAGE_ACC // acceleration/force-dependent computations
|
||||
} mjtStage;
|
||||
|
||||
|
||||
typedef enum _mjtDataType // data type for sensors
|
||||
{
|
||||
mjDATATYPE_REAL = 0, // real values, no constraints
|
||||
mjDATATYPE_POSITIVE, // positive values; 0 or negative: inactive
|
||||
mjDATATYPE_AXIS, // 3D unit vector
|
||||
mjDATATYPE_QUATERNION // unit quaternion
|
||||
} mjtDataType;
|
||||
|
||||
|
||||
typedef enum _mjtLRMode // mode for actuator length range computation
|
||||
{
|
||||
mjLRMODE_NONE = 0, // do not process any actuators
|
||||
mjLRMODE_MUSCLE, // process muscle actuators
|
||||
mjLRMODE_MUSCLEUSER, // process muscle and user actuators
|
||||
mjLRMODE_ALL // process all actuators
|
||||
} mjtLRMode;
|
||||
|
||||
|
||||
//------------------------------ mjLROpt ------------------------------------------------
|
||||
|
||||
struct _mjLROpt // options for mj_setLengthRange()
|
||||
{
|
||||
// flags
|
||||
int mode; // which actuators to process (mjtLRMode)
|
||||
int useexisting; // use existing length range if available
|
||||
int uselimit; // use joint and tendon limits if available
|
||||
|
||||
// algorithm parameters
|
||||
mjtNum accel; // target acceleration used to compute force
|
||||
mjtNum maxforce; // maximum force; 0: no limit
|
||||
mjtNum timeconst; // time constant for velocity reduction; min 0.01
|
||||
mjtNum timestep; // simulation timestep; 0: use mjOption.timestep
|
||||
mjtNum inttotal; // total simulation time interval
|
||||
mjtNum inteval; // evaluation time interval (at the end)
|
||||
mjtNum tolrange; // convergence tolerance (relative to range)
|
||||
};
|
||||
typedef struct _mjLROpt mjLROpt;
|
||||
|
||||
|
||||
//------------------------------ mjVFS --------------------------------------------------
|
||||
|
||||
struct _mjVFS // virtual file system for loading from memory
|
||||
{
|
||||
int nfile; // number of files present
|
||||
char filename[mjMAXVFS][mjMAXVFSNAME]; // file name without path
|
||||
int filesize[mjMAXVFS]; // file size in bytes
|
||||
void* filedata[mjMAXVFS]; // buffer with file data
|
||||
};
|
||||
typedef struct _mjVFS mjVFS;
|
||||
|
||||
|
||||
//------------------------------ mjOption -----------------------------------------------
|
||||
|
||||
struct _mjOption // physics options
|
||||
{
|
||||
// timing parameters
|
||||
mjtNum timestep; // timestep
|
||||
mjtNum apirate; // update rate for remote API (Hz)
|
||||
|
||||
// solver parameters
|
||||
mjtNum impratio; // ratio of friction-to-normal contact impedance
|
||||
mjtNum tolerance; // main solver tolerance
|
||||
mjtNum noslip_tolerance; // noslip solver tolerance
|
||||
mjtNum mpr_tolerance; // MPR solver tolerance
|
||||
|
||||
// physical constants
|
||||
mjtNum gravity[3]; // gravitational acceleration
|
||||
mjtNum wind[3]; // wind (for lift, drag and viscosity)
|
||||
mjtNum magnetic[3]; // global magnetic flux
|
||||
mjtNum density; // density of medium
|
||||
mjtNum viscosity; // viscosity of medium
|
||||
|
||||
// override contact solver parameters (if enabled)
|
||||
mjtNum o_margin; // margin
|
||||
mjtNum o_solref[mjNREF]; // solref
|
||||
mjtNum o_solimp[mjNIMP]; // solimp
|
||||
|
||||
// discrete settings
|
||||
int integrator; // integration mode (mjtIntegrator)
|
||||
int collision; // collision mode (mjtCollision)
|
||||
int cone; // type of friction cone (mjtCone)
|
||||
int jacobian; // type of Jacobian (mjtJacobian)
|
||||
int solver; // solver algorithm (mjtSolver)
|
||||
int iterations; // maximum number of main solver iterations
|
||||
int noslip_iterations; // maximum number of noslip solver iterations
|
||||
int mpr_iterations; // maximum number of MPR solver iterations
|
||||
int disableflags; // bit flags for disabling standard features
|
||||
int enableflags; // bit flags for enabling optional features
|
||||
};
|
||||
typedef struct _mjOption mjOption;
|
||||
|
||||
|
||||
//------------------------------ mjVisual -----------------------------------------------
|
||||
|
||||
struct _mjVisual // visualization options
|
||||
{
|
||||
struct // global parameters
|
||||
{
|
||||
float fovy; // y-field of view (deg) for free camera
|
||||
float ipd; // inter-pupilary distance for free camera
|
||||
float linewidth; // line width for wireframe and ray rendering
|
||||
float glow; // glow coefficient for selected body
|
||||
int offwidth; // width of offscreen buffer
|
||||
int offheight; // height of offscreen buffer
|
||||
} global;
|
||||
|
||||
struct // rendering quality
|
||||
{
|
||||
int shadowsize; // size of shadowmap texture
|
||||
int offsamples; // number of multisamples for offscreen rendering
|
||||
int numslices; // number of slices for builtin geom drawing
|
||||
int numstacks; // number of stacks for builtin geom drawing
|
||||
int numquads; // number of quads for box rendering
|
||||
} quality;
|
||||
|
||||
struct // head light
|
||||
{
|
||||
float ambient[3]; // ambient rgb (alpha=1)
|
||||
float diffuse[3]; // diffuse rgb (alpha=1)
|
||||
float specular[3]; // specular rgb (alpha=1)
|
||||
int active; // is headlight active
|
||||
} headlight;
|
||||
|
||||
struct // mapping
|
||||
{
|
||||
float stiffness; // mouse perturbation stiffness (space->force)
|
||||
float stiffnessrot; // mouse perturbation stiffness (space->torque)
|
||||
float force; // from force units to space units
|
||||
float torque; // from torque units to space units
|
||||
float alpha; // scale geom alphas when transparency is enabled
|
||||
float fogstart; // OpenGL fog starts at fogstart * mjModel.stat.extent
|
||||
float fogend; // OpenGL fog ends at fogend * mjModel.stat.extent
|
||||
float znear; // near clipping plane = znear * mjModel.stat.extent
|
||||
float zfar; // far clipping plane = zfar * mjModel.stat.extent
|
||||
float haze; // haze ratio
|
||||
float shadowclip; // directional light: shadowclip * mjModel.stat.extent
|
||||
float shadowscale; // spot light: shadowscale * light.cutoff
|
||||
float actuatortendon; // scale tendon width
|
||||
} map;
|
||||
|
||||
struct // scale of decor elements relative to mean body size
|
||||
{
|
||||
float forcewidth; // width of force arrow
|
||||
float contactwidth; // contact width
|
||||
float contactheight; // contact height
|
||||
float connect; // autoconnect capsule width
|
||||
float com; // com radius
|
||||
float camera; // camera object
|
||||
float light; // light object
|
||||
float selectpoint; // selection point
|
||||
float jointlength; // joint length
|
||||
float jointwidth; // joint width
|
||||
float actuatorlength; // actuator length
|
||||
float actuatorwidth; // actuator width
|
||||
float framelength; // bodyframe axis length
|
||||
float framewidth; // bodyframe axis width
|
||||
float constraint; // constraint width
|
||||
float slidercrank; // slidercrank width
|
||||
} scale;
|
||||
|
||||
struct // color of decor elements
|
||||
{
|
||||
float fog[4]; // fog
|
||||
float haze[4]; // haze
|
||||
float force[4]; // external force
|
||||
float inertia[4]; // inertia box
|
||||
float joint[4]; // joint
|
||||
float actuator[4]; // actuator, neutral
|
||||
float actuatornegative[4]; // actuator, negative limit
|
||||
float actuatorpositive[4]; // actuator, positive limit
|
||||
float com[4]; // center of mass
|
||||
float camera[4]; // camera object
|
||||
float light[4]; // light object
|
||||
float selectpoint[4]; // selection point
|
||||
float connect[4]; // auto connect
|
||||
float contactpoint[4]; // contact point
|
||||
float contactforce[4]; // contact force
|
||||
float contactfriction[4]; // contact friction force
|
||||
float contacttorque[4]; // contact torque
|
||||
float contactgap[4]; // contact point in gap
|
||||
float rangefinder[4]; // rangefinder ray
|
||||
float constraint[4]; // constraint
|
||||
float slidercrank[4]; // slidercrank
|
||||
float crankbroken[4]; // used when crank must be stretched/broken
|
||||
} rgba;
|
||||
};
|
||||
typedef struct _mjVisual mjVisual;
|
||||
|
||||
|
||||
//------------------------------ mjStatistic --------------------------------------------
|
||||
|
||||
struct _mjStatistic // model statistics (in qpos0)
|
||||
{
|
||||
mjtNum meaninertia; // mean diagonal inertia
|
||||
mjtNum meanmass; // mean body mass
|
||||
mjtNum meansize; // mean body size
|
||||
mjtNum extent; // spatial extent
|
||||
mjtNum center[3]; // center of model
|
||||
};
|
||||
typedef struct _mjStatistic mjStatistic;
|
||||
|
||||
|
||||
//---------------------------------- mjModel --------------------------------------------
|
||||
|
||||
struct _mjModel
|
||||
{
|
||||
// ------------------------------- sizes
|
||||
|
||||
// sizes needed at mjModel construction
|
||||
int nq; // number of generalized coordinates = dim(qpos)
|
||||
int nv; // number of degrees of freedom = dim(qvel)
|
||||
int nu; // number of actuators/controls = dim(ctrl)
|
||||
int na; // number of activation states = dim(act)
|
||||
int nbody; // number of bodies
|
||||
int njnt; // number of joints
|
||||
int ngeom; // number of geoms
|
||||
int nsite; // number of sites
|
||||
int ncam; // number of cameras
|
||||
int nlight; // number of lights
|
||||
int nmesh; // number of meshes
|
||||
int nmeshvert; // number of vertices in all meshes
|
||||
int nmeshtexvert; // number of vertices with texcoords in all meshes
|
||||
int nmeshface; // number of triangular faces in all meshes
|
||||
int nmeshgraph; // number of ints in mesh auxiliary data
|
||||
int nskin; // number of skins
|
||||
int nskinvert; // number of vertices in all skins
|
||||
int nskintexvert; // number of vertiex with texcoords in all skins
|
||||
int nskinface; // number of triangular faces in all skins
|
||||
int nskinbone; // number of bones in all skins
|
||||
int nskinbonevert; // number of vertices in all skin bones
|
||||
int nhfield; // number of heightfields
|
||||
int nhfielddata; // number of data points in all heightfields
|
||||
int ntex; // number of textures
|
||||
int ntexdata; // number of bytes in texture rgb data
|
||||
int nmat; // number of materials
|
||||
int npair; // number of predefined geom pairs
|
||||
int nexclude; // number of excluded geom pairs
|
||||
int neq; // number of equality constraints
|
||||
int ntendon; // number of tendons
|
||||
int nwrap; // number of wrap objects in all tendon paths
|
||||
int nsensor; // number of sensors
|
||||
int nnumeric; // number of numeric custom fields
|
||||
int nnumericdata; // number of mjtNums in all numeric fields
|
||||
int ntext; // number of text custom fields
|
||||
int ntextdata; // number of mjtBytes in all text fields
|
||||
int ntuple; // number of tuple custom fields
|
||||
int ntupledata; // number of objects in all tuple fields
|
||||
int nkey; // number of keyframes
|
||||
int nmocap; // number of mocap bodies
|
||||
int nuser_body; // number of mjtNums in body_user
|
||||
int nuser_jnt; // number of mjtNums in jnt_user
|
||||
int nuser_geom; // number of mjtNums in geom_user
|
||||
int nuser_site; // number of mjtNums in site_user
|
||||
int nuser_cam; // number of mjtNums in cam_user
|
||||
int nuser_tendon; // number of mjtNums in tendon_user
|
||||
int nuser_actuator; // number of mjtNums in actuator_user
|
||||
int nuser_sensor; // number of mjtNums in sensor_user
|
||||
int nnames; // number of chars in all names
|
||||
|
||||
// sizes set after mjModel construction (only affect mjData)
|
||||
int nM; // number of non-zeros in sparse inertia matrix
|
||||
int nemax; // number of potential equality-constraint rows
|
||||
int njmax; // number of available rows in constraint Jacobian
|
||||
int nconmax; // number of potential contacts in contact list
|
||||
int nstack; // number of fields in mjData stack
|
||||
int nuserdata; // number of extra fields in mjData
|
||||
int nsensordata; // number of fields in sensor data vector
|
||||
|
||||
int nbuffer; // number of bytes in buffer
|
||||
|
||||
// ------------------------------- options and statistics
|
||||
|
||||
mjOption opt; // physics options
|
||||
mjVisual vis; // visualization options
|
||||
mjStatistic stat; // model statistics
|
||||
|
||||
// ------------------------------- buffers
|
||||
|
||||
// main buffer
|
||||
void* buffer; // main buffer; all pointers point in it (nbuffer)
|
||||
|
||||
// default generalized coordinates
|
||||
mjtNum* qpos0; // qpos values at default pose (nq x 1)
|
||||
mjtNum* qpos_spring; // reference pose for springs (nq x 1)
|
||||
|
||||
// bodies
|
||||
int* body_parentid; // id of body's parent (nbody x 1)
|
||||
int* body_rootid; // id of root above body (nbody x 1)
|
||||
int* body_weldid; // id of body that this body is welded to (nbody x 1)
|
||||
int* body_mocapid; // id of mocap data; -1: none (nbody x 1)
|
||||
int* body_jntnum; // number of joints for this body (nbody x 1)
|
||||
int* body_jntadr; // start addr of joints; -1: no joints (nbody x 1)
|
||||
int* body_dofnum; // number of motion degrees of freedom (nbody x 1)
|
||||
int* body_dofadr; // start addr of dofs; -1: no dofs (nbody x 1)
|
||||
int* body_geomnum; // number of geoms (nbody x 1)
|
||||
int* body_geomadr; // start addr of geoms; -1: no geoms (nbody x 1)
|
||||
mjtByte* body_simple; // body is simple (has diagonal M) (nbody x 1)
|
||||
mjtByte* body_sameframe; // inertial frame is same as body frame (nbody x 1)
|
||||
mjtNum* body_pos; // position offset rel. to parent body (nbody x 3)
|
||||
mjtNum* body_quat; // orientation offset rel. to parent body (nbody x 4)
|
||||
mjtNum* body_ipos; // local position of center of mass (nbody x 3)
|
||||
mjtNum* body_iquat; // local orientation of inertia ellipsoid (nbody x 4)
|
||||
mjtNum* body_mass; // mass (nbody x 1)
|
||||
mjtNum* body_subtreemass; // mass of subtree starting at this body (nbody x 1)
|
||||
mjtNum* body_inertia; // diagonal inertia in ipos/iquat frame (nbody x 3)
|
||||
mjtNum* body_invweight0; // mean inv inert in qpos0 (trn, rot) (nbody x 2)
|
||||
mjtNum* body_user; // user data (nbody x nuser_body)
|
||||
|
||||
// joints
|
||||
int* jnt_type; // type of joint (mjtJoint) (njnt x 1)
|
||||
int* jnt_qposadr; // start addr in 'qpos' for joint's data (njnt x 1)
|
||||
int* jnt_dofadr; // start addr in 'qvel' for joint's data (njnt x 1)
|
||||
int* jnt_bodyid; // id of joint's body (njnt x 1)
|
||||
int* jnt_group; // group for visibility (njnt x 1)
|
||||
mjtByte* jnt_limited; // does joint have limits (njnt x 1)
|
||||
mjtNum* jnt_solref; // constraint solver reference: limit (njnt x mjNREF)
|
||||
mjtNum* jnt_solimp; // constraint solver impedance: limit (njnt x mjNIMP)
|
||||
mjtNum* jnt_pos; // local anchor position (njnt x 3)
|
||||
mjtNum* jnt_axis; // local joint axis (njnt x 3)
|
||||
mjtNum* jnt_stiffness; // stiffness coefficient (njnt x 1)
|
||||
mjtNum* jnt_range; // joint limits (njnt x 2)
|
||||
mjtNum* jnt_margin; // min distance for limit detection (njnt x 1)
|
||||
mjtNum* jnt_user; // user data (njnt x nuser_jnt)
|
||||
|
||||
// dofs
|
||||
int* dof_bodyid; // id of dof's body (nv x 1)
|
||||
int* dof_jntid; // id of dof's joint (nv x 1)
|
||||
int* dof_parentid; // id of dof's parent; -1: none (nv x 1)
|
||||
int* dof_Madr; // dof address in M-diagonal (nv x 1)
|
||||
int* dof_simplenum; // number of consecutive simple dofs (nv x 1)
|
||||
mjtNum* dof_solref; // constraint solver reference:frictionloss (nv x mjNREF)
|
||||
mjtNum* dof_solimp; // constraint solver impedance:frictionloss (nv x mjNIMP)
|
||||
mjtNum* dof_frictionloss; // dof friction loss (nv x 1)
|
||||
mjtNum* dof_armature; // dof armature inertia/mass (nv x 1)
|
||||
mjtNum* dof_damping; // damping coefficient (nv x 1)
|
||||
mjtNum* dof_invweight0; // diag. inverse inertia in qpos0 (nv x 1)
|
||||
mjtNum* dof_M0; // diag. inertia in qpos0 (nv x 1)
|
||||
|
||||
// geoms
|
||||
int* geom_type; // geometric type (mjtGeom) (ngeom x 1)
|
||||
int* geom_contype; // geom contact type (ngeom x 1)
|
||||
int* geom_conaffinity; // geom contact affinity (ngeom x 1)
|
||||
int* geom_condim; // contact dimensionality (1, 3, 4, 6) (ngeom x 1)
|
||||
int* geom_bodyid; // id of geom's body (ngeom x 1)
|
||||
int* geom_dataid; // id of geom's mesh/hfield (-1: none) (ngeom x 1)
|
||||
int* geom_matid; // material id for rendering (ngeom x 1)
|
||||
int* geom_group; // group for visibility (ngeom x 1)
|
||||
int* geom_priority; // geom contact priority (ngeom x 1)
|
||||
mjtByte* geom_sameframe; // same as body frame (1) or iframe (2) (ngeom x 1)
|
||||
mjtNum* geom_solmix; // mixing coef for solref/imp in geom pair (ngeom x 1)
|
||||
mjtNum* geom_solref; // constraint solver reference: contact (ngeom x mjNREF)
|
||||
mjtNum* geom_solimp; // constraint solver impedance: contact (ngeom x mjNIMP)
|
||||
mjtNum* geom_size; // geom-specific size parameters (ngeom x 3)
|
||||
mjtNum* geom_rbound; // radius of bounding sphere (ngeom x 1)
|
||||
mjtNum* geom_pos; // local position offset rel. to body (ngeom x 3)
|
||||
mjtNum* geom_quat; // local orientation offset rel. to body (ngeom x 4)
|
||||
mjtNum* geom_friction; // friction for (slide, spin, roll) (ngeom x 3)
|
||||
mjtNum* geom_margin; // detect contact if dist<margin (ngeom x 1)
|
||||
mjtNum* geom_gap; // include in solver if dist<margin-gap (ngeom x 1)
|
||||
mjtNum* geom_user; // user data (ngeom x nuser_geom)
|
||||
float* geom_rgba; // rgba when material is omitted (ngeom x 4)
|
||||
|
||||
// sites
|
||||
int* site_type; // geom type for rendering (mjtGeom) (nsite x 1)
|
||||
int* site_bodyid; // id of site's body (nsite x 1)
|
||||
int* site_matid; // material id for rendering (nsite x 1)
|
||||
int* site_group; // group for visibility (nsite x 1)
|
||||
mjtByte* site_sameframe; // same as body frame (1) or iframe (2) (nsite x 1)
|
||||
mjtNum* site_size; // geom size for rendering (nsite x 3)
|
||||
mjtNum* site_pos; // local position offset rel. to body (nsite x 3)
|
||||
mjtNum* site_quat; // local orientation offset rel. to body (nsite x 4)
|
||||
mjtNum* site_user; // user data (nsite x nuser_site)
|
||||
float* site_rgba; // rgba when material is omitted (nsite x 4)
|
||||
|
||||
// cameras
|
||||
int* cam_mode; // camera tracking mode (mjtCamLight) (ncam x 1)
|
||||
int* cam_bodyid; // id of camera's body (ncam x 1)
|
||||
int* cam_targetbodyid; // id of targeted body; -1: none (ncam x 1)
|
||||
mjtNum* cam_pos; // position rel. to body frame (ncam x 3)
|
||||
mjtNum* cam_quat; // orientation rel. to body frame (ncam x 4)
|
||||
mjtNum* cam_poscom0; // global position rel. to sub-com in qpos0 (ncam x 3)
|
||||
mjtNum* cam_pos0; // global position rel. to body in qpos0 (ncam x 3)
|
||||
mjtNum* cam_mat0; // global orientation in qpos0 (ncam x 9)
|
||||
mjtNum* cam_fovy; // y-field of view (deg) (ncam x 1)
|
||||
mjtNum* cam_ipd; // inter-pupilary distance (ncam x 1)
|
||||
mjtNum* cam_user; // user data (ncam x nuser_cam)
|
||||
|
||||
// lights
|
||||
int* light_mode; // light tracking mode (mjtCamLight) (nlight x 1)
|
||||
int* light_bodyid; // id of light's body (nlight x 1)
|
||||
int* light_targetbodyid; // id of targeted body; -1: none (nlight x 1)
|
||||
mjtByte* light_directional; // directional light (nlight x 1)
|
||||
mjtByte* light_castshadow; // does light cast shadows (nlight x 1)
|
||||
mjtByte* light_active; // is light on (nlight x 1)
|
||||
mjtNum* light_pos; // position rel. to body frame (nlight x 3)
|
||||
mjtNum* light_dir; // direction rel. to body frame (nlight x 3)
|
||||
mjtNum* light_poscom0; // global position rel. to sub-com in qpos0 (nlight x 3)
|
||||
mjtNum* light_pos0; // global position rel. to body in qpos0 (nlight x 3)
|
||||
mjtNum* light_dir0; // global direction in qpos0 (nlight x 3)
|
||||
float* light_attenuation; // OpenGL attenuation (quadratic model) (nlight x 3)
|
||||
float* light_cutoff; // OpenGL cutoff (nlight x 1)
|
||||
float* light_exponent; // OpenGL exponent (nlight x 1)
|
||||
float* light_ambient; // ambient rgb (alpha=1) (nlight x 3)
|
||||
float* light_diffuse; // diffuse rgb (alpha=1) (nlight x 3)
|
||||
float* light_specular; // specular rgb (alpha=1) (nlight x 3)
|
||||
|
||||
// meshes
|
||||
int* mesh_vertadr; // first vertex address (nmesh x 1)
|
||||
int* mesh_vertnum; // number of vertices (nmesh x 1)
|
||||
int* mesh_texcoordadr; // texcoord data address; -1: no texcoord (nmesh x 1)
|
||||
int* mesh_faceadr; // first face address (nmesh x 1)
|
||||
int* mesh_facenum; // number of faces (nmesh x 1)
|
||||
int* mesh_graphadr; // graph data address; -1: no graph (nmesh x 1)
|
||||
float* mesh_vert; // vertex positions for all meshe (nmeshvert x 3)
|
||||
float* mesh_normal; // vertex normals for all meshes (nmeshvert x 3)
|
||||
float* mesh_texcoord; // vertex texcoords for all meshes (nmeshtexvert x 2)
|
||||
int* mesh_face; // triangle face data (nmeshface x 3)
|
||||
int* mesh_graph; // convex graph data (nmeshgraph x 1)
|
||||
|
||||
// skins
|
||||
int* skin_matid; // skin material id; -1: none (nskin x 1)
|
||||
float* skin_rgba; // skin rgba (nskin x 4)
|
||||
float* skin_inflate; // inflate skin in normal direction (nskin x 1)
|
||||
int* skin_vertadr; // first vertex address (nskin x 1)
|
||||
int* skin_vertnum; // number of vertices (nskin x 1)
|
||||
int* skin_texcoordadr; // texcoord data address; -1: no texcoord (nskin x 1)
|
||||
int* skin_faceadr; // first face address (nskin x 1)
|
||||
int* skin_facenum; // number of faces (nskin x 1)
|
||||
int* skin_boneadr; // first bone in skin (nskin x 1)
|
||||
int* skin_bonenum; // number of bones in skin (nskin x 1)
|
||||
float* skin_vert; // vertex positions for all skin meshes (nskinvert x 3)
|
||||
float* skin_texcoord; // vertex texcoords for all skin meshes (nskintexvert x 2)
|
||||
int* skin_face; // triangle faces for all skin meshes (nskinface x 3)
|
||||
int* skin_bonevertadr; // first vertex in each bone (nskinbone x 1)
|
||||
int* skin_bonevertnum; // number of vertices in each bone (nskinbone x 1)
|
||||
float* skin_bonebindpos; // bind pos of each bone (nskinbone x 3)
|
||||
float* skin_bonebindquat; // bind quat of each bone (nskinbone x 4)
|
||||
int* skin_bonebodyid; // body id of each bone (nskinbone x 1)
|
||||
int* skin_bonevertid; // mesh ids of vertices in each bone (nskinbonevert x 1)
|
||||
float* skin_bonevertweight; // weights of vertices in each bone (nskinbonevert x 1)
|
||||
|
||||
// height fields
|
||||
mjtNum* hfield_size; // (x, y, z_top, z_bottom) (nhfield x 4)
|
||||
int* hfield_nrow; // number of rows in grid (nhfield x 1)
|
||||
int* hfield_ncol; // number of columns in grid (nhfield x 1)
|
||||
int* hfield_adr; // address in hfield_data (nhfield x 1)
|
||||
float* hfield_data; // elevation data (nhfielddata x 1)
|
||||
|
||||
// textures
|
||||
int* tex_type; // texture type (mjtTexture) (ntex x 1)
|
||||
int* tex_height; // number of rows in texture image (ntex x 1)
|
||||
int* tex_width; // number of columns in texture image (ntex x 1)
|
||||
int* tex_adr; // address in rgb (ntex x 1)
|
||||
mjtByte* tex_rgb; // rgb (alpha = 1) (ntexdata x 1)
|
||||
|
||||
// materials
|
||||
int* mat_texid; // texture id; -1: none (nmat x 1)
|
||||
mjtByte* mat_texuniform; // make texture cube uniform (nmat x 1)
|
||||
float* mat_texrepeat; // texture repetition for 2d mapping (nmat x 2)
|
||||
float* mat_emission; // emission (x rgb) (nmat x 1)
|
||||
float* mat_specular; // specular (x white) (nmat x 1)
|
||||
float* mat_shininess; // shininess coef (nmat x 1)
|
||||
float* mat_reflectance; // reflectance (0: disable) (nmat x 1)
|
||||
float* mat_rgba; // rgba (nmat x 4)
|
||||
|
||||
// predefined geom pairs for collision detection; has precedence over exclude
|
||||
int* pair_dim; // contact dimensionality (npair x 1)
|
||||
int* pair_geom1; // id of geom1 (npair x 1)
|
||||
int* pair_geom2; // id of geom2 (npair x 1)
|
||||
int* pair_signature; // (body1+1)<<16 + body2+1 (npair x 1)
|
||||
mjtNum* pair_solref; // constraint solver reference: contact (npair x mjNREF)
|
||||
mjtNum* pair_solimp; // constraint solver impedance: contact (npair x mjNIMP)
|
||||
mjtNum* pair_margin; // detect contact if dist<margin (npair x 1)
|
||||
mjtNum* pair_gap; // include in solver if dist<margin-gap (npair x 1)
|
||||
mjtNum* pair_friction; // tangent1, 2, spin, roll1, 2 (npair x 5)
|
||||
|
||||
// excluded body pairs for collision detection
|
||||
int* exclude_signature; // (body1+1)<<16 + body2+1 (nexclude x 1)
|
||||
|
||||
// equality constraints
|
||||
int* eq_type; // constraint type (mjtEq) (neq x 1)
|
||||
int* eq_obj1id; // id of object 1 (neq x 1)
|
||||
int* eq_obj2id; // id of object 2 (neq x 1)
|
||||
mjtByte* eq_active; // enable/disable constraint (neq x 1)
|
||||
mjtNum* eq_solref; // constraint solver reference (neq x mjNREF)
|
||||
mjtNum* eq_solimp; // constraint solver impedance (neq x mjNIMP)
|
||||
mjtNum* eq_data; // numeric data for constraint (neq x mjNEQDATA)
|
||||
|
||||
// tendons
|
||||
int* tendon_adr; // address of first object in tendon's path (ntendon x 1)
|
||||
int* tendon_num; // number of objects in tendon's path (ntendon x 1)
|
||||
int* tendon_matid; // material id for rendering (ntendon x 1)
|
||||
int* tendon_group; // group for visibility (ntendon x 1)
|
||||
mjtByte* tendon_limited; // does tendon have length limits (ntendon x 1)
|
||||
mjtNum* tendon_width; // width for rendering (ntendon x 1)
|
||||
mjtNum* tendon_solref_lim; // constraint solver reference: limit (ntendon x mjNREF)
|
||||
mjtNum* tendon_solimp_lim; // constraint solver impedance: limit (ntendon x mjNIMP)
|
||||
mjtNum* tendon_solref_fri; // constraint solver reference: friction (ntendon x mjNREF)
|
||||
mjtNum* tendon_solimp_fri; // constraint solver impedance: friction (ntendon x mjNIMP)
|
||||
mjtNum* tendon_range; // tendon length limits (ntendon x 2)
|
||||
mjtNum* tendon_margin; // min distance for limit detection (ntendon x 1)
|
||||
mjtNum* tendon_stiffness; // stiffness coefficient (ntendon x 1)
|
||||
mjtNum* tendon_damping; // damping coefficient (ntendon x 1)
|
||||
mjtNum* tendon_frictionloss; // loss due to friction (ntendon x 1)
|
||||
mjtNum* tendon_lengthspring; // tendon length in qpos_spring (ntendon x 1)
|
||||
mjtNum* tendon_length0; // tendon length in qpos0 (ntendon x 1)
|
||||
mjtNum* tendon_invweight0; // inv. weight in qpos0 (ntendon x 1)
|
||||
mjtNum* tendon_user; // user data (ntendon x nuser_tendon)
|
||||
float* tendon_rgba; // rgba when material is omitted (ntendon x 4)
|
||||
|
||||
// list of all wrap objects in tendon paths
|
||||
int* wrap_type; // wrap object type (mjtWrap) (nwrap x 1)
|
||||
int* wrap_objid; // object id: geom, site, joint (nwrap x 1)
|
||||
mjtNum* wrap_prm; // divisor, joint coef, or site id (nwrap x 1)
|
||||
|
||||
// actuators
|
||||
int* actuator_trntype; // transmission type (mjtTrn) (nu x 1)
|
||||
int* actuator_dyntype; // dynamics type (mjtDyn) (nu x 1)
|
||||
int* actuator_gaintype; // gain type (mjtGain) (nu x 1)
|
||||
int* actuator_biastype; // bias type (mjtBias) (nu x 1)
|
||||
int* actuator_trnid; // transmission id: joint, tendon, site (nu x 2)
|
||||
int* actuator_group; // group for visibility (nu x 1)
|
||||
mjtByte* actuator_ctrllimited; // is control limited (nu x 1)
|
||||
mjtByte* actuator_forcelimited;// is force limited (nu x 1)
|
||||
mjtNum* actuator_dynprm; // dynamics parameters (nu x mjNDYN)
|
||||
mjtNum* actuator_gainprm; // gain parameters (nu x mjNGAIN)
|
||||
mjtNum* actuator_biasprm; // bias parameters (nu x mjNBIAS)
|
||||
mjtNum* actuator_ctrlrange; // range of controls (nu x 2)
|
||||
mjtNum* actuator_forcerange; // range of forces (nu x 2)
|
||||
mjtNum* actuator_gear; // scale length and transmitted force (nu x 6)
|
||||
mjtNum* actuator_cranklength; // crank length for slider-crank (nu x 1)
|
||||
mjtNum* actuator_acc0; // acceleration from unit force in qpos0 (nu x 1)
|
||||
mjtNum* actuator_length0; // actuator length in qpos0 (nu x 1)
|
||||
mjtNum* actuator_lengthrange; // feasible actuator length range (nu x 2)
|
||||
mjtNum* actuator_user; // user data (nu x nuser_actuator)
|
||||
|
||||
// sensors
|
||||
int* sensor_type; // sensor type (mjtSensor) (nsensor x 1)
|
||||
int* sensor_datatype; // numeric data type (mjtDataType) (nsensor x 1)
|
||||
int* sensor_needstage; // required compute stage (mjtStage) (nsensor x 1)
|
||||
int* sensor_objtype; // type of sensorized object (mjtObj) (nsensor x 1)
|
||||
int* sensor_objid; // id of sensorized object (nsensor x 1)
|
||||
int* sensor_dim; // number of scalar outputs (nsensor x 1)
|
||||
int* sensor_adr; // address in sensor array (nsensor x 1)
|
||||
mjtNum* sensor_cutoff; // cutoff for real and positive; 0: ignore (nsensor x 1)
|
||||
mjtNum* sensor_noise; // noise standard deviation (nsensor x 1)
|
||||
mjtNum* sensor_user; // user data (nsensor x nuser_sensor)
|
||||
|
||||
// custom numeric fields
|
||||
int* numeric_adr; // address of field in numeric_data (nnumeric x 1)
|
||||
int* numeric_size; // size of numeric field (nnumeric x 1)
|
||||
mjtNum* numeric_data; // array of all numeric fields (nnumericdata x 1)
|
||||
|
||||
// custom text fields
|
||||
int* text_adr; // address of text in text_data (ntext x 1)
|
||||
int* text_size; // size of text field (strlen+1) (ntext x 1)
|
||||
char* text_data; // array of all text fields (0-terminated) (ntextdata x 1)
|
||||
|
||||
// custom tuple fields
|
||||
int* tuple_adr; // address of text in text_data (ntuple x 1)
|
||||
int* tuple_size; // number of objects in tuple (ntuple x 1)
|
||||
int* tuple_objtype; // array of object types in all tuples (ntupledata x 1)
|
||||
int* tuple_objid; // array of object ids in all tuples (ntupledata x 1)
|
||||
mjtNum* tuple_objprm; // array of object params in all tuples (ntupledata x 1)
|
||||
|
||||
// keyframes
|
||||
mjtNum* key_time; // key time (nkey x 1)
|
||||
mjtNum* key_qpos; // key position (nkey x nq)
|
||||
mjtNum* key_qvel; // key velocity (nkey x nv)
|
||||
mjtNum* key_act; // key activation (nkey x na)
|
||||
mjtNum* key_mpos; // key mocap position (nkey x 3*nmocap)
|
||||
mjtNum* key_mquat; // key mocap quaternion (nkey x 4*nmocap)
|
||||
|
||||
// names
|
||||
int* name_bodyadr; // body name pointers (nbody x 1)
|
||||
int* name_jntadr; // joint name pointers (njnt x 1)
|
||||
int* name_geomadr; // geom name pointers (ngeom x 1)
|
||||
int* name_siteadr; // site name pointers (nsite x 1)
|
||||
int* name_camadr; // camera name pointers (ncam x 1)
|
||||
int* name_lightadr; // light name pointers (nlight x 1)
|
||||
int* name_meshadr; // mesh name pointers (nmesh x 1)
|
||||
int* name_skinadr; // skin name pointers (nskin x 1)
|
||||
int* name_hfieldadr; // hfield name pointers (nhfield x 1)
|
||||
int* name_texadr; // texture name pointers (ntex x 1)
|
||||
int* name_matadr; // material name pointers (nmat x 1)
|
||||
int* name_pairadr; // geom pair name pointers (npair x 1)
|
||||
int* name_excludeadr; // exclude name pointers (nexclude x 1)
|
||||
int* name_eqadr; // equality constraint name pointers (neq x 1)
|
||||
int* name_tendonadr; // tendon name pointers (ntendon x 1)
|
||||
int* name_actuatoradr; // actuator name pointers (nu x 1)
|
||||
int* name_sensoradr; // sensor name pointers (nsensor x 1)
|
||||
int* name_numericadr; // numeric name pointers (nnumeric x 1)
|
||||
int* name_textadr; // text name pointers (ntext x 1)
|
||||
int* name_tupleadr; // tuple name pointers (ntuple x 1)
|
||||
int* name_keyadr; // keyframe name pointers (nkey x 1)
|
||||
char* names; // names of all objects, 0-terminated (nnames x 1)
|
||||
};
|
||||
typedef struct _mjModel mjModel;
|
||||
|
||||
#endif // MUJOCO_MJMODEL_H_
|
||||
Executable
+151
@@ -0,0 +1,151 @@
|
||||
// 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_MJRENDER_H_
|
||||
#define MUJOCO_MJRENDER_H_
|
||||
|
||||
#define mjNAUX 10 // number of auxiliary buffers
|
||||
#define mjMAXTEXTURE 1000 // maximum number of textures
|
||||
|
||||
|
||||
typedef enum _mjtGridPos // grid position for overlay
|
||||
{
|
||||
mjGRID_TOPLEFT = 0, // top left
|
||||
mjGRID_TOPRIGHT, // top right
|
||||
mjGRID_BOTTOMLEFT, // bottom left
|
||||
mjGRID_BOTTOMRIGHT // bottom right
|
||||
} mjtGridPos;
|
||||
|
||||
|
||||
typedef enum _mjtFramebuffer // OpenGL framebuffer option
|
||||
{
|
||||
mjFB_WINDOW = 0, // default/window buffer
|
||||
mjFB_OFFSCREEN // offscreen buffer
|
||||
} mjtFramebuffer;
|
||||
|
||||
|
||||
typedef enum _mjtFontScale // font scale, used at context creation
|
||||
{
|
||||
mjFONTSCALE_50 = 50, // 50% scale, suitable for low-res rendering
|
||||
mjFONTSCALE_100 = 100, // normal scale, suitable in the absence of DPI scaling
|
||||
mjFONTSCALE_150 = 150, // 150% scale
|
||||
mjFONTSCALE_200 = 200, // 200% scale
|
||||
mjFONTSCALE_250 = 250, // 250% scale
|
||||
mjFONTSCALE_300 = 300 // 300% scale
|
||||
} mjtFontScale;
|
||||
|
||||
|
||||
typedef enum _mjtFont // font type, used at each text operation
|
||||
{
|
||||
mjFONT_NORMAL = 0, // normal font
|
||||
mjFONT_SHADOW, // normal font with shadow (for higher contrast)
|
||||
mjFONT_BIG // big font (for user alerts)
|
||||
} mjtFont;
|
||||
|
||||
|
||||
struct _mjrRect // OpenGL rectangle
|
||||
{
|
||||
int left; // left (usually 0)
|
||||
int bottom; // bottom (usually 0)
|
||||
int width; // width (usually buffer width)
|
||||
int height; // height (usually buffer height)
|
||||
};
|
||||
typedef struct _mjrRect mjrRect;
|
||||
|
||||
|
||||
struct _mjrContext // custom OpenGL context
|
||||
{
|
||||
// parameters copied from mjVisual
|
||||
float lineWidth; // line width for wireframe rendering
|
||||
float shadowClip; // clipping radius for directional lights
|
||||
float shadowScale; // fraction of light cutoff for spot lights
|
||||
float fogStart; // fog start = stat.extent * vis.map.fogstart
|
||||
float fogEnd; // fog end = stat.extent * vis.map.fogend
|
||||
float fogRGBA[4]; // fog rgba
|
||||
int shadowSize; // size of shadow map texture
|
||||
int offWidth; // width of offscreen buffer
|
||||
int offHeight; // height of offscreen buffer
|
||||
int offSamples; // number of offscreen buffer multisamples
|
||||
|
||||
// parameters specified at creation
|
||||
int fontScale; // font scale
|
||||
int auxWidth[mjNAUX]; // auxiliary buffer width
|
||||
int auxHeight[mjNAUX]; // auxiliary buffer height
|
||||
int auxSamples[mjNAUX]; // auxiliary buffer multisamples
|
||||
|
||||
// offscreen rendering objects
|
||||
unsigned int offFBO; // offscreen framebuffer object
|
||||
unsigned int offFBO_r; // offscreen framebuffer for resolving multisamples
|
||||
unsigned int offColor; // offscreen color buffer
|
||||
unsigned int offColor_r; // offscreen color buffer for resolving multisamples
|
||||
unsigned int offDepthStencil; // offscreen depth and stencil buffer
|
||||
unsigned int offDepthStencil_r; // offscreen depth and stencil buffer for resolving multisamples
|
||||
|
||||
// shadow rendering objects
|
||||
unsigned int shadowFBO; // shadow map framebuffer object
|
||||
unsigned int shadowTex; // shadow map texture
|
||||
|
||||
// auxiliary buffers
|
||||
unsigned int auxFBO[mjNAUX]; // auxiliary framebuffer object
|
||||
unsigned int auxFBO_r[mjNAUX]; // auxiliary framebuffer object for resolving
|
||||
unsigned int auxColor[mjNAUX]; // auxiliary color buffer
|
||||
unsigned int auxColor_r[mjNAUX];// auxiliary color buffer for resolving
|
||||
|
||||
// texture objects and info
|
||||
int ntexture; // number of allocated textures
|
||||
int textureType[100]; // type of texture (mjtTexture)
|
||||
unsigned int texture[100]; // texture names
|
||||
|
||||
// displaylist starting positions
|
||||
unsigned int basePlane; // all planes from model
|
||||
unsigned int baseMesh; // all meshes from model
|
||||
unsigned int baseHField; // all hfields from model
|
||||
unsigned int baseBuiltin; // all buildin geoms, with quality from model
|
||||
unsigned int baseFontNormal; // normal font
|
||||
unsigned int baseFontShadow; // shadow font
|
||||
unsigned int baseFontBig; // big font
|
||||
|
||||
// displaylist ranges
|
||||
int rangePlane; // all planes from model
|
||||
int rangeMesh; // all meshes from model
|
||||
int rangeHField; // all hfields from model
|
||||
int rangeBuiltin; // all builtin geoms, with quality from model
|
||||
int rangeFont; // all characters in font
|
||||
|
||||
// skin VBOs
|
||||
int nskin; // number of skins
|
||||
unsigned int* skinvertVBO; // skin vertex position VBOs
|
||||
unsigned int* skinnormalVBO; // skin vertex normal VBOs
|
||||
unsigned int* skintexcoordVBO; // skin vertex texture coordinate VBOs
|
||||
unsigned int* skinfaceVBO; // skin face index VBOs
|
||||
|
||||
// character info
|
||||
int charWidth[127]; // character widths: normal and shadow
|
||||
int charWidthBig[127]; // chacarter widths: big
|
||||
int charHeight; // character heights: normal and shadow
|
||||
int charHeightBig; // character heights: big
|
||||
|
||||
// capabilities
|
||||
int glewInitialized; // is glew initialized
|
||||
int windowAvailable; // is default/window framebuffer available
|
||||
int windowSamples; // number of samples for default/window framebuffer
|
||||
int windowStereo; // is stereo available for default/window framebuffer
|
||||
int windowDoublebuffer; // is default/window framebuffer double buffered
|
||||
|
||||
// framebuffer
|
||||
int currentBuffer; // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
|
||||
};
|
||||
typedef struct _mjrContext mjrContext;
|
||||
|
||||
#endif // MUJOCO_MJRENDER_H_
|
||||
Executable
+309
@@ -0,0 +1,309 @@
|
||||
// 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_MJUI_H_
|
||||
#define MUJOCO_MJUI_H_
|
||||
|
||||
#define mjMAXUISECT 10 // maximum number of sections
|
||||
#define mjMAXUIITEM 80 // maximum number of items per section
|
||||
#define mjMAXUITEXT 300 // maximum number of chars in edittext and other
|
||||
#define mjMAXUINAME 40 // maximum number of chars in name
|
||||
#define mjMAXUIMULTI 35 // maximum number of radio/select items in group
|
||||
#define mjMAXUIEDIT 7 // maximum number of elements in edit list
|
||||
#define mjMAXUIRECT 25 // maximum number of rectangles
|
||||
|
||||
#define mjSEPCLOSED 1000 // closed state of adjustable separator
|
||||
|
||||
|
||||
// key codes matching GLFW (user must remap for other frameworks)
|
||||
#define mjKEY_ESCAPE 256
|
||||
#define mjKEY_ENTER 257
|
||||
#define mjKEY_TAB 258
|
||||
#define mjKEY_BACKSPACE 259
|
||||
#define mjKEY_INSERT 260
|
||||
#define mjKEY_DELETE 261
|
||||
#define mjKEY_RIGHT 262
|
||||
#define mjKEY_LEFT 263
|
||||
#define mjKEY_DOWN 264
|
||||
#define mjKEY_UP 265
|
||||
#define mjKEY_PAGE_UP 266
|
||||
#define mjKEY_PAGE_DOWN 267
|
||||
#define mjKEY_HOME 268
|
||||
#define mjKEY_END 269
|
||||
#define mjKEY_F1 290
|
||||
#define mjKEY_F2 291
|
||||
#define mjKEY_F3 292
|
||||
#define mjKEY_F4 293
|
||||
#define mjKEY_F5 294
|
||||
#define mjKEY_F6 295
|
||||
#define mjKEY_F7 296
|
||||
#define mjKEY_F8 297
|
||||
#define mjKEY_F9 298
|
||||
#define mjKEY_F10 299
|
||||
#define mjKEY_F11 300
|
||||
#define mjKEY_F12 301
|
||||
|
||||
|
||||
typedef enum _mjtButton // mouse button
|
||||
{
|
||||
mjBUTTON_NONE = 0, // no button
|
||||
mjBUTTON_LEFT, // left button
|
||||
mjBUTTON_RIGHT, // right button
|
||||
mjBUTTON_MIDDLE // middle button
|
||||
} mjtButton;
|
||||
|
||||
|
||||
typedef enum _mjtEvent // mouse and keyboard event type
|
||||
{
|
||||
mjEVENT_NONE = 0, // no event
|
||||
mjEVENT_MOVE, // mouse move
|
||||
mjEVENT_PRESS, // mouse button press
|
||||
mjEVENT_RELEASE, // mouse button release
|
||||
mjEVENT_SCROLL, // scroll
|
||||
mjEVENT_KEY, // key press
|
||||
mjEVENT_RESIZE // resize
|
||||
} mjtEvent;
|
||||
|
||||
|
||||
typedef enum _mjtItem // UI item type
|
||||
{
|
||||
mjITEM_END = -2, // end of definition list (not an item)
|
||||
mjITEM_SECTION = -1, // section (not an item)
|
||||
mjITEM_SEPARATOR = 0, // separator
|
||||
mjITEM_STATIC, // static text
|
||||
mjITEM_BUTTON, // button
|
||||
|
||||
// the rest have data pointer
|
||||
mjITEM_CHECKINT, // check box, int value
|
||||
mjITEM_CHECKBYTE, // check box, mjtByte value
|
||||
mjITEM_RADIO, // radio group
|
||||
mjITEM_RADIOLINE, // radio group, single line
|
||||
mjITEM_SELECT, // selection box
|
||||
mjITEM_SLIDERINT, // slider, int value
|
||||
mjITEM_SLIDERNUM, // slider, mjtNum value
|
||||
mjITEM_EDITINT, // editable array, int values
|
||||
mjITEM_EDITNUM, // editable array, mjtNum values
|
||||
mjITEM_EDITTXT, // editable text
|
||||
|
||||
mjNITEM // number of item types
|
||||
} mjtItem;
|
||||
|
||||
|
||||
// predicate function: set enable/disable based on item category
|
||||
typedef int (*mjfItemEnable)(int category, void* data);
|
||||
|
||||
|
||||
struct _mjuiState // mouse and keyboard state
|
||||
{
|
||||
// constants set by user
|
||||
int nrect; // number of rectangles used
|
||||
mjrRect rect[mjMAXUIRECT]; // rectangles (index 0: entire window)
|
||||
void* userdata; // pointer to user data (for callbacks)
|
||||
|
||||
// event type
|
||||
int type; // (type mjtEvent)
|
||||
|
||||
// mouse buttons
|
||||
int left; // is left button down
|
||||
int right; // is right button down
|
||||
int middle; // is middle button down
|
||||
int doubleclick; // is last press a double click
|
||||
int button; // which button was pressed (mjtButton)
|
||||
double buttontime; // time of last button press
|
||||
|
||||
// mouse position
|
||||
double x; // x position
|
||||
double y; // y position
|
||||
double dx; // x displacement
|
||||
double dy; // y displacement
|
||||
double sx; // x scroll
|
||||
double sy; // y scroll
|
||||
|
||||
// keyboard
|
||||
int control; // is control down
|
||||
int shift; // is shift down
|
||||
int alt; // is alt down
|
||||
int key; // which key was pressed
|
||||
double keytime; // time of last key press
|
||||
|
||||
// rectangle ownership and dragging
|
||||
int mouserect; // which rectangle contains mouse
|
||||
int dragrect; // which rectangle is dragged with mouse
|
||||
int dragbutton; // which button started drag (mjtButton)
|
||||
};
|
||||
typedef struct _mjuiState mjuiState;
|
||||
|
||||
|
||||
struct _mjuiThemeSpacing // UI visualization theme spacing
|
||||
{
|
||||
int total; // total width
|
||||
int scroll; // scrollbar width
|
||||
int label; // label width
|
||||
int section; // section gap
|
||||
int itemside; // item side gap
|
||||
int itemmid; // item middle gap
|
||||
int itemver; // item vertical gap
|
||||
int texthor; // text horizontal gap
|
||||
int textver; // text vertical gap
|
||||
int linescroll; // number of pixels to scroll
|
||||
int samples; // number of multisamples
|
||||
};
|
||||
typedef struct _mjuiThemeSpacing mjuiThemeSpacing;
|
||||
|
||||
|
||||
struct _mjuiThemeColor // UI visualization theme color
|
||||
{
|
||||
float master[3]; // master background
|
||||
float thumb[3]; // scrollbar thumb
|
||||
float secttitle[3]; // section title
|
||||
float sectfont[3]; // section font
|
||||
float sectsymbol[3]; // section symbol
|
||||
float sectpane[3]; // section pane
|
||||
float shortcut[3]; // shortcut background
|
||||
float fontactive[3]; // font active
|
||||
float fontinactive[3]; // font inactive
|
||||
float decorinactive[3]; // decor inactive
|
||||
float decorinactive2[3]; // inactive slider color 2
|
||||
float button[3]; // button
|
||||
float check[3]; // check
|
||||
float radio[3]; // radio
|
||||
float select[3]; // select
|
||||
float select2[3]; // select pane
|
||||
float slider[3]; // slider
|
||||
float slider2[3]; // slider color 2
|
||||
float edit[3]; // edit
|
||||
float edit2[3]; // edit invalid
|
||||
float cursor[3]; // edit cursor
|
||||
};
|
||||
typedef struct _mjuiThemeColor mjuiThemeColor;
|
||||
|
||||
|
||||
struct _mjuiItemSingle // check and button-related
|
||||
{
|
||||
int modifier; // 0: none, 1: control, 2: shift; 4: alt
|
||||
int shortcut; // shortcut key; 0: undefined
|
||||
};
|
||||
|
||||
|
||||
struct _mjuiItemMulti // static, radio and select-related
|
||||
{
|
||||
int nelem; // number of elements in group
|
||||
char name[mjMAXUIMULTI][mjMAXUINAME]; // element names
|
||||
};
|
||||
|
||||
|
||||
struct _mjuiItemSlider // slider-related
|
||||
{
|
||||
double range[2]; // slider range
|
||||
double divisions; // number of range divisions
|
||||
};
|
||||
|
||||
|
||||
struct _mjuiItemEdit // edit-related
|
||||
{
|
||||
int nelem; // number of elements in list
|
||||
double range[mjMAXUIEDIT][2]; // element range (min>=max: ignore)
|
||||
};
|
||||
|
||||
|
||||
struct _mjuiItem // UI item
|
||||
{
|
||||
// common properties
|
||||
int type; // type (mjtItem)
|
||||
char name[mjMAXUINAME]; // name
|
||||
int state; // 0: disable, 1: enable, 2+: use predicate
|
||||
void *pdata; // data pointer (type-specific)
|
||||
int sectionid; // id of section containing item
|
||||
int itemid; // id of item within section
|
||||
|
||||
// type-specific properties
|
||||
union
|
||||
{
|
||||
struct _mjuiItemSingle single; // check and button
|
||||
struct _mjuiItemMulti multi; // static, radio and select
|
||||
struct _mjuiItemSlider slider; // slider
|
||||
struct _mjuiItemEdit edit; // edit
|
||||
};
|
||||
|
||||
// internal
|
||||
mjrRect rect; // rectangle occupied by item
|
||||
};
|
||||
typedef struct _mjuiItem mjuiItem;
|
||||
|
||||
|
||||
struct _mjuiSection // UI section
|
||||
{
|
||||
// properties
|
||||
char name[mjMAXUINAME]; // name
|
||||
int state; // 0: closed, 1: open
|
||||
int modifier; // 0: none, 1: control, 2: shift; 4: alt
|
||||
int shortcut; // shortcut key; 0: undefined
|
||||
int nitem; // number of items in use
|
||||
mjuiItem item[mjMAXUIITEM]; // preallocated array of items
|
||||
|
||||
// internal
|
||||
mjrRect rtitle; // rectangle occupied by title
|
||||
mjrRect rcontent; // rectangle occupied by content
|
||||
};
|
||||
typedef struct _mjuiSection mjuiSection;
|
||||
|
||||
|
||||
struct _mjUI // entire UI
|
||||
{
|
||||
// constants set by user
|
||||
mjuiThemeSpacing spacing; // UI theme spacing
|
||||
mjuiThemeColor color; // UI theme color
|
||||
mjfItemEnable predicate; // callback to set item state programmatically
|
||||
void* userdata; // pointer to user data (passed to predicate)
|
||||
int rectid; // index of this ui rectangle in mjuiState
|
||||
int auxid; // aux buffer index of this ui
|
||||
int radiocol; // number of radio columns (0 defaults to 2)
|
||||
|
||||
// UI sizes (framebuffer units)
|
||||
int width; // width
|
||||
int height; // current heigth
|
||||
int maxheight; // height when all sections open
|
||||
int scroll; // scroll from top of UI
|
||||
|
||||
// mouse focus
|
||||
int mousesect; // 0: none, -1: scroll, otherwise 1+section
|
||||
int mouseitem; // item within section
|
||||
int mousehelp; // help button down: print shortcuts
|
||||
|
||||
// keyboard focus and edit
|
||||
int editsect; // 0: none, otherwise 1+section
|
||||
int edititem; // item within section
|
||||
int editcursor; // cursor position
|
||||
int editscroll; // horizontal scroll
|
||||
char edittext[mjMAXUITEXT]; // current text
|
||||
mjuiItem* editchanged; // pointer to changed edit in last mjui_event
|
||||
|
||||
// sections
|
||||
int nsect; // number of sections in use
|
||||
mjuiSection sect[mjMAXUISECT]; // preallocated array of sections
|
||||
};
|
||||
typedef struct _mjUI mjUI;
|
||||
|
||||
|
||||
struct _mjuiDef // table passed to mjui_add()
|
||||
{
|
||||
int type; // type (mjtItem); -1: section
|
||||
char name[mjMAXUINAME]; // name
|
||||
int state; // state
|
||||
void* pdata; // pointer to data
|
||||
char other[mjMAXUITEXT]; // string with type-specific properties
|
||||
};
|
||||
typedef struct _mjuiDef mjuiDef;
|
||||
|
||||
#endif // MUJOCO_MJUI_H_
|
||||
Executable
+350
@@ -0,0 +1,350 @@
|
||||
// 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_MJVISUALIZE_H_
|
||||
#define MUJOCO_MJVISUALIZE_H_
|
||||
|
||||
#define mjNGROUP 6 // number of geom, site, joint groups with visflags
|
||||
#define mjMAXOVERLAY 500 // maximum number of characters in overlay text
|
||||
#define mjMAXLINE 100 // maximum number of lines per plot
|
||||
#define mjMAXLINEPNT 1000 // maximum number points per line
|
||||
#define mjMAXPLANEGRID 200 // maximum number of grid divisions for plane
|
||||
|
||||
|
||||
typedef enum _mjtCatBit // bitflags for mjvGeom category
|
||||
{
|
||||
mjCAT_STATIC = 1, // model elements in body 0
|
||||
mjCAT_DYNAMIC = 2, // model elements in all other bodies
|
||||
mjCAT_DECOR = 4, // decorative geoms
|
||||
mjCAT_ALL = 7 // select all categories
|
||||
} mjtCatBit;
|
||||
|
||||
|
||||
typedef enum _mjtMouse // mouse interaction mode
|
||||
{
|
||||
mjMOUSE_NONE = 0, // no action
|
||||
mjMOUSE_ROTATE_V, // rotate, vertical plane
|
||||
mjMOUSE_ROTATE_H, // rotate, horizontal plane
|
||||
mjMOUSE_MOVE_V, // move, vertical plane
|
||||
mjMOUSE_MOVE_H, // move, horizontal plane
|
||||
mjMOUSE_ZOOM, // zoom
|
||||
mjMOUSE_SELECT // selection
|
||||
} mjtMouse;
|
||||
|
||||
|
||||
typedef enum _mjtPertBit // mouse perturbations
|
||||
{
|
||||
mjPERT_TRANSLATE = 1, // translation
|
||||
mjPERT_ROTATE = 2 // rotation
|
||||
} mjtPertBit;
|
||||
|
||||
|
||||
typedef enum _mjtCamera // abstract camera type
|
||||
{
|
||||
mjCAMERA_FREE = 0, // free camera
|
||||
mjCAMERA_TRACKING, // tracking camera; uses trackbodyid
|
||||
mjCAMERA_FIXED, // fixed camera; uses fixedcamid
|
||||
mjCAMERA_USER // user is responsible for setting OpenGL camera
|
||||
} mjtCamera;
|
||||
|
||||
|
||||
typedef enum _mjtLabel // object labeling
|
||||
{
|
||||
mjLABEL_NONE = 0, // nothing
|
||||
mjLABEL_BODY, // body labels
|
||||
mjLABEL_JOINT, // joint labels
|
||||
mjLABEL_GEOM, // geom labels
|
||||
mjLABEL_SITE, // site labels
|
||||
mjLABEL_CAMERA, // camera labels
|
||||
mjLABEL_LIGHT, // light labels
|
||||
mjLABEL_TENDON, // tendon labels
|
||||
mjLABEL_ACTUATOR, // actuator labels
|
||||
mjLABEL_CONSTRAINT, // constraint labels
|
||||
mjLABEL_SKIN, // skin labels
|
||||
mjLABEL_SELECTION, // selected object
|
||||
mjLABEL_SELPNT, // coordinates of selection point
|
||||
mjLABEL_CONTACTFORCE, // magnitude of contact force
|
||||
|
||||
mjNLABEL // number of label types
|
||||
} mjtLabel;
|
||||
|
||||
|
||||
typedef enum _mjtFrame // frame visualization
|
||||
{
|
||||
mjFRAME_NONE = 0, // no frames
|
||||
mjFRAME_BODY, // body frames
|
||||
mjFRAME_GEOM, // geom frames
|
||||
mjFRAME_SITE, // site frames
|
||||
mjFRAME_CAMERA, // camera frames
|
||||
mjFRAME_LIGHT, // light frames
|
||||
mjFRAME_WORLD, // world frame
|
||||
|
||||
mjNFRAME // number of visualization frames
|
||||
} mjtFrame;
|
||||
|
||||
|
||||
typedef enum _mjtVisFlag // flags enabling model element visualization
|
||||
{
|
||||
mjVIS_CONVEXHULL = 0, // mesh convex hull
|
||||
mjVIS_TEXTURE, // textures
|
||||
mjVIS_JOINT, // joints
|
||||
mjVIS_ACTUATOR, // actuators
|
||||
mjVIS_CAMERA, // cameras
|
||||
mjVIS_LIGHT, // lights
|
||||
mjVIS_TENDON, // tendons
|
||||
mjVIS_RANGEFINDER, // rangefinder sensors
|
||||
mjVIS_CONSTRAINT, // point constraints
|
||||
mjVIS_INERTIA, // equivalent inertia boxes
|
||||
mjVIS_SCLINERTIA, // scale equivalent inertia boxes with mass
|
||||
mjVIS_PERTFORCE, // perturbation force
|
||||
mjVIS_PERTOBJ, // perturbation object
|
||||
mjVIS_CONTACTPOINT, // contact points
|
||||
mjVIS_CONTACTFORCE, // contact force
|
||||
mjVIS_CONTACTSPLIT, // split contact force into normal and tanget
|
||||
mjVIS_TRANSPARENT, // make dynamic geoms more transparent
|
||||
mjVIS_AUTOCONNECT, // auto connect joints and body coms
|
||||
mjVIS_COM, // center of mass
|
||||
mjVIS_SELECT, // selection point
|
||||
mjVIS_STATIC, // static bodies
|
||||
mjVIS_SKIN, // skin
|
||||
|
||||
mjNVISFLAG // number of visualization flags
|
||||
} mjtVisFlag;
|
||||
|
||||
|
||||
typedef enum _mjtRndFlag // flags enabling rendering effects
|
||||
{
|
||||
mjRND_SHADOW = 0, // shadows
|
||||
mjRND_WIREFRAME, // wireframe
|
||||
mjRND_REFLECTION, // reflections
|
||||
mjRND_ADDITIVE, // additive transparency
|
||||
mjRND_SKYBOX, // skybox
|
||||
mjRND_FOG, // fog
|
||||
mjRND_HAZE, // haze
|
||||
mjRND_SEGMENT, // segmentation with random color
|
||||
mjRND_IDCOLOR, // segmentation with segid color
|
||||
|
||||
mjNRNDFLAG // number of rendering flags
|
||||
} mjtRndFlag;
|
||||
|
||||
|
||||
typedef enum _mjtStereo // type of stereo rendering
|
||||
{
|
||||
mjSTEREO_NONE = 0, // no stereo; use left eye only
|
||||
mjSTEREO_QUADBUFFERED, // quad buffered; revert to side-by-side if no hardware support
|
||||
mjSTEREO_SIDEBYSIDE // side-by-side
|
||||
} mjtStereo;
|
||||
|
||||
|
||||
struct _mjvPerturb // object selection and perturbation
|
||||
{
|
||||
int select; // selected body id; non-positive: none
|
||||
int skinselect; // selected skin id; negative: none
|
||||
int active; // perturbation bitmask (mjtPertBit)
|
||||
int active2; // secondary perturbation bitmask (mjtPertBit)
|
||||
mjtNum refpos[3]; // desired position for selected object
|
||||
mjtNum refquat[4]; // desired orientation for selected object
|
||||
mjtNum localpos[3]; // selection point in object coordinates
|
||||
mjtNum scale; // relative mouse motion-to-space scaling (set by initPerturb)
|
||||
};
|
||||
typedef struct _mjvPerturb mjvPerturb;
|
||||
|
||||
|
||||
struct _mjvCamera // abstract camera
|
||||
{
|
||||
// type and ids
|
||||
int type; // camera type (mjtCamera)
|
||||
int fixedcamid; // fixed camera id
|
||||
int trackbodyid; // body id to track
|
||||
|
||||
// abstract camera pose specification
|
||||
mjtNum lookat[3]; // lookat point
|
||||
mjtNum distance; // distance to lookat point or tracked body
|
||||
mjtNum azimuth; // camera azimuth (deg)
|
||||
mjtNum elevation; // camera elevation (deg)
|
||||
};
|
||||
typedef struct _mjvCamera mjvCamera;
|
||||
|
||||
|
||||
struct _mjvGLCamera // OpenGL camera
|
||||
{
|
||||
// camera frame
|
||||
float pos[3]; // position
|
||||
float forward[3]; // forward direction
|
||||
float up[3]; // up direction
|
||||
|
||||
// camera projection
|
||||
float frustum_center; // hor. center (left,right set to match aspect)
|
||||
float frustum_bottom; // bottom
|
||||
float frustum_top; // top
|
||||
float frustum_near; // near
|
||||
float frustum_far; // far
|
||||
};
|
||||
typedef struct _mjvGLCamera mjvGLCamera;
|
||||
|
||||
|
||||
struct _mjvGeom // abstract geom
|
||||
{
|
||||
// type info
|
||||
int type; // geom type (mjtGeom)
|
||||
int dataid; // mesh, hfield or plane id; -1: none
|
||||
int objtype; // mujoco object type; mjOBJ_UNKNOWN for decor
|
||||
int objid; // mujoco object id; -1 for decor
|
||||
int category; // visual category
|
||||
int texid; // texture id; -1: no texture
|
||||
int texuniform; // uniform cube mapping
|
||||
int texcoord; // mesh geom has texture coordinates
|
||||
int segid; // segmentation id; -1: not shown
|
||||
|
||||
// OpenGL info
|
||||
float texrepeat[2]; // texture repetition for 2D mapping
|
||||
float size[3]; // size parameters
|
||||
float pos[3]; // Cartesian position
|
||||
float mat[9]; // Cartesian orientation
|
||||
float rgba[4]; // color and transparency
|
||||
float emission; // emission coef
|
||||
float specular; // specular coef
|
||||
float shininess; // shininess coef
|
||||
float reflectance; // reflectance coef
|
||||
char label[100]; // text label
|
||||
|
||||
// transparency rendering (set internally)
|
||||
float camdist; // distance to camera (used by sorter)
|
||||
float modelrbound; // geom rbound from model, 0 if not model geom
|
||||
mjtByte transparent; // treat geom as transparent
|
||||
};
|
||||
typedef struct _mjvGeom mjvGeom;
|
||||
|
||||
|
||||
struct _mjvLight // OpenGL light
|
||||
{
|
||||
float pos[3]; // position rel. to body frame
|
||||
float dir[3]; // direction rel. to body frame
|
||||
float attenuation[3]; // OpenGL attenuation (quadratic model)
|
||||
float cutoff; // OpenGL cutoff
|
||||
float exponent; // OpenGL exponent
|
||||
float ambient[3]; // ambient rgb (alpha=1)
|
||||
float diffuse[3]; // diffuse rgb (alpha=1)
|
||||
float specular[3]; // specular rgb (alpha=1)
|
||||
mjtByte headlight; // headlight
|
||||
mjtByte directional; // directional light
|
||||
mjtByte castshadow; // does light cast shadows
|
||||
};
|
||||
typedef struct _mjvLight mjvLight;
|
||||
|
||||
|
||||
struct _mjvOption // abstract visualization options
|
||||
{
|
||||
int label; // what objects to label (mjtLabel)
|
||||
int frame; // which frame to show (mjtFrame)
|
||||
mjtByte geomgroup[mjNGROUP]; // geom visualization by group
|
||||
mjtByte sitegroup[mjNGROUP]; // site visualization by group
|
||||
mjtByte jointgroup[mjNGROUP]; // joint visualization by group
|
||||
mjtByte tendongroup[mjNGROUP]; // tendon visualization by group
|
||||
mjtByte actuatorgroup[mjNGROUP]; // actuator visualization by group
|
||||
mjtByte flags[mjNVISFLAG]; // visualization flags (indexed by mjtVisFlag)
|
||||
};
|
||||
typedef struct _mjvOption mjvOption;
|
||||
|
||||
|
||||
struct _mjvScene // abstract scene passed to OpenGL renderer
|
||||
{
|
||||
// abstract geoms
|
||||
int maxgeom; // size of allocated geom buffer
|
||||
int ngeom; // number of geoms currently in buffer
|
||||
mjvGeom* geoms; // buffer for geoms
|
||||
int* geomorder; // buffer for ordering geoms by distance to camera
|
||||
|
||||
// skin data
|
||||
int nskin; // number of skins
|
||||
int* skinfacenum; // number of faces in skin
|
||||
int* skinvertadr; // address of skin vertices
|
||||
int* skinvertnum; // number of vertices in skin
|
||||
float* skinvert; // skin vertex data
|
||||
float* skinnormal; // skin normal data
|
||||
|
||||
// OpenGL lights
|
||||
int nlight; // number of lights currently in buffer
|
||||
mjvLight lights[8]; // buffer for lights
|
||||
|
||||
// OpenGL cameras
|
||||
mjvGLCamera camera[2]; // left and right camera
|
||||
|
||||
// OpenGL model transformation
|
||||
mjtByte enabletransform; // enable model transformation
|
||||
float translate[3]; // model translation
|
||||
float rotate[4]; // model quaternion rotation
|
||||
float scale; // model scaling
|
||||
|
||||
// OpenGL rendering effects
|
||||
int stereo; // stereoscopic rendering (mjtStereo)
|
||||
mjtByte flags[mjNRNDFLAG]; // rendering flags (indexed by mjtRndFlag)
|
||||
|
||||
// framing
|
||||
int framewidth; // frame pixel width; 0: disable framing
|
||||
float framergb[3]; // frame color
|
||||
};
|
||||
typedef struct _mjvScene mjvScene;
|
||||
|
||||
|
||||
struct _mjvFigure // abstract 2D figure passed to OpenGL renderer
|
||||
{
|
||||
// enable flags
|
||||
int flg_legend; // show legend
|
||||
int flg_ticklabel[2]; // show grid tick labels (x,y)
|
||||
int flg_extend; // automatically extend axis ranges to fit data
|
||||
int flg_barplot; // isolated line segments (i.e. GL_LINES)
|
||||
int flg_selection; // vertical selection line
|
||||
int flg_symmetric; // symmetric y-axis
|
||||
|
||||
// style settings
|
||||
float linewidth; // line width
|
||||
float gridwidth; // grid line width
|
||||
int gridsize[2]; // number of grid points in (x,y)
|
||||
float gridrgb[3]; // grid line rgb
|
||||
float figurergba[4]; // figure color and alpha
|
||||
float panergba[4]; // pane color and alpha
|
||||
float legendrgba[4]; // legend color and alpha
|
||||
float textrgb[3]; // text color
|
||||
float linergb[mjMAXLINE][3]; // line colors
|
||||
float range[2][2]; // axis ranges; (min>=max) automatic
|
||||
char xformat[20]; // x-tick label format for sprintf
|
||||
char yformat[20]; // y-tick label format for sprintf
|
||||
char minwidth[20]; // string used to determine min y-tick width
|
||||
|
||||
// text labels
|
||||
char title[1000]; // figure title; subplots separated with 2+ spaces
|
||||
char xlabel[100]; // x-axis label
|
||||
char linename[mjMAXLINE][100]; // line names for legend
|
||||
|
||||
// dynamic settings
|
||||
int legendoffset; // number of lines to offset legend
|
||||
int subplot; // selected subplot (for title rendering)
|
||||
int highlight[2]; // if point is in legend rect, highlight line
|
||||
int highlightid; // if id>=0 and no point, highlight id
|
||||
float selection; // selection line x-value
|
||||
|
||||
// line data
|
||||
int linepnt[mjMAXLINE]; // number of points in line; (0) disable
|
||||
float linedata[mjMAXLINE][2*mjMAXLINEPNT]; // line data (x,y)
|
||||
|
||||
// output from renderer
|
||||
int xaxispixel[2]; // range of x-axis in pixels
|
||||
int yaxispixel[2]; // range of y-axis in pixels
|
||||
float xaxisdata[2]; // range of x-axis in data units
|
||||
float yaxisdata[2]; // range of y-axis in data units
|
||||
};
|
||||
typedef struct _mjvFigure mjvFigure;
|
||||
|
||||
#endif // MUJOCO_MJVISUALIZE_H_
|
||||
Executable
+511
@@ -0,0 +1,511 @@
|
||||
// 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_MJXMACRO_H_
|
||||
#define MUJOCO_MJXMACRO_H_
|
||||
|
||||
//-------------------------------- mjOption ---------------------------------------------
|
||||
|
||||
// scalar fields of mjOption
|
||||
#define MJOPTION_SCALARS \
|
||||
X( mjtNum, timestep ) \
|
||||
X( mjtNum, apirate ) \
|
||||
X( mjtNum, impratio ) \
|
||||
X( mjtNum, tolerance ) \
|
||||
X( mjtNum, noslip_tolerance ) \
|
||||
X( mjtNum, mpr_tolerance ) \
|
||||
X( mjtNum, density ) \
|
||||
X( mjtNum, viscosity ) \
|
||||
X( mjtNum, o_margin ) \
|
||||
X( int, integrator ) \
|
||||
X( int, collision ) \
|
||||
X( int, cone ) \
|
||||
X( int, jacobian ) \
|
||||
X( int, solver ) \
|
||||
X( int, iterations ) \
|
||||
X( int, noslip_iterations ) \
|
||||
X( int, mpr_iterations ) \
|
||||
X( int, disableflags ) \
|
||||
X( int, enableflags )
|
||||
|
||||
|
||||
// vector fields of mjOption
|
||||
#define MJOPTION_VECTORS \
|
||||
X( gravity, 3 ) \
|
||||
X( wind, 3 ) \
|
||||
X( magnetic, 3 ) \
|
||||
X( o_solref, mjNREF ) \
|
||||
X( o_solimp, mjNIMP )
|
||||
|
||||
|
||||
|
||||
//-------------------------------- mjModel ----------------------------------------------
|
||||
|
||||
// int fields of mjModel
|
||||
#define MJMODEL_INTS \
|
||||
X( nq ) \
|
||||
X( nv ) \
|
||||
X( nu ) \
|
||||
X( na ) \
|
||||
X( nbody ) \
|
||||
X( njnt ) \
|
||||
X( ngeom ) \
|
||||
X( nsite ) \
|
||||
X( ncam ) \
|
||||
X( nlight ) \
|
||||
X( nmesh ) \
|
||||
X( nmeshvert ) \
|
||||
X( nmeshtexvert ) \
|
||||
X( nmeshface ) \
|
||||
X( nmeshgraph ) \
|
||||
X( nskin ) \
|
||||
X( nskinvert ) \
|
||||
X( nskintexvert ) \
|
||||
X( nskinface ) \
|
||||
X( nskinbone ) \
|
||||
X( nskinbonevert ) \
|
||||
X( nhfield ) \
|
||||
X( nhfielddata ) \
|
||||
X( ntex ) \
|
||||
X( ntexdata ) \
|
||||
X( nmat ) \
|
||||
X( npair ) \
|
||||
X( nexclude ) \
|
||||
X( neq ) \
|
||||
X( ntendon ) \
|
||||
X( nwrap ) \
|
||||
X( nsensor ) \
|
||||
X( nnumeric ) \
|
||||
X( nnumericdata ) \
|
||||
X( ntext ) \
|
||||
X( ntextdata ) \
|
||||
X( ntuple ) \
|
||||
X( ntupledata ) \
|
||||
X( nkey ) \
|
||||
X( nmocap ) \
|
||||
X( nuser_body ) \
|
||||
X( nuser_jnt ) \
|
||||
X( nuser_geom ) \
|
||||
X( nuser_site ) \
|
||||
X( nuser_cam ) \
|
||||
X( nuser_tendon ) \
|
||||
X( nuser_actuator ) \
|
||||
X( nuser_sensor ) \
|
||||
X( nnames ) \
|
||||
X( nM ) \
|
||||
X( nemax ) \
|
||||
X( njmax ) \
|
||||
X( nconmax ) \
|
||||
X( nstack ) \
|
||||
X( nuserdata ) \
|
||||
X( nsensordata ) \
|
||||
X( nbuffer )
|
||||
|
||||
|
||||
// pointer fields of mjModel
|
||||
#define MJMODEL_POINTERS \
|
||||
X( mjtNum, qpos0, nq, 1 ) \
|
||||
X( mjtNum, qpos_spring, nq, 1 ) \
|
||||
X( int, body_parentid, nbody, 1 ) \
|
||||
X( int, body_rootid, nbody, 1 ) \
|
||||
X( int, body_weldid, nbody, 1 ) \
|
||||
X( int, body_mocapid, nbody, 1 ) \
|
||||
X( int, body_jntnum, nbody, 1 ) \
|
||||
X( int, body_jntadr, nbody, 1 ) \
|
||||
X( int, body_dofnum, nbody, 1 ) \
|
||||
X( int, body_dofadr, nbody, 1 ) \
|
||||
X( int, body_geomnum, nbody, 1 ) \
|
||||
X( int, body_geomadr, nbody, 1 ) \
|
||||
X( mjtByte, body_simple, nbody, 1 ) \
|
||||
X( mjtByte, body_sameframe, nbody, 1 ) \
|
||||
X( mjtNum, body_pos, nbody, 3 ) \
|
||||
X( mjtNum, body_quat, nbody, 4 ) \
|
||||
X( mjtNum, body_ipos, nbody, 3 ) \
|
||||
X( mjtNum, body_iquat, nbody, 4 ) \
|
||||
X( mjtNum, body_mass, nbody, 1 ) \
|
||||
X( mjtNum, body_subtreemass, nbody, 1 ) \
|
||||
X( mjtNum, body_inertia, nbody, 3 ) \
|
||||
X( mjtNum, body_invweight0, nbody, 2 ) \
|
||||
X( mjtNum, body_user, nbody, nuser_body ) \
|
||||
X( int, jnt_type, njnt, 1 ) \
|
||||
X( int, jnt_qposadr, njnt, 1 ) \
|
||||
X( int, jnt_dofadr, njnt, 1 ) \
|
||||
X( int, jnt_bodyid, njnt, 1 ) \
|
||||
X( int, jnt_group, njnt, 1 ) \
|
||||
X( mjtByte, jnt_limited, njnt, 1 ) \
|
||||
X( mjtNum, jnt_solref, njnt, mjNREF ) \
|
||||
X( mjtNum, jnt_solimp, njnt, mjNIMP ) \
|
||||
X( mjtNum, jnt_pos, njnt, 3 ) \
|
||||
X( mjtNum, jnt_axis, njnt, 3 ) \
|
||||
X( mjtNum, jnt_stiffness, njnt, 1 ) \
|
||||
X( mjtNum, jnt_range, njnt, 2 ) \
|
||||
X( mjtNum, jnt_margin, njnt, 1 ) \
|
||||
X( mjtNum, jnt_user, njnt, nuser_jnt ) \
|
||||
X( int, dof_bodyid, nv, 1 ) \
|
||||
X( int, dof_jntid, nv, 1 ) \
|
||||
X( int, dof_parentid, nv, 1 ) \
|
||||
X( int, dof_Madr, nv, 1 ) \
|
||||
X( int, dof_simplenum, nv, 1 ) \
|
||||
X( mjtNum, dof_solref, nv, mjNREF ) \
|
||||
X( mjtNum, dof_solimp, nv, mjNIMP ) \
|
||||
X( mjtNum, dof_frictionloss, nv, 1 ) \
|
||||
X( mjtNum, dof_armature, nv, 1 ) \
|
||||
X( mjtNum, dof_damping, nv, 1 ) \
|
||||
X( mjtNum, dof_invweight0, nv, 1 ) \
|
||||
X( mjtNum, dof_M0, nv, 1 ) \
|
||||
X( int, geom_type, ngeom, 1 ) \
|
||||
X( int, geom_contype, ngeom, 1 ) \
|
||||
X( int, geom_conaffinity, ngeom, 1 ) \
|
||||
X( int, geom_condim, ngeom, 1 ) \
|
||||
X( int, geom_bodyid, ngeom, 1 ) \
|
||||
X( int, geom_dataid, ngeom, 1 ) \
|
||||
X( int, geom_matid, ngeom, 1 ) \
|
||||
X( int, geom_group, ngeom, 1 ) \
|
||||
X( int, geom_priority, ngeom, 1 ) \
|
||||
X( mjtByte, geom_sameframe, ngeom, 1 ) \
|
||||
X( mjtNum, geom_solmix, ngeom, 1 ) \
|
||||
X( mjtNum, geom_solref, ngeom, mjNREF ) \
|
||||
X( mjtNum, geom_solimp, ngeom, mjNIMP ) \
|
||||
X( mjtNum, geom_size, ngeom, 3 ) \
|
||||
X( mjtNum, geom_rbound, ngeom, 1 ) \
|
||||
X( mjtNum, geom_pos, ngeom, 3 ) \
|
||||
X( mjtNum, geom_quat, ngeom, 4 ) \
|
||||
X( mjtNum, geom_friction, ngeom, 3 ) \
|
||||
X( mjtNum, geom_margin, ngeom, 1 ) \
|
||||
X( mjtNum, geom_gap, ngeom, 1 ) \
|
||||
X( mjtNum, geom_user, ngeom, nuser_geom ) \
|
||||
X( float, geom_rgba, ngeom, 4 ) \
|
||||
X( int, site_type, nsite, 1 ) \
|
||||
X( int, site_bodyid, nsite, 1 ) \
|
||||
X( int, site_matid, nsite, 1 ) \
|
||||
X( int, site_group, nsite, 1 ) \
|
||||
X( mjtByte, site_sameframe, nsite, 1 ) \
|
||||
X( mjtNum, site_size, nsite, 3 ) \
|
||||
X( mjtNum, site_pos, nsite, 3 ) \
|
||||
X( mjtNum, site_quat, nsite, 4 ) \
|
||||
X( mjtNum, site_user, nsite, nuser_site ) \
|
||||
X( float, site_rgba, nsite, 4 ) \
|
||||
X( int, cam_mode, ncam, 1 ) \
|
||||
X( int, cam_bodyid, ncam, 1 ) \
|
||||
X( int, cam_targetbodyid, ncam, 1 ) \
|
||||
X( mjtNum, cam_pos, ncam, 3 ) \
|
||||
X( mjtNum, cam_quat, ncam, 4 ) \
|
||||
X( mjtNum, cam_poscom0, ncam, 3 ) \
|
||||
X( mjtNum, cam_pos0, ncam, 3 ) \
|
||||
X( mjtNum, cam_mat0, ncam, 9 ) \
|
||||
X( mjtNum, cam_fovy, ncam, 1 ) \
|
||||
X( mjtNum, cam_ipd, ncam, 1 ) \
|
||||
X( mjtNum, cam_user, ncam, nuser_cam ) \
|
||||
X( int, light_mode, nlight, 1 ) \
|
||||
X( int, light_bodyid, nlight, 1 ) \
|
||||
X( int, light_targetbodyid, nlight, 1 ) \
|
||||
X( mjtByte, light_directional, nlight, 1 ) \
|
||||
X( mjtByte, light_castshadow, nlight, 1 ) \
|
||||
X( mjtByte, light_active, nlight, 1 ) \
|
||||
X( mjtNum, light_pos, nlight, 3 ) \
|
||||
X( mjtNum, light_dir, nlight, 3 ) \
|
||||
X( mjtNum, light_poscom0, nlight, 3 ) \
|
||||
X( mjtNum, light_pos0, nlight, 3 ) \
|
||||
X( mjtNum, light_dir0, nlight, 3 ) \
|
||||
X( float, light_attenuation, nlight, 3 ) \
|
||||
X( float, light_cutoff, nlight, 1 ) \
|
||||
X( float, light_exponent, nlight, 1 ) \
|
||||
X( float, light_ambient, nlight, 3 ) \
|
||||
X( float, light_diffuse, nlight, 3 ) \
|
||||
X( float, light_specular, nlight, 3 ) \
|
||||
X( int, mesh_vertadr, nmesh, 1 ) \
|
||||
X( int, mesh_vertnum, nmesh, 1 ) \
|
||||
X( int, mesh_texcoordadr, nmesh, 1 ) \
|
||||
X( int, mesh_faceadr, nmesh, 1 ) \
|
||||
X( int, mesh_facenum, nmesh, 1 ) \
|
||||
X( int, mesh_graphadr, nmesh, 1 ) \
|
||||
X( float, mesh_vert, nmeshvert, 3 ) \
|
||||
X( float, mesh_normal, nmeshvert, 3 ) \
|
||||
X( float, mesh_texcoord, nmeshtexvert, 2 ) \
|
||||
X( int, mesh_face, nmeshface, 3 ) \
|
||||
X( int, mesh_graph, nmeshgraph,1 ) \
|
||||
X( int, skin_matid, nskin, 1 ) \
|
||||
X( float, skin_rgba, nskin, 4 ) \
|
||||
X( float, skin_inflate, nskin, 1 ) \
|
||||
X( int, skin_vertadr, nskin, 1 ) \
|
||||
X( int, skin_vertnum, nskin, 1 ) \
|
||||
X( int, skin_texcoordadr, nskin, 1 ) \
|
||||
X( int, skin_faceadr, nskin, 1 ) \
|
||||
X( int, skin_facenum, nskin, 1 ) \
|
||||
X( int, skin_boneadr, nskin, 1 ) \
|
||||
X( int, skin_bonenum, nskin, 1 ) \
|
||||
X( float, skin_vert, nskinvert, 3 ) \
|
||||
X( float, skin_texcoord, nskintexvert, 2 ) \
|
||||
X( int, skin_face, nskinface, 3 ) \
|
||||
X( int, skin_bonevertadr, nskinbone, 1 ) \
|
||||
X( int, skin_bonevertnum, nskinbone, 1 ) \
|
||||
X( float, skin_bonebindpos, nskinbone, 3 ) \
|
||||
X( float, skin_bonebindquat, nskinbone, 4 ) \
|
||||
X( int, skin_bonebodyid, nskinbone, 1 ) \
|
||||
X( int, skin_bonevertid, nskinbonevert, 1 ) \
|
||||
X( float, skin_bonevertweight, nskinbonevert, 1 ) \
|
||||
X( mjtNum, hfield_size, nhfield, 4 ) \
|
||||
X( int, hfield_nrow, nhfield, 1 ) \
|
||||
X( int, hfield_ncol, nhfield, 1 ) \
|
||||
X( int, hfield_adr, nhfield, 1 ) \
|
||||
X( float, hfield_data, nhfielddata, 1 ) \
|
||||
X( int, tex_type, ntex, 1 ) \
|
||||
X( int, tex_height, ntex, 1 ) \
|
||||
X( int, tex_width, ntex, 1 ) \
|
||||
X( int, tex_adr, ntex, 1 ) \
|
||||
X( mjtByte, tex_rgb, ntexdata, 1 ) \
|
||||
X( int, mat_texid, nmat, 1 ) \
|
||||
X( mjtByte, mat_texuniform, nmat, 1 ) \
|
||||
X( float, mat_texrepeat, nmat, 2 ) \
|
||||
X( float, mat_emission, nmat, 1 ) \
|
||||
X( float, mat_specular, nmat, 1 ) \
|
||||
X( float, mat_shininess, nmat, 1 ) \
|
||||
X( float, mat_reflectance, nmat, 1 ) \
|
||||
X( float, mat_rgba, nmat, 4 ) \
|
||||
X( int, pair_dim, npair, 1 ) \
|
||||
X( int, pair_geom1, npair, 1 ) \
|
||||
X( int, pair_geom2, npair, 1 ) \
|
||||
X( int, pair_signature, npair, 1 ) \
|
||||
X( mjtNum, pair_solref, npair, mjNREF ) \
|
||||
X( mjtNum, pair_solimp, npair, mjNIMP ) \
|
||||
X( mjtNum, pair_margin, npair, 1 ) \
|
||||
X( mjtNum, pair_gap, npair, 1 ) \
|
||||
X( mjtNum, pair_friction, npair, 5 ) \
|
||||
X( int, exclude_signature, nexclude, 1 ) \
|
||||
X( int, eq_type, neq, 1 ) \
|
||||
X( int, eq_obj1id, neq, 1 ) \
|
||||
X( int, eq_obj2id, neq, 1 ) \
|
||||
X( mjtByte, eq_active, neq, 1 ) \
|
||||
X( mjtNum, eq_solref, neq, mjNREF ) \
|
||||
X( mjtNum, eq_solimp, neq, mjNIMP ) \
|
||||
X( mjtNum, eq_data, neq, mjNEQDATA ) \
|
||||
X( int, tendon_adr, ntendon, 1 ) \
|
||||
X( int, tendon_num, ntendon, 1 ) \
|
||||
X( int, tendon_matid, ntendon, 1 ) \
|
||||
X( int, tendon_group, ntendon, 1 ) \
|
||||
X( mjtByte, tendon_limited, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_width, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_solref_lim, ntendon, mjNREF ) \
|
||||
X( mjtNum, tendon_solimp_lim, ntendon, mjNIMP ) \
|
||||
X( mjtNum, tendon_solref_fri, ntendon, mjNREF ) \
|
||||
X( mjtNum, tendon_solimp_fri, ntendon, mjNIMP ) \
|
||||
X( mjtNum, tendon_range, ntendon, 2 ) \
|
||||
X( mjtNum, tendon_margin, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_stiffness, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_damping, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_frictionloss, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_lengthspring, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_length0, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_invweight0, ntendon, 1 ) \
|
||||
X( mjtNum, tendon_user, ntendon, nuser_tendon) \
|
||||
X( float, tendon_rgba, ntendon, 4 ) \
|
||||
X( int, wrap_type, nwrap, 1 ) \
|
||||
X( int, wrap_objid, nwrap, 1 ) \
|
||||
X( mjtNum, wrap_prm, nwrap, 1 ) \
|
||||
X( int, actuator_trntype, nu, 1 ) \
|
||||
X( int, actuator_dyntype, nu, 1 ) \
|
||||
X( int, actuator_gaintype, nu, 1 ) \
|
||||
X( int, actuator_biastype, nu, 1 ) \
|
||||
X( int, actuator_trnid, nu, 2 ) \
|
||||
X( int, actuator_group, nu, 1 ) \
|
||||
X( mjtByte, actuator_ctrllimited, nu, 1 ) \
|
||||
X( mjtByte, actuator_forcelimited, nu, 1 ) \
|
||||
X( mjtNum, actuator_dynprm, nu, mjNDYN ) \
|
||||
X( mjtNum, actuator_gainprm, nu, mjNGAIN ) \
|
||||
X( mjtNum, actuator_biasprm, nu, mjNBIAS ) \
|
||||
X( mjtNum, actuator_ctrlrange, nu, 2 ) \
|
||||
X( mjtNum, actuator_forcerange, nu, 2 ) \
|
||||
X( mjtNum, actuator_gear, nu, 6 ) \
|
||||
X( mjtNum, actuator_cranklength, nu, 1 ) \
|
||||
X( mjtNum, actuator_acc0, nu, 1 ) \
|
||||
X( mjtNum, actuator_length0, nu, 1 ) \
|
||||
X( mjtNum, actuator_lengthrange, nu, 2 ) \
|
||||
X( mjtNum, actuator_user, nu, nuser_actuator) \
|
||||
X( int, sensor_type, nsensor, 1 ) \
|
||||
X( int, sensor_datatype, nsensor, 1 ) \
|
||||
X( int, sensor_needstage, nsensor, 1 ) \
|
||||
X( int, sensor_objtype, nsensor, 1 ) \
|
||||
X( int, sensor_objid, nsensor, 1 ) \
|
||||
X( int, sensor_dim, nsensor, 1 ) \
|
||||
X( int, sensor_adr, nsensor, 1 ) \
|
||||
X( mjtNum, sensor_cutoff, nsensor, 1 ) \
|
||||
X( mjtNum, sensor_noise, nsensor, 1 ) \
|
||||
X( mjtNum, sensor_user, nsensor, nuser_sensor) \
|
||||
X( int, numeric_adr, nnumeric, 1 ) \
|
||||
X( int, numeric_size, nnumeric, 1 ) \
|
||||
X( mjtNum, numeric_data, nnumericdata, 1 ) \
|
||||
X( int, text_adr, ntext, 1 ) \
|
||||
X( int, text_size, ntext, 1 ) \
|
||||
X( char, text_data, ntextdata, 1 ) \
|
||||
X( int, tuple_adr, ntuple, 1 ) \
|
||||
X( int, tuple_size, ntuple, 1 ) \
|
||||
X( int, tuple_objtype, ntupledata, 1 ) \
|
||||
X( int, tuple_objid, ntupledata, 1 ) \
|
||||
X( mjtNum, tuple_objprm, ntupledata, 1 ) \
|
||||
X( mjtNum, key_time, nkey, 1 ) \
|
||||
X( mjtNum, key_qpos, nkey, nq ) \
|
||||
X( mjtNum, key_qvel, nkey, nv ) \
|
||||
X( mjtNum, key_act, nkey, na ) \
|
||||
X( mjtNum, key_mpos, nkey, nmocap3 ) \
|
||||
X( mjtNum, key_mquat, nkey, nmocap4 ) \
|
||||
X( int, name_bodyadr, nbody, 1 ) \
|
||||
X( int, name_jntadr, njnt, 1 ) \
|
||||
X( int, name_geomadr, ngeom, 1 ) \
|
||||
X( int, name_siteadr, nsite, 1 ) \
|
||||
X( int, name_camadr, ncam, 1 ) \
|
||||
X( int, name_lightadr, nlight, 1 ) \
|
||||
X( int, name_meshadr, nmesh, 1 ) \
|
||||
X( int, name_skinadr, nskin, 1 ) \
|
||||
X( int, name_hfieldadr, nhfield, 1 ) \
|
||||
X( int, name_texadr, ntex, 1 ) \
|
||||
X( int, name_matadr, nmat, 1 ) \
|
||||
X( int, name_pairadr, npair, 1 ) \
|
||||
X( int, name_excludeadr, nexclude, 1 ) \
|
||||
X( int, name_eqadr, neq, 1 ) \
|
||||
X( int, name_tendonadr, ntendon, 1 ) \
|
||||
X( int, name_actuatoradr, nu, 1 ) \
|
||||
X( int, name_sensoradr, nsensor, 1 ) \
|
||||
X( int, name_numericadr, nnumeric, 1 ) \
|
||||
X( int, name_textadr, ntext, 1 ) \
|
||||
X( int, name_tupleadr, ntuple, 1 ) \
|
||||
X( int, name_keyadr, nkey, 1 ) \
|
||||
X( char, names, nnames, 1 )
|
||||
|
||||
|
||||
|
||||
//-------------------------------- mjData -----------------------------------------------
|
||||
|
||||
// pointer fields of mjData
|
||||
#define MJDATA_POINTERS \
|
||||
X( mjtNum, qpos, nq, 1 ) \
|
||||
X( mjtNum, qvel, nv, 1 ) \
|
||||
X( mjtNum, act, na, 1 ) \
|
||||
X( mjtNum, qacc_warmstart, nv, 1 ) \
|
||||
X( mjtNum, ctrl, nu, 1 ) \
|
||||
X( mjtNum, qfrc_applied, nv, 1 ) \
|
||||
X( mjtNum, xfrc_applied, nbody, 6 ) \
|
||||
X( mjtNum, qacc, nv, 1 ) \
|
||||
X( mjtNum, act_dot, na, 1 ) \
|
||||
X( mjtNum, mocap_pos, nmocap, 3 ) \
|
||||
X( mjtNum, mocap_quat, nmocap, 4 ) \
|
||||
X( mjtNum, userdata, nuserdata, 1 ) \
|
||||
X( mjtNum, sensordata, nsensordata,1 ) \
|
||||
X( mjtNum, xpos, nbody, 3 ) \
|
||||
X( mjtNum, xquat, nbody, 4 ) \
|
||||
X( mjtNum, xmat, nbody, 9 ) \
|
||||
X( mjtNum, xipos, nbody, 3 ) \
|
||||
X( mjtNum, ximat, nbody, 9 ) \
|
||||
X( mjtNum, xanchor, njnt, 3 ) \
|
||||
X( mjtNum, xaxis, njnt, 3 ) \
|
||||
X( mjtNum, geom_xpos, ngeom, 3 ) \
|
||||
X( mjtNum, geom_xmat, ngeom, 9 ) \
|
||||
X( mjtNum, site_xpos, nsite, 3 ) \
|
||||
X( mjtNum, site_xmat, nsite, 9 ) \
|
||||
X( mjtNum, cam_xpos, ncam, 3 ) \
|
||||
X( mjtNum, cam_xmat, ncam, 9 ) \
|
||||
X( mjtNum, light_xpos, nlight, 3 ) \
|
||||
X( mjtNum, light_xdir, nlight, 3 ) \
|
||||
X( mjtNum, subtree_com, nbody, 3 ) \
|
||||
X( mjtNum, cdof, nv, 6 ) \
|
||||
X( mjtNum, cinert, nbody, 10 ) \
|
||||
X( int, ten_wrapadr, ntendon, 1 ) \
|
||||
X( int, ten_wrapnum, ntendon, 1 ) \
|
||||
X( int, ten_J_rownnz, ntendon, 1 ) \
|
||||
X( int, ten_J_rowadr, ntendon, 1 ) \
|
||||
X( int, ten_J_colind, ntendon, nv ) \
|
||||
X( mjtNum, ten_length, ntendon, 1 ) \
|
||||
X( mjtNum, ten_J, ntendon, nv ) \
|
||||
X( int, wrap_obj, nwrap, 2 ) \
|
||||
X( mjtNum, wrap_xpos, nwrap, 6 ) \
|
||||
X( mjtNum, actuator_length, nu, 1 ) \
|
||||
X( mjtNum, actuator_moment, nu, nv ) \
|
||||
X( mjtNum, crb, nbody, 10 ) \
|
||||
X( mjtNum, qM, nM, 1 ) \
|
||||
X( mjtNum, qLD, nM, 1 ) \
|
||||
X( mjtNum, qLDiagInv, nv, 1 ) \
|
||||
X( mjtNum, qLDiagSqrtInv, nv, 1 ) \
|
||||
X( mjContact, contact, nconmax, 1 ) \
|
||||
X( int, efc_type, njmax, 1 ) \
|
||||
X( int, efc_id, njmax, 1 ) \
|
||||
X( int, efc_J_rownnz, njmax, 1 ) \
|
||||
X( int, efc_J_rowadr, njmax, 1 ) \
|
||||
X( int, efc_J_rowsuper, njmax, 1 ) \
|
||||
X( int, efc_J_colind, njmax, nv ) \
|
||||
X( int, efc_JT_rownnz, nv, 1 ) \
|
||||
X( int, efc_JT_rowadr, nv, 1 ) \
|
||||
X( int, efc_JT_rowsuper, nv, 1 ) \
|
||||
X( int, efc_JT_colind, nv, njmax ) \
|
||||
X( mjtNum, efc_J, njmax, nv ) \
|
||||
X( mjtNum, efc_JT, nv, njmax ) \
|
||||
X( mjtNum, efc_pos, njmax, 1 ) \
|
||||
X( mjtNum, efc_margin, njmax, 1 ) \
|
||||
X( mjtNum, efc_frictionloss, njmax, 1 ) \
|
||||
X( mjtNum, efc_diagApprox, njmax, 1 ) \
|
||||
X( mjtNum, efc_KBIP, njmax, 4 ) \
|
||||
X( mjtNum, efc_D, njmax, 1 ) \
|
||||
X( mjtNum, efc_R, njmax, 1 ) \
|
||||
X( int, efc_AR_rownnz, njmax, 1 ) \
|
||||
X( int, efc_AR_rowadr, njmax, 1 ) \
|
||||
X( int, efc_AR_colind, njmax, njmax ) \
|
||||
X( mjtNum, efc_AR, njmax, njmax ) \
|
||||
X( mjtNum, ten_velocity, ntendon, 1 ) \
|
||||
X( mjtNum, actuator_velocity, nu, 1 ) \
|
||||
X( mjtNum, cvel, nbody, 6 ) \
|
||||
X( mjtNum, cdof_dot, nv, 6 ) \
|
||||
X( mjtNum, qfrc_bias, nv, 1 ) \
|
||||
X( mjtNum, qfrc_passive, nv, 1 ) \
|
||||
X( mjtNum, efc_vel, njmax, 1 ) \
|
||||
X( mjtNum, efc_aref, njmax, 1 ) \
|
||||
X( mjtNum, subtree_linvel, nbody, 3 ) \
|
||||
X( mjtNum, subtree_angmom, nbody, 3 ) \
|
||||
X( mjtNum, actuator_force, nu, 1 ) \
|
||||
X( mjtNum, qfrc_actuator, nv, 1 ) \
|
||||
X( mjtNum, qfrc_unc, nv, 1 ) \
|
||||
X( mjtNum, qacc_unc, nv, 1 ) \
|
||||
X( mjtNum, efc_b, njmax, 1 ) \
|
||||
X( mjtNum, efc_force, njmax, 1 ) \
|
||||
X( int, efc_state, njmax, 1 ) \
|
||||
X( mjtNum, qfrc_constraint, nv, 1 ) \
|
||||
X( mjtNum, qfrc_inverse, nv, 1 ) \
|
||||
X( mjtNum, cacc, nbody, 6 ) \
|
||||
X( mjtNum, cfrc_int, nbody, 6 ) \
|
||||
X( mjtNum, cfrc_ext, nbody, 6 )
|
||||
|
||||
|
||||
// scalar fields of mjData
|
||||
#define MJDATA_SCALAR \
|
||||
X( int, nstack ) \
|
||||
X( int, nbuffer ) \
|
||||
X( int, pstack ) \
|
||||
X( int, maxuse_stack ) \
|
||||
X( int, maxuse_con ) \
|
||||
X( int, maxuse_efc ) \
|
||||
X( int, solver_iter ) \
|
||||
X( int, solver_nnz ) \
|
||||
X( int, ne ) \
|
||||
X( int, nf ) \
|
||||
X( int, nefc ) \
|
||||
X( int, ncon ) \
|
||||
X( mjtNum, time )
|
||||
|
||||
|
||||
// vector fields of mjData
|
||||
#define MJDATA_VECTOR \
|
||||
X( mjWarningStat, warning, mjNWARNING, 1 ) \
|
||||
X( mjTimerStat, timer, mjNTIMER, 1 ) \
|
||||
X( mjSolverStat, solver, mjNSOLVER, 1 ) \
|
||||
X( mjtNum, solver_fwdinv, 2, 1 ) \
|
||||
X( mjtNum, energy, 2, 1 )
|
||||
|
||||
#endif // MUJOCO_MJXMACRO_H_
|
||||
Executable
+1099
File diff suppressed because it is too large
Load Diff
Executable
+322
@@ -0,0 +1,322 @@
|
||||
// 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.
|
||||
|
||||
#include "uitools.h"
|
||||
#include "stdio.h"
|
||||
#include "string.h"
|
||||
|
||||
|
||||
//-------------------------------- Internal GLFW callbacks ------------------------------
|
||||
|
||||
// update state
|
||||
static void uiUpdateState(GLFWwindow* wnd)
|
||||
{
|
||||
// extract data from user pointer
|
||||
uiUserPointer* ptr = (uiUserPointer*)glfwGetWindowUserPointer(wnd);
|
||||
mjuiState* state = ptr->state;
|
||||
|
||||
// mouse buttons
|
||||
state->left = (glfwGetMouseButton(wnd, GLFW_MOUSE_BUTTON_LEFT)==GLFW_PRESS);
|
||||
state->right = (glfwGetMouseButton(wnd, GLFW_MOUSE_BUTTON_RIGHT)==GLFW_PRESS);
|
||||
state->middle = (glfwGetMouseButton(wnd, GLFW_MOUSE_BUTTON_MIDDLE)==GLFW_PRESS);
|
||||
|
||||
// keyboard modifiers
|
||||
state->control = (glfwGetKey(wnd, GLFW_KEY_LEFT_CONTROL)==GLFW_PRESS ||
|
||||
glfwGetKey(wnd, GLFW_KEY_RIGHT_CONTROL)==GLFW_PRESS);
|
||||
state->shift = (glfwGetKey(wnd, GLFW_KEY_LEFT_SHIFT)==GLFW_PRESS ||
|
||||
glfwGetKey(wnd, GLFW_KEY_RIGHT_SHIFT)==GLFW_PRESS);
|
||||
state->alt = (glfwGetKey(wnd, GLFW_KEY_LEFT_ALT)==GLFW_PRESS ||
|
||||
glfwGetKey(wnd, GLFW_KEY_RIGHT_ALT)==GLFW_PRESS);
|
||||
|
||||
// swap left and right if Alt
|
||||
if( state->alt )
|
||||
{
|
||||
int tmp = state->left;
|
||||
state->left = state->right;
|
||||
state->right = tmp;
|
||||
}
|
||||
|
||||
// get mouse position, scale by buffer-to-window ratio
|
||||
double x, y;
|
||||
glfwGetCursorPos(wnd, &x, &y);
|
||||
x *= ptr->buffer2window;
|
||||
y *= ptr->buffer2window;
|
||||
|
||||
// invert y to match OpenGL convention
|
||||
y = state->rect[0].height - y;
|
||||
|
||||
// save
|
||||
state->dx = x - state->x;
|
||||
state->dy = y - state->y;
|
||||
state->x = x;
|
||||
state->y = y;
|
||||
|
||||
// find mouse rectangle
|
||||
state->mouserect = mjr_findRect(mju_round(x), mju_round(y),
|
||||
state->nrect-1, state->rect+1) + 1;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// keyboard
|
||||
static void uiKeyboard(GLFWwindow* wnd, int key, int scancode, int act, int mods)
|
||||
{
|
||||
// release: nothing to do
|
||||
if( act==GLFW_RELEASE )
|
||||
return;
|
||||
|
||||
// extract data from user pointer
|
||||
uiUserPointer* ptr = (uiUserPointer*)glfwGetWindowUserPointer(wnd);
|
||||
mjuiState* state = ptr->state;
|
||||
|
||||
// update state
|
||||
uiUpdateState(wnd);
|
||||
|
||||
// set key info
|
||||
state->type = mjEVENT_KEY;
|
||||
state->key = key;
|
||||
state->keytime = glfwGetTime();
|
||||
|
||||
// application-specific processing
|
||||
ptr->uiEvent(state);
|
||||
}
|
||||
|
||||
|
||||
|
||||
// mouse button
|
||||
static void uiMouseButton(GLFWwindow* wnd, int button, int act, int mods)
|
||||
{
|
||||
// extract data from user pointer
|
||||
uiUserPointer* ptr = (uiUserPointer*)glfwGetWindowUserPointer(wnd);
|
||||
mjuiState* state = ptr->state;
|
||||
|
||||
// update state
|
||||
uiUpdateState(wnd);
|
||||
|
||||
// translate button
|
||||
if( button==GLFW_MOUSE_BUTTON_LEFT )
|
||||
button = mjBUTTON_LEFT;
|
||||
else if( button==GLFW_MOUSE_BUTTON_RIGHT )
|
||||
button = mjBUTTON_RIGHT;
|
||||
else
|
||||
button = mjBUTTON_MIDDLE;
|
||||
|
||||
// swap left and right if Alt
|
||||
if( glfwGetKey(wnd, GLFW_KEY_LEFT_ALT)==GLFW_PRESS ||
|
||||
glfwGetKey(wnd, GLFW_KEY_RIGHT_ALT)==GLFW_PRESS )
|
||||
{
|
||||
if( button==mjBUTTON_LEFT )
|
||||
button = mjBUTTON_RIGHT;
|
||||
else if( button==mjBUTTON_RIGHT )
|
||||
button = mjBUTTON_LEFT;
|
||||
}
|
||||
|
||||
// press
|
||||
if( act==GLFW_PRESS )
|
||||
{
|
||||
// detect doubleclick: 250 ms
|
||||
if( button==state->button && glfwGetTime()-state->buttontime<0.25 )
|
||||
state->doubleclick = 1;
|
||||
else
|
||||
state->doubleclick = 0;
|
||||
|
||||
// set info
|
||||
state->type = mjEVENT_PRESS;
|
||||
state->button = button;
|
||||
state->buttontime = glfwGetTime();
|
||||
|
||||
// start dragging
|
||||
if( state->mouserect )
|
||||
{
|
||||
state->dragbutton = state->button;
|
||||
state->dragrect = state->mouserect;
|
||||
}
|
||||
}
|
||||
|
||||
// release
|
||||
else
|
||||
state->type = mjEVENT_RELEASE;
|
||||
|
||||
// application-specific processing
|
||||
ptr->uiEvent(state);
|
||||
|
||||
// stop dragging after application processing
|
||||
if( state->type==mjEVENT_RELEASE )
|
||||
{
|
||||
state->dragrect = 0;
|
||||
state->dragbutton = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
// mouse move
|
||||
static void uiMouseMove(GLFWwindow* wnd, double xpos, double ypos)
|
||||
{
|
||||
// extract data from user pointer
|
||||
uiUserPointer* ptr = (uiUserPointer*)glfwGetWindowUserPointer(wnd);
|
||||
mjuiState* state = ptr->state;
|
||||
|
||||
// no buttons down: nothing to do
|
||||
if( !state->left && !state->right && !state->middle )
|
||||
return;
|
||||
|
||||
// update state
|
||||
uiUpdateState(wnd);
|
||||
|
||||
// set move info
|
||||
state->type = mjEVENT_MOVE;
|
||||
|
||||
// application-specific processing
|
||||
ptr->uiEvent(state);
|
||||
}
|
||||
|
||||
|
||||
|
||||
// scroll
|
||||
static void uiScroll(GLFWwindow* wnd, double xoffset, double yoffset)
|
||||
{
|
||||
// extract data from user pointer
|
||||
uiUserPointer* ptr = (uiUserPointer*)glfwGetWindowUserPointer(wnd);
|
||||
mjuiState* state = ptr->state;
|
||||
|
||||
// update state
|
||||
uiUpdateState(wnd);
|
||||
|
||||
// set scroll info, scale by buffer-to-window ratio
|
||||
state->type = mjEVENT_SCROLL;
|
||||
state->sx = xoffset * ptr->buffer2window;
|
||||
state->sy = yoffset * ptr->buffer2window;
|
||||
|
||||
// application-specific processing
|
||||
ptr->uiEvent(state);
|
||||
}
|
||||
|
||||
|
||||
|
||||
// resize
|
||||
static void uiResize(GLFWwindow* wnd, int width, int height)
|
||||
{
|
||||
// extract data from user pointer
|
||||
uiUserPointer* ptr = (uiUserPointer*)glfwGetWindowUserPointer(wnd);
|
||||
mjuiState* state = ptr->state;
|
||||
|
||||
// set layout
|
||||
ptr->uiLayout(state);
|
||||
|
||||
// update state
|
||||
uiUpdateState(wnd);
|
||||
|
||||
// set resize info
|
||||
state->type = mjEVENT_RESIZE;
|
||||
|
||||
// stop dragging
|
||||
state->dragbutton = 0;
|
||||
state->dragrect = 0;
|
||||
|
||||
// application-specific processing (unless called with 0,0 from uiModify)
|
||||
if( width && height )
|
||||
ptr->uiEvent(state);
|
||||
}
|
||||
|
||||
|
||||
|
||||
//----------------------------------- Public API ----------------------------------------
|
||||
|
||||
// Compute suitable font scale.
|
||||
int uiFontScale(GLFWwindow* wnd)
|
||||
{
|
||||
// compute framebuffer-to-window ratio
|
||||
int width_win, width_buf, height;
|
||||
glfwGetWindowSize(wnd, &width_win, &height);
|
||||
glfwGetFramebufferSize(wnd, &width_buf, &height);
|
||||
double b2w = (double)width_buf / (double)width_win;
|
||||
|
||||
// compute PPI
|
||||
int width_MM, height_MM;
|
||||
glfwGetMonitorPhysicalSize(glfwGetPrimaryMonitor(), &width_MM, &height_MM);
|
||||
int width_vmode = glfwGetVideoMode(glfwGetPrimaryMonitor())->width;
|
||||
double PPI = 25.4 * b2w * (double)width_vmode / (double)width_MM;
|
||||
|
||||
// estimate font scaling, guard against unrealistic PPI
|
||||
int fs;
|
||||
if( width_buf>width_win )
|
||||
fs = mju_round(b2w * 100);
|
||||
else if( PPI>50 && PPI<350 )
|
||||
fs = mju_round(PPI);
|
||||
else
|
||||
fs = 150;
|
||||
fs = mju_round(fs * 0.02) * 50;
|
||||
fs = mjMIN(300, mjMAX(100, fs));
|
||||
|
||||
return fs;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// Set internal and user-supplied UI callbacks in GLFW window.
|
||||
void uiSetCallback(GLFWwindow* wnd, mjuiState* state,
|
||||
uiEventFn uiEvent, uiLayoutFn uiLayout)
|
||||
{
|
||||
// make container with user-supplied objects and set window pointer
|
||||
uiUserPointer* ptr = (uiUserPointer*) mju_malloc(sizeof(uiUserPointer));
|
||||
ptr->state = state;
|
||||
ptr->uiEvent = uiEvent;
|
||||
ptr->uiLayout = uiLayout;
|
||||
glfwSetWindowUserPointer(wnd, ptr);
|
||||
|
||||
// compute framebuffer-to-window pixel ratio
|
||||
int width_win, width_buf, height;
|
||||
glfwGetWindowSize(wnd, &width_win, &height);
|
||||
glfwGetFramebufferSize(wnd, &width_buf, &height);
|
||||
ptr->buffer2window = (double)width_buf / (double)width_win;
|
||||
|
||||
// set internal callbacks
|
||||
glfwSetKeyCallback(wnd, uiKeyboard);
|
||||
glfwSetCursorPosCallback(wnd, uiMouseMove);
|
||||
glfwSetMouseButtonCallback(wnd, uiMouseButton);
|
||||
glfwSetScrollCallback(wnd, uiScroll);
|
||||
glfwSetWindowSizeCallback(wnd, uiResize);
|
||||
}
|
||||
|
||||
|
||||
|
||||
// Clear UI callbacks in GLFW window.
|
||||
void uiClearCallback(GLFWwindow* wnd)
|
||||
{
|
||||
// clear container
|
||||
if( glfwGetWindowUserPointer(wnd) )
|
||||
{
|
||||
mju_free(glfwGetWindowUserPointer(wnd));
|
||||
glfwSetWindowUserPointer(wnd, NULL);
|
||||
}
|
||||
|
||||
// clear internal callbacks
|
||||
glfwSetKeyCallback(wnd, NULL);
|
||||
glfwSetCursorPosCallback(wnd, NULL);
|
||||
glfwSetMouseButtonCallback(wnd, NULL);
|
||||
glfwSetScrollCallback(wnd, NULL);
|
||||
glfwSetWindowSizeCallback(wnd, NULL);
|
||||
}
|
||||
|
||||
|
||||
|
||||
// Modify UI structure.
|
||||
void uiModify(GLFWwindow* wnd, mjUI* ui, mjuiState* state, mjrContext* con)
|
||||
{
|
||||
mjui_resize(ui, con);
|
||||
mjr_addAux(ui->auxid, ui->width, ui->maxheight, ui->spacing.samples, con);
|
||||
uiResize(wnd, 0, 0);
|
||||
mjui_update(-1, -1, ui, state, con);
|
||||
}
|
||||
Executable
+62
@@ -0,0 +1,62 @@
|
||||
// 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_UITOOLS_H_
|
||||
#define MUJOCO_UITOOLS_H_
|
||||
|
||||
|
||||
#include "mujoco.h"
|
||||
#include "glfw3.h"
|
||||
|
||||
|
||||
// this is a C-API
|
||||
#if defined(__cplusplus)
|
||||
extern "C"
|
||||
{
|
||||
#endif
|
||||
|
||||
|
||||
// User-supplied callback function types.
|
||||
typedef void (*uiEventFn)(mjuiState* state);
|
||||
typedef void (*uiLayoutFn)(mjuiState* state);
|
||||
|
||||
// Container for GLFW window pointer.
|
||||
struct _uiUserPointer
|
||||
{
|
||||
mjuiState* state;
|
||||
uiEventFn uiEvent;
|
||||
uiLayoutFn uiLayout;
|
||||
double buffer2window;
|
||||
};
|
||||
typedef struct _uiUserPointer uiUserPointer;
|
||||
|
||||
// Set internal and user-supplied UI callbacks in GLFW window.
|
||||
void uiSetCallback(GLFWwindow* wnd, mjuiState* state,
|
||||
uiEventFn uiEvent, uiLayoutFn uiLayout);
|
||||
|
||||
// Clear UI callbacks in GLFW window.
|
||||
void uiClearCallback(GLFWwindow* wnd);
|
||||
|
||||
// Compute suitable font scale.
|
||||
int uiFontScale(GLFWwindow* wnd);
|
||||
|
||||
// Modify UI structure.
|
||||
void uiModify(GLFWwindow* wnd, mjUI* ui, mjuiState* state, mjrContext* con);
|
||||
|
||||
|
||||
#if defined(__cplusplus)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // MUJOCO_UITOOLS_H_
|
||||
Executable
+121
@@ -0,0 +1,121 @@
|
||||
<!-- 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.
|
||||
-->
|
||||
|
||||
<mujoco model="2-link 6-muscle arm">
|
||||
|
||||
<option timestep="0.005" iterations="50" solver="Newton" tolerance="1e-10"/>
|
||||
|
||||
<size njmax="50" nconmax="10" nstack="200"/>
|
||||
|
||||
<visual>
|
||||
<rgba haze=".3 .3 .3 1"/>
|
||||
</visual>
|
||||
|
||||
<default>
|
||||
<joint type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="0 120" damping="0.1"/>
|
||||
<muscle ctrllimited="true" ctrlrange="0 1"/>
|
||||
</default>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1="0.6 0.6 0.6" rgb2="0 0 0" width="512" height="512"/>
|
||||
|
||||
<texture name="texplane" type="2d" builtin="checker" rgb1=".25 .25 .25" rgb2=".3 .3 .3" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
|
||||
|
||||
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<geom name="floor" pos="0 0 -0.5" size="0 0 1" type="plane" material="matplane"/>
|
||||
|
||||
<light directional="true" diffuse=".8 .8 .8" specular=".2 .2 .2" pos="0 0 5" dir="0 0 -1"/>
|
||||
|
||||
<site name="s0" pos="-0.15 0 0" size="0.02"/>
|
||||
<site name="x0" pos="0 -0.15 0" size="0.02" rgba="0 .7 0 1" group="1"/>
|
||||
|
||||
<body pos="0 0 0">
|
||||
<geom name="upper arm" type="capsule" size="0.045" fromto="0 0 0 0.5 0 0" rgba=".5 .1 .1 1"/>
|
||||
<joint name="shoulder"/>
|
||||
<geom name="shoulder" type="cylinder" pos="0 0 0" size=".1 .05" rgba=".5 .1 .8 .5" mass="0" group="1"/>
|
||||
|
||||
<site name="s1" pos="0.15 0.06 0" size="0.02"/>
|
||||
<site name="s2" pos="0.15 -0.06 0" size="0.02"/>
|
||||
<site name="s3" pos="0.4 0.06 0" size="0.02"/>
|
||||
<site name="s4" pos="0.4 -0.06 0" size="0.02"/>
|
||||
<site name="s5" pos="0.25 0.1 0" size="0.02"/>
|
||||
<site name="s6" pos="0.25 -0.1 0" size="0.02"/>
|
||||
<site name="x1" pos="0.5 -0.15 0" size="0.02" rgba="0 .7 0 1" group="1"/>
|
||||
|
||||
<body pos="0.5 0 0">
|
||||
<geom name="forearm" type="capsule" size="0.035" fromto="0 0 0 0.5 0 0" rgba=".5 .1 .1 1"/>
|
||||
<joint name="elbow"/>
|
||||
<geom name="elbow" type="cylinder" pos="0 0 0" size=".08 .05" rgba=".5 .1 .8 .5" mass="0" group="1"/>
|
||||
|
||||
<site name="s7" pos="0.11 0.05 0" size="0.02"/>
|
||||
<site name="s8" pos="0.11 -0.05 0" size="0.02"/>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<tendon>
|
||||
<spatial name="SF" width="0.01">
|
||||
<site site="s0"/>
|
||||
<geom geom="shoulder"/>
|
||||
<site site="s1"/>
|
||||
</spatial>
|
||||
|
||||
<spatial name="SE" width="0.01">
|
||||
<site site="s0"/>
|
||||
<geom geom="shoulder" sidesite="x0"/>
|
||||
<site site="s2"/>
|
||||
</spatial>
|
||||
|
||||
<spatial name="EF" width="0.01">
|
||||
<site site="s3"/>
|
||||
<geom geom="elbow"/>
|
||||
<site site="s7"/>
|
||||
</spatial>
|
||||
|
||||
<spatial name="EE" width="0.01">
|
||||
<site site="s4"/>
|
||||
<geom geom="elbow" sidesite="x1"/>
|
||||
<site site="s8"/>
|
||||
</spatial>
|
||||
|
||||
<spatial name="BF" width="0.009" rgba=".4 .6 .4 1">
|
||||
<site site="s0"/>
|
||||
<geom geom="shoulder"/>
|
||||
<site site="s5"/>
|
||||
<geom geom="elbow"/>
|
||||
<site site="s7"/>
|
||||
</spatial>
|
||||
|
||||
<spatial name="BE" width="0.009" rgba=".4 .6 .4 1">
|
||||
<site site="s0"/>
|
||||
<geom geom="shoulder" sidesite="x0"/>
|
||||
<site site="s6"/>
|
||||
<geom geom="elbow" sidesite="x1"/>
|
||||
<site site="s8"/>
|
||||
</spatial>
|
||||
</tendon>
|
||||
|
||||
<actuator>
|
||||
<muscle name="SF" tendon="SF"/>
|
||||
<muscle name="SE" tendon="SE"/>
|
||||
<muscle name="EF" tendon="EF"/>
|
||||
<muscle name="EE" tendon="EE"/>
|
||||
<muscle name="BF" tendon="BF"/>
|
||||
<muscle name="BE" tendon="BE"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
Executable
BIN
Binary file not shown.
|
After Width: | Height: | Size: 1.1 MiB |
Executable
+36
@@ -0,0 +1,36 @@
|
||||
<!-- 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.
|
||||
-->
|
||||
|
||||
<mujoco model="Cloth">
|
||||
|
||||
<include file="scene.xml"/>
|
||||
|
||||
<option timestep="0.002" solver="CG" tolerance="1e-6"/>
|
||||
|
||||
<size nconmax="300" njmax="1000" nstack="1000000"/>
|
||||
|
||||
<worldbody>
|
||||
|
||||
<body name="B3_5" pos="0 0 1">
|
||||
<freejoint/>
|
||||
<composite type="cloth" count="9 9 1" spacing="0.05" flatinertia="0.01">
|
||||
<joint kind="main" damping="0.001"/>
|
||||
<skin material="matcarpet" texcoord="true" inflate="0.005" subgrid="2"/>
|
||||
<geom type="capsule" size="0.015 0.01" rgba=".8 .2 .1 1"/>
|
||||
</composite>
|
||||
</body>
|
||||
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Executable
+29
@@ -0,0 +1,29 @@
|
||||
<!-- 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.
|
||||
-->
|
||||
|
||||
<mujoco model="1D grid">
|
||||
|
||||
<include file="scene.xml"/>
|
||||
|
||||
<size nconmax="50" njmax="300" nstack="50000"/>
|
||||
|
||||
<worldbody>
|
||||
<composite type="grid" count="20 1 1" spacing="0.045" offset="0 0 1">
|
||||
<joint kind="main" damping="0.001"/>
|
||||
<tendon kind="main" width="0.01"/>
|
||||
<geom size=".02" rgba=".8 .2 .1 1"/>
|
||||
</composite>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Executable
+31
@@ -0,0 +1,31 @@
|
||||
<!-- 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.
|
||||
-->
|
||||
|
||||
<mujoco model="1D grid with pins">
|
||||
|
||||
<include file="scene.xml"/>
|
||||
|
||||
<size nconmax="50" njmax="300" nstack="50000"/>
|
||||
|
||||
<worldbody>
|
||||
<composite type="grid" count="20 1 1" spacing="0.045" offset="0 0 1">
|
||||
<joint kind="main" damping="0.001"/>
|
||||
<tendon kind="main" width="0.01"/>
|
||||
<pin coord="1"/>
|
||||
<pin coord="13"/>
|
||||
<geom size=".02" rgba=".8 .2 .1 1"/>
|
||||
</composite>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Executable
+28
@@ -0,0 +1,28 @@
|
||||
<!-- 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.
|
||||
-->
|
||||
|
||||
<mujoco model="2D grid">
|
||||
|
||||
<include file="scene.xml"/>
|
||||
|
||||
<size nconmax="300" njmax="1000" nstack="1000000"/>
|
||||
|
||||
<worldbody>
|
||||
<composite type="grid" count="9 9 1" spacing="0.05" offset="0 0 1">
|
||||
<skin material="matcarpet" inflate="0.001" subgrid="3" texcoord="true"/>
|
||||
<geom size=".02"/>
|
||||
</composite>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Executable
+30
@@ -0,0 +1,30 @@
|
||||
<!-- 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.
|
||||
-->
|
||||
|
||||
<mujoco model="2D grid with pins">
|
||||
|
||||
<include file="scene.xml"/>
|
||||
|
||||
<size nconmax="200" njmax="1000" nstack="1000000"/>
|
||||
|
||||
<worldbody>
|
||||
<composite type="grid" count="9 9 1" spacing="0.05" offset="0 0 1">
|
||||
<skin rgba=".6 .1 .6 1" inflate="0.001" subgrid="3"/>
|
||||
<pin coord="0 0"/>
|
||||
<pin coord="8 0"/>
|
||||
<geom size=".02"/>
|
||||
</composite>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Executable
+165
@@ -0,0 +1,165 @@
|
||||
<!-- 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.
|
||||
-->
|
||||
|
||||
<mujoco model="Hammock">
|
||||
|
||||
<compiler inertiafromgeom="true" angle="degree"/>
|
||||
|
||||
<default>
|
||||
<default class="humanoid">
|
||||
<joint limited="true" damping="1" armature="0"/>
|
||||
<geom condim="1" material="matgeom"/>
|
||||
</default>
|
||||
<motor ctrlrange="-.4 .4" ctrllimited="true"/>
|
||||
</default>
|
||||
|
||||
<option timestep="0.005" solver="CG" iterations="30" tolerance="1e-6" jacobian="sparse" cone="pyramidal"/>
|
||||
|
||||
<size njmax="1000" nconmax="100" nstack="1000000"/>
|
||||
|
||||
<visual>
|
||||
<map force="0.1" zfar="30"/>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<quality shadowsize="2048"/>
|
||||
<global offwidth="800" offheight="800"/>
|
||||
</visual>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
|
||||
|
||||
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
|
||||
|
||||
<texture name="texhammock" type="2d" builtin="checker" rgb1=".1 .5 .1" rgb2=".5 .1 .1" width="512" height="512" mark="edge" markrgb=".8 .8 .8"/>
|
||||
|
||||
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278"
|
||||
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
|
||||
|
||||
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
|
||||
<material name="mathammock" texture="texhammock"/>
|
||||
|
||||
<material name="matgeom" texture="texgeom" texuniform="true" rgba="0.8 0.6 .4 1"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<geom name="floor" pos="0 0 -1" size="0 0 .25" type="plane" material="matplane" condim="3"/>
|
||||
|
||||
<light directional="true" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
|
||||
<light directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4.0" dir="0 0 -1"/>
|
||||
|
||||
<composite type="grid" count="11 9 1" spacing="0.2" offset="0. 0. 0">
|
||||
<skin texcoord="true" material="mathammock" inflate="0.01" subgrid="3"/>
|
||||
<pin coord="0 0"/>
|
||||
<pin coord="10 0"/>
|
||||
<pin coord="0 8"/>
|
||||
<pin coord="10 8"/>
|
||||
<geom size=".095"/>
|
||||
<joint kind="main" damping="10"/>
|
||||
</composite>
|
||||
|
||||
<body name="torso" childclass="humanoid" pos="0 0 1.4">
|
||||
<freejoint name="root"/>
|
||||
<geom name="torso1" type="capsule" fromto="0 -.07 0 0 .07 0" size="0.07"/>
|
||||
<geom name="head" type="sphere" pos="0 0 .19" size=".09"/>
|
||||
<geom name="uwaist" type="capsule" fromto="-.01 -.06 -.12 -.01 .06 -.12" size="0.06"/>
|
||||
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0" >
|
||||
<geom name="lwaist" type="capsule" fromto="0 -.06 0 0 .06 0" size="0.06" />
|
||||
<joint name="abdomen_z" type="hinge" pos="0 0 0.065" axis="0 0 1" range="-45 45" damping="5" stiffness="20" armature="0.02" />
|
||||
<joint name="abdomen_y" type="hinge" pos="0 0 0.065" axis="0 1 0" range="-75 30" damping="5" stiffness="10" armature="0.02" />
|
||||
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0" >
|
||||
<joint name="abdomen_x" type="hinge" pos="0 0 0.1" axis="1 0 0" range="-35 35" damping="5" stiffness="10" armature="0.02" />
|
||||
<geom name="butt" type="capsule" fromto="-.02 -.07 0 -.02 .07 0" size="0.09" />
|
||||
<body name="right_thigh" pos="0 -0.1 -0.04" >
|
||||
<joint name="right_hip_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-25 5" damping="5" stiffness="10" armature="0.01" />
|
||||
<joint name="right_hip_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-60 35" damping="5" stiffness="10" armature="0.01" />
|
||||
<joint name="right_hip_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-120 20" damping="5" stiffness="20" armature="0.01" />
|
||||
<geom name="right_thigh1" type="capsule" fromto="0 0 0 0 0.01 -.34" size="0.06" />
|
||||
<body name="right_shin" pos="0 0.01 -0.403" >
|
||||
<joint name="right_knee" type="hinge" pos="0 0 .02" axis="0 -1 0" range="-160 -2" stiffness="1" armature="0.0060" />
|
||||
<geom name="right_shin1" type="capsule" fromto="0 0 0 0 0 -.3" size="0.049" />
|
||||
<body name="right_foot" pos="0 0 -.39" >
|
||||
<joint name="right_ankle_y" type="hinge" pos="0 0 0.08" axis="0 1 0" range="-50 50" stiffness="4" armature="0.0008" />
|
||||
<joint name="right_ankle_x" type="hinge" pos="0 0 0.04" axis="1 0 0.5" range="-50 50" stiffness="1" armature="0.0006" />
|
||||
<geom name="right_foot_cap1" type="capsule" fromto="-.07 -0.02 0 0.14 -0.04 0" size="0.027" />
|
||||
<geom name="right_foot_cap2" type="capsule" fromto="-.07 0 0 0.14 0.02 0" size="0.027" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_thigh" pos="0 0.1 -0.04" >
|
||||
<joint name="left_hip_x" type="hinge" pos="0 0 0" axis="-1 0 0" range="-25 5" damping="5" stiffness="10" armature="0.01" />
|
||||
<joint name="left_hip_z" type="hinge" pos="0 0 0" axis="0 0 -1" range="-60 35" damping="5" stiffness="10" armature="0.01" />
|
||||
<joint name="left_hip_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-120 20" damping="5" stiffness="20" armature="0.01" />
|
||||
<geom name="left_thigh1" type="capsule" fromto="0 0 0 0 -0.01 -.34" size="0.06" />
|
||||
<body name="left_shin" pos="0 -0.01 -0.403" >
|
||||
<joint name="left_knee" type="hinge" pos="0 0 .02" axis="0 -1 0" range="-160 -2" stiffness="1" armature="0.0060" />
|
||||
<geom name="left_shin1" type="capsule" fromto="0 0 0 0 0 -.3" size="0.049" />
|
||||
<body name="left_foot" pos="0 0 -.39" >
|
||||
<joint name="left_ankle_y" type="hinge" pos="0 0 0.08" axis="0 1 0" range="-50 50" stiffness="4" armature="0.0008" />
|
||||
<joint name="left_ankle_x" type="hinge" pos="0 0 0.04" axis="1 0 0.5" range="-50 50" stiffness="1" armature="0.0006" />
|
||||
<geom name="left_foot_cap1" type="capsule" fromto="-.07 0.02 0 0.14 0.04 0" size="0.027" />
|
||||
<geom name="left_foot_cap2" type="capsule" fromto="-.07 0 0 0.14 -0.02 0" size="0.027" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_upper_arm" pos="0 -0.17 0.06" >
|
||||
<joint name="right_shoulder1" type="hinge" pos="0 0 0" axis="2 1 1" range="-85 60" stiffness="1" armature="0.0068" />
|
||||
<joint name="right_shoulder2" type="hinge" pos="0 0 0" axis="0 -1 1" range="-85 60" stiffness="1" armature="0.0051" />
|
||||
<geom name="right_uarm1" type="capsule" fromto="0 0 0 .16 -.16 -.16" size="0.04 0.16" />
|
||||
<body name="right_lower_arm" pos=".18 -.18 -.18" >
|
||||
<joint name="right_elbow" type="hinge" pos="0 0 0" axis="0 -1 1" range="-90 50" stiffness="0" armature="0.0028" />
|
||||
<geom name="right_larm" type="capsule" fromto="0.01 0.01 0.01 .17 .17 .17" size="0.031" />
|
||||
<geom name="right_hand" type="sphere" pos=".18 .18 .18" size="0.04"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_upper_arm" pos="0 0.17 0.06" >
|
||||
<joint name="left_shoulder1" type="hinge" pos="0 0 0" axis="2 -1 1" range="-60 85" stiffness="1" armature="0.0068" />
|
||||
<joint name="left_shoulder2" type="hinge" pos="0 0 0" axis="0 1 1" range="-60 85" stiffness="1" armature="0.0051" />
|
||||
<geom name="left_uarm1" type="capsule" fromto="0 0 0 .16 .16 -.16" size="0.04 0.16" />
|
||||
<body name="left_lower_arm" pos=".18 .18 -.18" >
|
||||
<joint name="left_elbow" type="hinge" pos="0 0 0" axis="0 -1 -1" range="-90 50" stiffness="0" armature="0.0028" />
|
||||
<geom name="left_larm" type="capsule" fromto="0.01 -0.01 0.01 .17 -.17 .17" size="0.031" />
|
||||
<geom name="left_hand" type="sphere" pos=".18 -.18 .18" size="0.04"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name="abdomen_y" gear="200" joint="abdomen_y" />
|
||||
<motor name="abdomen_z" gear="200" joint="abdomen_z" />
|
||||
<motor name="abdomen_x" gear="200" joint="abdomen_x" />
|
||||
<motor name="right_hip_x" gear="200" joint="right_hip_x" />
|
||||
<motor name="right_hip_z" gear="200" joint="right_hip_z" />
|
||||
<motor name="right_hip_y" gear="600" joint="right_hip_y" />
|
||||
<motor name="right_knee" gear="400" joint="right_knee" />
|
||||
<motor name="right_ankle_x" gear="100" joint="right_ankle_x" />
|
||||
<motor name="right_ankle_y" gear="100" joint="right_ankle_y" />
|
||||
<motor name="left_hip_x" gear="200" joint="left_hip_x" />
|
||||
<motor name="left_hip_z" gear="200" joint="left_hip_z" />
|
||||
<motor name="left_hip_y" gear="600" joint="left_hip_y" />
|
||||
<motor name="left_knee" gear="400" joint="left_knee" />
|
||||
<motor name="left_ankle_x" gear="100" joint="left_ankle_x" />
|
||||
<motor name="left_ankle_y" gear="100" joint="left_ankle_y" />
|
||||
<motor name="right_shoulder1" gear="100" joint="right_shoulder1" />
|
||||
<motor name="right_shoulder2" gear="100" joint="right_shoulder2" />
|
||||
<motor name="right_elbow" gear="200" joint="right_elbow" />
|
||||
<motor name="left_shoulder1" gear="100" joint="left_shoulder1" />
|
||||
<motor name="left_shoulder2" gear="100" joint="left_shoulder2" />
|
||||
<motor name="left_elbow" gear="200" joint="left_elbow" />
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
Executable
+149
@@ -0,0 +1,149 @@
|
||||
<!-- 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.
|
||||
-->
|
||||
|
||||
<mujoco model="Humanoid">
|
||||
|
||||
<compiler inertiafromgeom="true" angle="degree"/>
|
||||
|
||||
<default>
|
||||
<joint limited="true" damping="1" armature="0"/>
|
||||
<geom condim="1" material="matgeom"/>
|
||||
<motor ctrlrange="-.4 .4" ctrllimited="true"/>
|
||||
</default>
|
||||
|
||||
<option timestep="0.005" iterations="50" tolerance="1e-10" solver="Newton" jacobian="dense" cone="pyramidal"/>
|
||||
|
||||
<size nconmax="50" njmax="200" nstack="10000"/>
|
||||
|
||||
<visual>
|
||||
<map force="0.1" zfar="30"/>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<quality shadowsize="2048"/>
|
||||
<global offwidth="800" offheight="800"/>
|
||||
</visual>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
|
||||
|
||||
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
|
||||
|
||||
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278"
|
||||
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||
|
||||
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
|
||||
|
||||
<material name="matgeom" texture="texgeom" texuniform="true" rgba="0.8 0.6 .4 1"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<geom name="floor" pos="0 0 0" size="0 0 .25" type="plane" material="matplane" condim="3"/>
|
||||
|
||||
<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
|
||||
<light mode="targetbodycom" target="torso" directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4.0" dir="0 0 -1"/>
|
||||
|
||||
<body name="torso" pos="0 0 1.4">
|
||||
<freejoint name="root"/>
|
||||
<geom name="torso1" type="capsule" fromto="0 -.07 0 0 .07 0" size="0.07"/>
|
||||
<geom name="head" type="sphere" pos="0 0 .19" size=".09"/>
|
||||
<geom name="uwaist" type="capsule" fromto="-.01 -.06 -.12 -.01 .06 -.12" size="0.06"/>
|
||||
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0" >
|
||||
<geom name="lwaist" type="capsule" fromto="0 -.06 0 0 .06 0" size="0.06" />
|
||||
<joint name="abdomen_z" type="hinge" pos="0 0 0.065" axis="0 0 1" range="-45 45" damping="5" stiffness="20" armature="0.02" />
|
||||
<joint name="abdomen_y" type="hinge" pos="0 0 0.065" axis="0 1 0" range="-75 30" damping="5" stiffness="10" armature="0.02" />
|
||||
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0" >
|
||||
<joint name="abdomen_x" type="hinge" pos="0 0 0.1" axis="1 0 0" range="-35 35" damping="5" stiffness="10" armature="0.02" />
|
||||
<geom name="butt" type="capsule" fromto="-.02 -.07 0 -.02 .07 0" size="0.09" />
|
||||
<body name="right_thigh" pos="0 -0.1 -0.04" >
|
||||
<joint name="right_hip_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-25 5" damping="5" stiffness="10" armature="0.01" />
|
||||
<joint name="right_hip_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-60 35" damping="5" stiffness="10" armature="0.01" />
|
||||
<joint name="right_hip_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-120 20" damping="5" stiffness="20" armature="0.01" />
|
||||
<geom name="right_thigh1" type="capsule" fromto="0 0 0 0 0.01 -.34" size="0.06" />
|
||||
<body name="right_shin" pos="0 0.01 -0.403" >
|
||||
<joint name="right_knee" type="hinge" pos="0 0 .02" axis="0 -1 0" range="-160 -2" stiffness="1" armature="0.0060" />
|
||||
<geom name="right_shin1" type="capsule" fromto="0 0 0 0 0 -.3" size="0.049" />
|
||||
<body name="right_foot" pos="0 0 -.39" >
|
||||
<joint name="right_ankle_y" type="hinge" pos="0 0 0.08" axis="0 1 0" range="-50 50" stiffness="4" armature="0.0008" />
|
||||
<joint name="right_ankle_x" type="hinge" pos="0 0 0.04" axis="1 0 0.5" range="-50 50" stiffness="1" armature="0.0006" />
|
||||
<geom name="right_foot_cap1" type="capsule" fromto="-.07 -0.02 0 0.14 -0.04 0" size="0.027" />
|
||||
<geom name="right_foot_cap2" type="capsule" fromto="-.07 0 0 0.14 0.02 0" size="0.027" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_thigh" pos="0 0.1 -0.04" >
|
||||
<joint name="left_hip_x" type="hinge" pos="0 0 0" axis="-1 0 0" range="-25 5" damping="5" stiffness="10" armature="0.01" />
|
||||
<joint name="left_hip_z" type="hinge" pos="0 0 0" axis="0 0 -1" range="-60 35" damping="5" stiffness="10" armature="0.01" />
|
||||
<joint name="left_hip_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-120 20" damping="5" stiffness="20" armature="0.01" />
|
||||
<geom name="left_thigh1" type="capsule" fromto="0 0 0 0 -0.01 -.34" size="0.06" />
|
||||
<body name="left_shin" pos="0 -0.01 -0.403" >
|
||||
<joint name="left_knee" type="hinge" pos="0 0 .02" axis="0 -1 0" range="-160 -2" stiffness="1" armature="0.0060" />
|
||||
<geom name="left_shin1" type="capsule" fromto="0 0 0 0 0 -.3" size="0.049" />
|
||||
<body name="left_foot" pos="0 0 -.39" >
|
||||
<joint name="left_ankle_y" type="hinge" pos="0 0 0.08" axis="0 1 0" range="-50 50" stiffness="4" armature="0.0008" />
|
||||
<joint name="left_ankle_x" type="hinge" pos="0 0 0.04" axis="1 0 0.5" range="-50 50" stiffness="1" armature="0.0006" />
|
||||
<geom name="left_foot_cap1" type="capsule" fromto="-.07 0.02 0 0.14 0.04 0" size="0.027" />
|
||||
<geom name="left_foot_cap2" type="capsule" fromto="-.07 0 0 0.14 -0.02 0" size="0.027" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_upper_arm" pos="0 -0.17 0.06" >
|
||||
<joint name="right_shoulder1" type="hinge" pos="0 0 0" axis="2 1 1" range="-85 60" stiffness="1" armature="0.0068" />
|
||||
<joint name="right_shoulder2" type="hinge" pos="0 0 0" axis="0 -1 1" range="-85 60" stiffness="1" armature="0.0051" />
|
||||
<geom name="right_uarm1" type="capsule" fromto="0 0 0 .16 -.16 -.16" size="0.04 0.16" />
|
||||
<body name="right_lower_arm" pos=".18 -.18 -.18" >
|
||||
<joint name="right_elbow" type="hinge" pos="0 0 0" axis="0 -1 1" range="-90 50" stiffness="0" armature="0.0028" />
|
||||
<geom name="right_larm" type="capsule" fromto="0.01 0.01 0.01 .17 .17 .17" size="0.031" />
|
||||
<geom name="right_hand" type="sphere" pos=".18 .18 .18" size="0.04"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_upper_arm" pos="0 0.17 0.06" >
|
||||
<joint name="left_shoulder1" type="hinge" pos="0 0 0" axis="2 -1 1" range="-60 85" stiffness="1" armature="0.0068" />
|
||||
<joint name="left_shoulder2" type="hinge" pos="0 0 0" axis="0 1 1" range="-60 85" stiffness="1" armature="0.0051" />
|
||||
<geom name="left_uarm1" type="capsule" fromto="0 0 0 .16 .16 -.16" size="0.04 0.16" />
|
||||
<body name="left_lower_arm" pos=".18 .18 -.18" >
|
||||
<joint name="left_elbow" type="hinge" pos="0 0 0" axis="0 -1 -1" range="-90 50" stiffness="0" armature="0.0028" />
|
||||
<geom name="left_larm" type="capsule" fromto="0.01 -0.01 0.01 .17 -.17 .17" size="0.031" />
|
||||
<geom name="left_hand" type="sphere" pos=".18 -.18 .18" size="0.04"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name="abdomen_y" gear="200" joint="abdomen_y" />
|
||||
<motor name="abdomen_z" gear="200" joint="abdomen_z" />
|
||||
<motor name="abdomen_x" gear="200" joint="abdomen_x" />
|
||||
<motor name="right_hip_x" gear="200" joint="right_hip_x" />
|
||||
<motor name="right_hip_z" gear="200" joint="right_hip_z" />
|
||||
<motor name="right_hip_y" gear="600" joint="right_hip_y" />
|
||||
<motor name="right_knee" gear="400" joint="right_knee" />
|
||||
<motor name="right_ankle_x" gear="100" joint="right_ankle_x" />
|
||||
<motor name="right_ankle_y" gear="100" joint="right_ankle_y" />
|
||||
<motor name="left_hip_x" gear="200" joint="left_hip_x" />
|
||||
<motor name="left_hip_z" gear="200" joint="left_hip_z" />
|
||||
<motor name="left_hip_y" gear="600" joint="left_hip_y" />
|
||||
<motor name="left_knee" gear="400" joint="left_knee" />
|
||||
<motor name="left_ankle_x" gear="100" joint="left_ankle_x" />
|
||||
<motor name="left_ankle_y" gear="100" joint="left_ankle_y" />
|
||||
<motor name="right_shoulder1" gear="100" joint="right_shoulder1" />
|
||||
<motor name="right_shoulder2" gear="100" joint="right_shoulder2" />
|
||||
<motor name="right_elbow" gear="200" joint="right_elbow" />
|
||||
<motor name="left_shoulder1" gear="100" joint="left_shoulder1" />
|
||||
<motor name="left_shoulder2" gear="100" joint="left_shoulder2" />
|
||||
<motor name="left_elbow" gear="200" joint="left_elbow" />
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
Executable
+592
@@ -0,0 +1,592 @@
|
||||
<!-- 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.
|
||||
-->
|
||||
|
||||
<mujoco model="Humanoid and 100 objects">
|
||||
|
||||
<compiler angle="degree"/>
|
||||
|
||||
<option timestep="0.005" iterations="50" solver="Newton" jacobian="sparse" cone="pyramidal" tolerance="1e-10"/>
|
||||
|
||||
<size njmax="1500" nconmax="500" nstack="5000000"/>
|
||||
|
||||
<default>
|
||||
<geom solimp=".9 .9 .01"/>
|
||||
|
||||
<default class="humanoid">
|
||||
<geom material="humanoid"/>
|
||||
<joint damping="1" limited="true"/>
|
||||
</default>
|
||||
|
||||
<default class="object1">
|
||||
<geom type="capsule" material="object1" size="0.1 0.05"/>
|
||||
</default>
|
||||
|
||||
<default class="object2">
|
||||
<geom type="ellipsoid" material="object2" size="0.15 0.1 0.07"/>
|
||||
</default>
|
||||
|
||||
<default class="object3">
|
||||
<geom type="box" material="object3" size="0.15 0.1 0.05"/>
|
||||
</default>
|
||||
|
||||
<default class="object4">
|
||||
<geom type="cylinder" material="object4" size="0.1 0.05" condim="4" friction="1 .01 .01"/>
|
||||
</default>
|
||||
|
||||
<default class="object5">
|
||||
<geom type="sphere" material="object5" size="0.1"/>
|
||||
</default>
|
||||
|
||||
<default class="border">
|
||||
<geom type="capsule" size="0.4" rgba=".4 .4 .4 1"/>
|
||||
</default>
|
||||
|
||||
<default class="borderpost">
|
||||
<geom type="box" size="0.41 0.41 0.41" rgba=".55 .55 .55 1"/>
|
||||
</default>
|
||||
</default>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" width="128" height="128" rgb1=".4 .6 .8" rgb2="0 0 0"/>
|
||||
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128"
|
||||
rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1"/>
|
||||
<texture name="texplane" type="2d" builtin="checker" rgb1=".4 .4 .4" rgb2=".6 .6 .6"
|
||||
width="512" height="512"/>
|
||||
<material name='MatPlane' reflectance='0.3' texture="texplane" texrepeat="1 1" texuniform="true"/>
|
||||
<material name='humanoid' texture="texgeom" texuniform="true" rgba="1.2 1.2 0.6 1"/>
|
||||
<material name='object1' texture="texgeom" texuniform="true" rgba=".4 .9 .6 1" />
|
||||
<material name='object2' texture="texgeom" texuniform="true" rgba=".4 .6 .9 1" />
|
||||
<material name='object3' texture="texgeom" texuniform="true" rgba=".4 .9 .9 1" />
|
||||
<material name='object4' texture="texgeom" texuniform="true" rgba=".8 .6 .8 1" />
|
||||
<material name='object5' texture="texgeom" texuniform="true" rgba=".9 .1 .1 1" />
|
||||
</asset>
|
||||
|
||||
<visual>
|
||||
<quality shadowsize="4096" offsamples="8"/>
|
||||
<map znear="0.1" force="0.05"/>
|
||||
</visual>
|
||||
|
||||
<statistic extent="4"/>
|
||||
|
||||
<worldbody>
|
||||
<light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
|
||||
|
||||
<geom pos="0 0 0" type="plane" size="3 3 .5" rgba=".7 .7 .7 1" material="MatPlane"/>
|
||||
|
||||
<geom class="border" fromto="-3 3 0 3 3 0" />
|
||||
<geom class="border" fromto="-3 -3 0 3 -3 0" />
|
||||
<geom class="border" fromto="3 3 0 3 -3 0" />
|
||||
<geom class="border" fromto="-3 3 0 -3 -3 0" />
|
||||
<geom class="borderpost" pos="3 3 0"/>
|
||||
<geom class="borderpost" pos="-3 3 0"/>
|
||||
<geom class="borderpost" pos="3 -3 0"/>
|
||||
<geom class="borderpost" pos="-3 -3 0"/>
|
||||
|
||||
<body name='torso' pos='0 0 1.4' childclass="humanoid">
|
||||
<freejoint name="root"/>
|
||||
<geom name='torso1' type='capsule' fromto='0 -.07 0 0 .07 0' size='0.07'/>
|
||||
<geom name='head' type='sphere' pos='0 0 .19' size='.09'/>
|
||||
<geom name='uwaist' type='capsule' fromto='-.01 -.06 -.12 -.01 .06 -.12' size='0.06'/>
|
||||
<body name='lwaist' pos='-.01 0 -0.260' quat='1.000 0 -0.002 0' >
|
||||
<geom name='lwaist' type='capsule' fromto='0 -.06 0 0 .06 0' size='0.06' />
|
||||
<joint name='abdomen_z' type='hinge' pos='0 0 0.065' axis='0 0 1' range='-45 45' damping='5' stiffness='20' armature='0.02' />
|
||||
<joint name='abdomen_y' type='hinge' pos='0 0 0.065' axis='0 1 0' range='-75 30' damping='5' stiffness='10' armature='0.02' />
|
||||
<body name='pelvis' pos='0 0 -0.165' quat='1.000 0 -0.002 0' >
|
||||
<joint name='abdomen_x' type='hinge' pos='0 0 0.1' axis='1 0 0' range='-35 35' damping='5' stiffness='10' armature='0.02' />
|
||||
<geom name='butt' type='capsule' fromto='-.02 -.07 0 -.02 .07 0' size='0.09' />
|
||||
<body name='right_thigh' pos='0 -0.1 -0.04' >
|
||||
<joint name='right_hip_x' type='hinge' pos='0 0 0' axis='1 0 0' range='-25 5' damping='5' stiffness='10' armature='0.01' />
|
||||
<joint name='right_hip_z' type='hinge' pos='0 0 0' axis='0 0 1' range='-60 35' damping='5' stiffness='10' armature='0.01' />
|
||||
<joint name='right_hip_y' type='hinge' pos='0 0 0' axis='0 1 0' range='-120 20' damping='5' stiffness='20' armature='0.01' />
|
||||
<geom name='right_thigh1' type='capsule' fromto='0 0 0 0 0.01 -.34' size='0.06' />
|
||||
<body name='right_shin' pos='0 0.01 -0.403' >
|
||||
<joint name='right_knee' type='hinge' pos='0 0 .02' axis='0 -1 0' range='-160 -2' stiffness='1' armature='0.0060' />
|
||||
<geom name='right_shin1' type='capsule' fromto='0 0 0 0 0 -.3' size='0.049' />
|
||||
<body name='right_foot' pos='0 0 -.39' >
|
||||
<joint name='right_ankle_y' type='hinge' pos='0 0 0.08' axis='0 1 0' range='-50 50' stiffness='4' armature='0.0008' />
|
||||
<joint name='right_ankle_x' type='hinge' pos='0 0 0.04' axis='1 0 0.5' range='-50 50' stiffness='1' armature='0.0006' />
|
||||
<geom name='right_foot_cap1' type='capsule' fromto='-.07 -0.02 0 0.14 -0.04 0' size='0.027' />
|
||||
<geom name='right_foot_cap2' type='capsule' fromto='-.07 0 0 0.14 0.02 0' size='0.027' />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name='left_thigh' pos='0 0.1 -0.04' >
|
||||
<joint name='left_hip_x' type='hinge' pos='0 0 0' axis='-1 0 0' range='-25 5' damping='5' stiffness='10' armature='0.01' />
|
||||
<joint name='left_hip_z' type='hinge' pos='0 0 0' axis='0 0 -1' range='-60 35' damping='5' stiffness='10' armature='0.01' />
|
||||
<joint name='left_hip_y' type='hinge' pos='0 0 0' axis='0 1 0' range='-120 20' damping='5' stiffness='20' armature='0.01' />
|
||||
<geom name='left_thigh1' type='capsule' fromto='0 0 0 0 -0.01 -.34' size='0.06' />
|
||||
<body name='left_shin' pos='0 -0.01 -0.403' >
|
||||
<joint name='left_knee' type='hinge' pos='0 0 .02' axis='0 -1 0' range='-160 -2' stiffness='1' armature='0.0060' />
|
||||
<geom name='left_shin1' type='capsule' fromto='0 0 0 0 0 -.3' size='0.049' />
|
||||
<body name='left_foot' pos='0 0 -.39' >
|
||||
<joint name='left_ankle_y' type='hinge' pos='0 0 0.08' axis='0 1 0' range='-50 50' stiffness='4' armature='0.0008' />
|
||||
<joint name='left_ankle_x' type='hinge' pos='0 0 0.04' axis='1 0 0.5' range='-50 50' stiffness='1' armature='0.0006' />
|
||||
<geom name='left_foot_cap1' type='capsule' fromto='-.07 0.02 0 0.14 0.04 0' size='0.027' />
|
||||
<geom name='left_foot_cap2' type='capsule' fromto='-.07 0 0 0.14 -0.02 0' size='0.027' />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name='right_upper_arm' pos='0 -0.17 0.06' >
|
||||
<joint name='right_shoulder1' type='hinge' pos='0 0 0' axis='2 1 1' range='-85 60' stiffness='1' armature='0.0068' />
|
||||
<joint name='right_shoulder2' type='hinge' pos='0 0 0' axis='0 -1 1' range='-85 60' stiffness='1' armature='0.0051' />
|
||||
<geom name='right_uarm1' type='capsule' fromto='0 0 0 .16 -.16 -.16' size='0.04 0.16' />
|
||||
<body name='right_lower_arm' pos='.18 -.18 -.18' >
|
||||
<joint name='right_elbow' type='hinge' pos='0 0 0' axis='0 -1 1' range='-90 50' stiffness='0' armature='0.0028' />
|
||||
<geom name='right_larm' type='capsule' fromto='0.01 0.01 0.01 .17 .17 .17' size='0.031' />
|
||||
<geom name='right_hand' type='sphere' pos='.18 .18 .18' size='0.04'/>
|
||||
</body>
|
||||
</body>
|
||||
<body name='left_upper_arm' pos='0 0.17 0.06' >
|
||||
<joint name='left_shoulder1' type='hinge' pos='0 0 0' axis='2 -1 1' range='-60 85' stiffness='1' armature='0.0068' />
|
||||
<joint name='left_shoulder2' type='hinge' pos='0 0 0' axis='0 1 1' range='-60 85' stiffness='1' armature='0.0051' />
|
||||
<geom name='left_uarm1' type='capsule' fromto='0 0 0 .16 .16 -.16' size='0.04 0.16' />
|
||||
<body name='left_lower_arm' pos='.18 .18 -.18' >
|
||||
<joint name='left_elbow' type='hinge' pos='0 0 0' axis='0 -1 -1' range='-90 50' stiffness='0' armature='0.0028' />
|
||||
<geom name='left_larm' type='capsule' fromto='0.01 -0.01 0.01 .17 -.17 .17' size='0.031' />
|
||||
<geom name='left_hand' type='sphere' pos='.18 -.18 .18' size='0.04'/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
|
||||
<body pos="-2 -2 1" quat="-0.632456 -0.632456 0.316228 0.316228">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
<body pos="-2 -2 2" quat="-0.5547 -0.5547 0.5547 0.27735">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
<body pos="-2 -2 3" quat="-0.471405 -0.471405 0.707107 0.235702">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
<body pos="-2 -2 4" quat="-0.471405 -0.471405 0.707107 0.235702">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
|
||||
<body pos="-2 -1 1" quat="-0.755929 -0.377964 0.377964 0.377964">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
<body pos="-2 -1 2" quat="-0.632456 -0.316228 0.632456 0.316228">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
<body pos="-2 -1 3" quat="-0.516398 -0.258199 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
<body pos="-2 -1 4" quat="-0.516398 -0.258199 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
|
||||
<body pos="-2 0 1" quat="-0.816497 0 0.408248 0.408248">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
<body pos="-2 0 2" quat="-0.666667 0 0.666667 0.333333">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
<body pos="-2 0 3" quat="-0.534522 0 0.801784 0.267261">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
<body pos="-2 0 4" quat="-0.534522 0 0.801784 0.267261">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
|
||||
<body pos="-2 1 1" quat="-0.755929 0.377964 0.377964 0.377964">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
<body pos="-2 1 2" quat="-0.632456 0.316228 0.632456 0.316228">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
<body pos="-2 1 3" quat="-0.516398 0.258199 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
<body pos="-2 1 4" quat="-0.516398 0.258199 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
|
||||
<body pos="-2 2 1" quat="-0.632456 0.632456 0.316228 0.316228">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
<body pos="-2 2 2" quat="-0.5547 0.5547 0.5547 0.27735">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
<body pos="-2 2 3" quat="-0.471405 0.471405 0.707107 0.235702">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
<body pos="-2 2 4" quat="-0.471405 0.471405 0.707107 0.235702">
|
||||
<freejoint/>
|
||||
<geom class="object1"/>
|
||||
</body>
|
||||
|
||||
<body pos="-1 -2 1" quat="-0.377964 -0.755929 0.377964 0.377964">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
<body pos="-1 -2 2" quat="-0.316228 -0.632456 0.632456 0.316228">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
<body pos="-1 -2 3" quat="-0.258199 -0.516398 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
<body pos="-1 -2 4" quat="-0.258199 -0.516398 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
|
||||
<body pos="-1 -1 1" quat="-0.5 -0.5 0.5 0.5">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
<body pos="-1 -1 2" quat="-0.377964 -0.377964 0.755929 0.377964">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
<body pos="-1 -1 3" quat="-0.288675 -0.288675 0.866025 0.288675">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
<body pos="-1 -1 4" quat="-0.288675 -0.288675 0.866025 0.288675">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
|
||||
<body pos="-1 0 1" quat="-0.57735 0 0.57735 0.57735">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
<body pos="-1 0 2" quat="-0.408248 0 0.816497 0.408248">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
<body pos="-1 0 3" quat="-0.301511 0 0.904534 0.301511">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
<body pos="-1 0 4" quat="-0.301511 0 0.904534 0.301511">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
|
||||
<body pos="-1 1 1" quat="-0.5 0.5 0.5 0.5">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
<body pos="-1 1 2" quat="-0.377964 0.377964 0.755929 0.377964">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
<body pos="-1 1 3" quat="-0.288675 0.288675 0.866025 0.288675">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
<body pos="-1 1 4" quat="-0.288675 0.288675 0.866025 0.288675">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
|
||||
<body pos="-1 2 1" quat="-0.377964 0.755929 0.377964 0.377964">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
<body pos="-1 2 2" quat="-0.316228 0.632456 0.632456 0.316228">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
<body pos="-1 2 3" quat="-0.258199 0.516398 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
<body pos="-1 2 4" quat="-0.258199 0.516398 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object2"/>
|
||||
</body>
|
||||
|
||||
<body pos="0 -2 1" quat="0 -0.816497 0.408248 0.408248">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
<body pos="0 -2 2" quat="0 -0.666667 0.666667 0.333333">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
<body pos="0 -2 3" quat="0 -0.534522 0.801784 0.267261">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
<body pos="0 -2 4" quat="0 -0.534522 0.801784 0.267261">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
|
||||
<body pos="0 -1 1" quat="0 -0.57735 0.57735 0.57735">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
<body pos="0 -1 2" quat="0 -0.408248 0.816497 0.408248">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
<body pos="0 -1 3" quat="0 -0.301511 0.904534 0.301511">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
<body pos="0 -1 4" quat="0 -0.301511 0.904534 0.301511">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
|
||||
<body pos="0.3 0 1" quat="0 0 0.707107 0.707107">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
<body pos="0 0 2" quat="0 0 0.894427 0.447214">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
<body pos="0 0 3" quat="0 0 0.948683 0.316228">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
<body pos="0 0 4" quat="0 0 0.948683 0.316228">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
|
||||
<body pos="0 1 1" quat="0 0.57735 0.57735 0.57735">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
<body pos="0 1 2" quat="0 0.408248 0.816497 0.408248">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
<body pos="0 1 3" quat="0 0.301511 0.904534 0.301511">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
<body pos="0 1 4" quat="0 0.301511 0.904534 0.301511">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
|
||||
<body pos="0 2 1" quat="0 0.816497 0.408248 0.408248">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
<body pos="0 2 2" quat="0 0.666667 0.666667 0.333333">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
<body pos="0 2 3" quat="0 0.534522 0.801784 0.267261">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
<body pos="0 2 4" quat="0 0.534522 0.801784 0.267261">
|
||||
<freejoint/>
|
||||
<geom class="object3"/>
|
||||
</body>
|
||||
|
||||
<body pos="1 -2 1" quat="0.377964 -0.755929 0.377964 0.377964">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
<body pos="1 -2 2" quat="0.316228 -0.632456 0.632456 0.316228">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
<body pos="1 -2 3" quat="0.258199 -0.516398 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
<body pos="1 -2 4" quat="0.258199 -0.516398 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
|
||||
<body pos="1 -1 1" quat="0.5 -0.5 0.5 0.5">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
<body pos="1 -1 2" quat="0.377964 -0.377964 0.755929 0.377964">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
<body pos="1 -1 3" quat="0.288675 -0.288675 0.866025 0.288675">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
<body pos="1 -1 4" quat="0.288675 -0.288675 0.866025 0.288675">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
|
||||
<body pos="1 0 1" quat="0.57735 0 0.57735 0.57735">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
<body pos="1 0 2" quat="0.408248 0 0.816497 0.408248">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
<body pos="1 0 3" quat="0.301511 0 0.904534 0.301511">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
<body pos="1 0 4" quat="0.301511 0 0.904534 0.301511">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
|
||||
<body pos="1 1 1" quat="0.5 0.5 0.5 0.5">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
<body pos="1 1 2" quat="0.377964 0.377964 0.755929 0.377964">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
<body pos="1 1 3" quat="0.288675 0.288675 0.866025 0.288675">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
<body pos="1 1 4" quat="0.288675 0.288675 0.866025 0.288675">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
|
||||
<body pos="1 2 1" quat="0.377964 0.755929 0.377964 0.377964">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
<body pos="1 2 2" quat="0.316228 0.632456 0.632456 0.316228">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
<body pos="1 2 3" quat="0.258199 0.516398 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
<body pos="1 2 4" quat="0.258199 0.516398 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object4"/>
|
||||
</body>
|
||||
|
||||
<body pos="2 -2 1" quat="0.632456 -0.632456 0.316228 0.316228">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 -2 2" quat="0.5547 -0.5547 0.5547 0.27735">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 -2 3" quat="0.471405 -0.471405 0.707107 0.235702">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 -2 4" quat="0.471405 -0.471405 0.707107 0.235702">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
|
||||
<body pos="2 -1 1" quat="0.755929 -0.377964 0.377964 0.377964">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 -1 2" quat="0.632456 -0.316228 0.632456 0.316228">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 -1 3" quat="0.516398 -0.258199 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 -1 4" quat="0.516398 -0.258199 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
|
||||
<body pos="2 0 1" quat="0.816497 0 0.408248 0.408248">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 0 2" quat="0.666667 0 0.666667 0.333333">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 0 3" quat="0.534522 0 0.801784 0.267261">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 0 4" quat="0.534522 0 0.801784 0.267261">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
|
||||
<body pos="2 1 1" quat="0.755929 0.377964 0.377964 0.377964">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 1 2" quat="0.632456 0.316228 0.632456 0.316228">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 1 3" quat="0.516398 0.258199 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 1 4" quat="0.516398 0.258199 0.774597 0.258199">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
|
||||
<body pos="2 2 1" quat="0.632456 0.632456 0.316228 0.316228">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 2 2" quat="0.5547 0.5547 0.5547 0.27735">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 2 3" quat="0.471405 0.471405 0.707107 0.235702">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
<body pos="2 2 4" quat="0.471405 0.471405 0.707107 0.235702">
|
||||
<freejoint/>
|
||||
<geom class="object5"/>
|
||||
</body>
|
||||
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Executable
+33
@@ -0,0 +1,33 @@
|
||||
<!-- 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.
|
||||
-->
|
||||
|
||||
<mujoco model="Loop">
|
||||
|
||||
<include file="scene.xml"/>
|
||||
|
||||
<option timestep="0.002" jacobian="dense"/>
|
||||
|
||||
<size nconmax="100" njmax="300" nstack="50000"/>
|
||||
|
||||
<worldbody>
|
||||
<body name="B0" pos="0 0 1">
|
||||
<freejoint/>
|
||||
<composite type="loop" count="20 1 1" spacing="0.04" offset="0 0 2">
|
||||
<joint kind="main" damping="0.005"/>
|
||||
<geom type="capsule" size=".01 .015" rgba=".8 .2 .1 1"/>
|
||||
</composite>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Executable
BIN
Binary file not shown.
|
After Width: | Height: | Size: 311 KiB |
Executable
+33
@@ -0,0 +1,33 @@
|
||||
<!-- 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.
|
||||
-->
|
||||
|
||||
<mujoco model="Particle">
|
||||
|
||||
<include file="scene.xml"/>
|
||||
|
||||
<option solver="CG" tolerance="1e-6"/>
|
||||
|
||||
<size nconmax="3000" njmax="3000" nstack="50000000"/>
|
||||
|
||||
<visual>
|
||||
<map stiffness="100"/>
|
||||
</visual>
|
||||
|
||||
<worldbody>
|
||||
<composite type="particle" count="10 10 10" spacing="0.07" offset="0 0 1">
|
||||
<geom size=".02" rgba=".8 .2 .1 1"/>
|
||||
</composite>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Executable
+33
@@ -0,0 +1,33 @@
|
||||
<!-- 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.
|
||||
-->
|
||||
|
||||
<mujoco model="Rope">
|
||||
|
||||
<include file="scene.xml"/>
|
||||
|
||||
<option timestep="0.002" jacobian="dense"/>
|
||||
|
||||
<size nconmax="100" njmax="300" nstack="50000"/>
|
||||
|
||||
<worldbody>
|
||||
<body name="B10" pos="0 0 1">
|
||||
<freejoint/>
|
||||
<composite type="rope" count="21 1 1" spacing="0.04" offset="0 0 2">
|
||||
<joint kind="main" damping="0.005"/>
|
||||
<geom type="capsule" size=".01 .015" rgba=".8 .2 .1 1"/>
|
||||
</composite>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Executable
+52
@@ -0,0 +1,52 @@
|
||||
<!-- 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.
|
||||
-->
|
||||
|
||||
<mujoco>
|
||||
|
||||
<statistic extent="2" meansize=".05"/>
|
||||
|
||||
<option timestep="0.005" solver="Newton" iterations="30" tolerance="1e-10" jacobian="sparse" cone="pyramidal"/>
|
||||
|
||||
<visual>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<quality shadowsize="2048"/>
|
||||
<map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
|
||||
</visual>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
|
||||
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
|
||||
width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
|
||||
<texture name="texcarpet" type="2d" file="carpet.png"/>
|
||||
<texture name="texsponge" type="2d" file="sponge.png"/>
|
||||
<texture name="texmarble" type="cube" file="marble.png"/>
|
||||
|
||||
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
|
||||
<material name="matcarpet" texture="texcarpet"/>
|
||||
<material name="matsponge" texture="texsponge" specular="0.3"/>
|
||||
<material name="matmarble" texture="texmarble" rgba=".7 .7 .7 1"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
|
||||
<light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
|
||||
|
||||
<geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
|
||||
|
||||
<body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
|
||||
<geom type="capsule" size=".1 .1" material="matmarble" group="1" condim="1"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Executable
+33
@@ -0,0 +1,33 @@
|
||||
<!-- 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.
|
||||
-->
|
||||
|
||||
<mujoco model="Soft box">
|
||||
|
||||
<include file="scene.xml"/>
|
||||
|
||||
<option solver="CG" tolerance="1e-6"/>
|
||||
|
||||
<size nconmax="500" njmax="5000" nstack="5000000"/>
|
||||
|
||||
<worldbody>
|
||||
<body pos="0 0 1">
|
||||
<freejoint/>
|
||||
<composite type="box" count="7 7 7" spacing="0.04">
|
||||
<skin texcoord="true" material="matsponge" rgba=".7 .7 .7 1"/>
|
||||
<geom type="capsule" size=".015 0.05" rgba=".8 .2 .1 1"/>
|
||||
</composite>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Executable
+33
@@ -0,0 +1,33 @@
|
||||
<!-- 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.
|
||||
-->
|
||||
|
||||
<mujoco model="Soft cylinder">
|
||||
|
||||
<include file="scene.xml"/>
|
||||
|
||||
<option solver="CG" tolerance="1e-6"/>
|
||||
|
||||
<size nconmax="500" njmax="5000" nstack="5000000"/>
|
||||
|
||||
<worldbody>
|
||||
<body pos="0 0 1">
|
||||
<freejoint/>
|
||||
<composite type="cylinder" count="5 7 9" spacing="0.05">
|
||||
<skin texcoord="true" material="matsponge" rgba=".7 .7 .7 1"/>
|
||||
<geom type="capsule" size=".015 0.05" rgba=".8 .2 .1 1"/>
|
||||
</composite>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Executable
+33
@@ -0,0 +1,33 @@
|
||||
<!-- 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.
|
||||
-->
|
||||
|
||||
<mujoco model="Soft ellipsoid">
|
||||
|
||||
<include file="scene.xml"/>
|
||||
|
||||
<option solver="CG" tolerance="1e-6"/>
|
||||
|
||||
<size nconmax="500" njmax="5000" nstack="5000000"/>
|
||||
|
||||
<worldbody>
|
||||
<body pos="0 0 1">
|
||||
<freejoint/>
|
||||
<composite type="ellipsoid" count="5 7 9" spacing="0.05">
|
||||
<skin texcoord="true" material="matsponge" rgba=".7 .7 .7 1"/>
|
||||
<geom type="capsule" size=".015 0.05" rgba=".8 .2 .1 1"/>
|
||||
</composite>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Executable
BIN
Binary file not shown.
|
After Width: | Height: | Size: 634 KiB |
@@ -0,0 +1,12 @@
|
||||
COMMON=-O2 -I../include -L../bin -std=c++11 -mavx -pthread -Wl,-rpath,'$$ORIGIN'
|
||||
|
||||
all:
|
||||
g++ $(COMMON) testxml.cc -lmujoco210nogl -o ../bin/testxml
|
||||
g++ $(COMMON) testspeed.cc -lmujoco210nogl -o ../bin/testspeed
|
||||
g++ $(COMMON) compile.cc -lmujoco210nogl -o ../bin/compile
|
||||
g++ $(COMMON) derivative.cc -lmujoco210nogl -fopenmp -o ../bin/derivative
|
||||
g++ $(COMMON) basic.cc -lmujoco210 -lGL -lglew ../bin/libglfw.so.3 -o ../bin/basic
|
||||
g++ $(COMMON) record.cc -lmujoco210 -lGL -lglew ../bin/libglfw.so.3 -o ../bin/record
|
||||
gcc -c -O2 -mavx -I../include ../include/uitools.c
|
||||
g++ $(COMMON) uitools.o simulate.cc -lmujoco210 -lGL -lglew ../bin/libglfw.so.3 -o ../bin/simulate
|
||||
rm *.o
|
||||
@@ -0,0 +1,12 @@
|
||||
COMMON=-O2 -I../include -L../bin -std=c++11 -stdlib=libc++ -mavx -pthread
|
||||
|
||||
all:
|
||||
clang++ $(COMMON) testxml.cc -lmujoco210nogl -o ../bin/testxml
|
||||
clang++ $(COMMON) testspeed.cc -lmujoco210nogl -o ../bin/testspeed
|
||||
clang++ $(COMMON) compile.cc -lmujoco210nogl -o ../bin/compile
|
||||
clang++ $(COMMON) derivative.cc -lmujoco210nogl -o ../bin/derivative
|
||||
clang++ $(COMMON) basic.cc -lmujoco210 -lglfw.3 -o ../bin/basic
|
||||
clang++ $(COMMON) record.cc -lmujoco210 -lglfw.3 -o ../bin/record
|
||||
clang -c -O2 -mavx -I../include ../include/uitools.c
|
||||
clang++ $(COMMON) uitools.o simulate.cc -lmujoco210 -lglfw.3 -o ../bin/simulate
|
||||
rm *.o
|
||||
@@ -0,0 +1,11 @@
|
||||
COMMON=/O2 /MT /EHsc /arch:AVX /I../include /Fe../bin/
|
||||
|
||||
all:
|
||||
cl $(COMMON) testxml.cc ../bin/mujoco210nogl.lib
|
||||
cl $(COMMON) testspeed.cc ../bin/mujoco210nogl.lib
|
||||
cl $(COMMON) compile.cc ../bin/mujoco210nogl.lib
|
||||
cl $(COMMON) derivative.cc /openmp ../bin/mujoco210nogl.lib
|
||||
cl $(COMMON) basic.cc ../bin/glfw3.lib ../bin/mujoco210.lib
|
||||
cl $(COMMON) record.cc ../bin/glfw3.lib ../bin/mujoco210.lib
|
||||
cl $(COMMON) simulate.cc ../include/uitools.c ../bin/glfw3.lib ../bin/mujoco210.lib
|
||||
del *.obj
|
||||
+193
@@ -0,0 +1,193 @@
|
||||
// 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.
|
||||
|
||||
#include "mujoco.h"
|
||||
#include "glfw3.h"
|
||||
#include "stdio.h"
|
||||
#include "stdlib.h"
|
||||
#include "string.h"
|
||||
|
||||
|
||||
// MuJoCo data structures
|
||||
mjModel* m = NULL; // MuJoCo model
|
||||
mjData* d = NULL; // MuJoCo data
|
||||
mjvCamera cam; // abstract camera
|
||||
mjvOption opt; // visualization options
|
||||
mjvScene scn; // abstract scene
|
||||
mjrContext con; // custom GPU context
|
||||
|
||||
// mouse interaction
|
||||
bool button_left = false;
|
||||
bool button_middle = false;
|
||||
bool button_right = false;
|
||||
double lastx = 0;
|
||||
double lasty = 0;
|
||||
|
||||
|
||||
// keyboard callback
|
||||
void keyboard(GLFWwindow* window, int key, int scancode, int act, int mods)
|
||||
{
|
||||
// backspace: reset simulation
|
||||
if( act==GLFW_PRESS && key==GLFW_KEY_BACKSPACE )
|
||||
{
|
||||
mj_resetData(m, d);
|
||||
mj_forward(m, d);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// mouse button callback
|
||||
void mouse_button(GLFWwindow* window, int button, int act, int mods)
|
||||
{
|
||||
// update button state
|
||||
button_left = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_LEFT)==GLFW_PRESS);
|
||||
button_middle = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_MIDDLE)==GLFW_PRESS);
|
||||
button_right = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_RIGHT)==GLFW_PRESS);
|
||||
|
||||
// update mouse position
|
||||
glfwGetCursorPos(window, &lastx, &lasty);
|
||||
}
|
||||
|
||||
|
||||
// mouse move callback
|
||||
void mouse_move(GLFWwindow* window, double xpos, double ypos)
|
||||
{
|
||||
// no buttons down: nothing to do
|
||||
if( !button_left && !button_middle && !button_right )
|
||||
return;
|
||||
|
||||
// compute mouse displacement, save
|
||||
double dx = xpos - lastx;
|
||||
double dy = ypos - lasty;
|
||||
lastx = xpos;
|
||||
lasty = ypos;
|
||||
|
||||
// get current window size
|
||||
int width, height;
|
||||
glfwGetWindowSize(window, &width, &height);
|
||||
|
||||
// get shift key state
|
||||
bool mod_shift = (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT)==GLFW_PRESS ||
|
||||
glfwGetKey(window, GLFW_KEY_RIGHT_SHIFT)==GLFW_PRESS);
|
||||
|
||||
// determine action based on mouse button
|
||||
mjtMouse action;
|
||||
if( button_right )
|
||||
action = mod_shift ? mjMOUSE_MOVE_H : mjMOUSE_MOVE_V;
|
||||
else if( button_left )
|
||||
action = mod_shift ? mjMOUSE_ROTATE_H : mjMOUSE_ROTATE_V;
|
||||
else
|
||||
action = mjMOUSE_ZOOM;
|
||||
|
||||
// move camera
|
||||
mjv_moveCamera(m, action, dx/height, dy/height, &scn, &cam);
|
||||
}
|
||||
|
||||
|
||||
// scroll callback
|
||||
void scroll(GLFWwindow* window, double xoffset, double yoffset)
|
||||
{
|
||||
// emulate vertical mouse motion = 5% of window height
|
||||
mjv_moveCamera(m, mjMOUSE_ZOOM, 0, -0.05*yoffset, &scn, &cam);
|
||||
}
|
||||
|
||||
|
||||
// main function
|
||||
int main(int argc, const char** argv)
|
||||
{
|
||||
// check command-line arguments
|
||||
if( argc!=2 )
|
||||
{
|
||||
printf(" USAGE: basic modelfile\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
// load and compile model
|
||||
char error[1000] = "Could not load binary model";
|
||||
if( strlen(argv[1])>4 && !strcmp(argv[1]+strlen(argv[1])-4, ".mjb") )
|
||||
m = mj_loadModel(argv[1], 0);
|
||||
else
|
||||
m = mj_loadXML(argv[1], 0, error, 1000);
|
||||
if( !m )
|
||||
mju_error_s("Load model error: %s", error);
|
||||
|
||||
// make data
|
||||
d = mj_makeData(m);
|
||||
|
||||
// init GLFW
|
||||
if( !glfwInit() )
|
||||
mju_error("Could not initialize GLFW");
|
||||
|
||||
// create window, make OpenGL context current, request v-sync
|
||||
GLFWwindow* window = glfwCreateWindow(1200, 900, "Demo", NULL, NULL);
|
||||
glfwMakeContextCurrent(window);
|
||||
glfwSwapInterval(1);
|
||||
|
||||
// initialize visualization data structures
|
||||
mjv_defaultCamera(&cam);
|
||||
mjv_defaultOption(&opt);
|
||||
mjv_defaultScene(&scn);
|
||||
mjr_defaultContext(&con);
|
||||
|
||||
// create scene and context
|
||||
mjv_makeScene(m, &scn, 2000);
|
||||
mjr_makeContext(m, &con, mjFONTSCALE_150);
|
||||
|
||||
// install GLFW mouse and keyboard callbacks
|
||||
glfwSetKeyCallback(window, keyboard);
|
||||
glfwSetCursorPosCallback(window, mouse_move);
|
||||
glfwSetMouseButtonCallback(window, mouse_button);
|
||||
glfwSetScrollCallback(window, scroll);
|
||||
|
||||
// run main loop, target real-time simulation and 60 fps rendering
|
||||
while( !glfwWindowShouldClose(window) )
|
||||
{
|
||||
// advance interactive simulation for 1/60 sec
|
||||
// Assuming MuJoCo can simulate faster than real-time, which it usually can,
|
||||
// this loop will finish on time for the next frame to be rendered at 60 fps.
|
||||
// Otherwise add a cpu timer and exit this loop when it is time to render.
|
||||
mjtNum simstart = d->time;
|
||||
while( d->time - simstart < 1.0/60.0 )
|
||||
mj_step(m, d);
|
||||
|
||||
// get framebuffer viewport
|
||||
mjrRect viewport = {0, 0, 0, 0};
|
||||
glfwGetFramebufferSize(window, &viewport.width, &viewport.height);
|
||||
|
||||
// update scene and render
|
||||
mjv_updateScene(m, d, &opt, NULL, &cam, mjCAT_ALL, &scn);
|
||||
mjr_render(viewport, &scn, &con);
|
||||
|
||||
// swap OpenGL buffers (blocking call due to v-sync)
|
||||
glfwSwapBuffers(window);
|
||||
|
||||
// process pending GUI events, call GLFW callbacks
|
||||
glfwPollEvents();
|
||||
}
|
||||
|
||||
//free visualization storage
|
||||
mjv_freeScene(&scn);
|
||||
mjr_freeContext(&con);
|
||||
|
||||
// free MuJoCo model and data
|
||||
mj_deleteData(d);
|
||||
mj_deleteModel(m);
|
||||
|
||||
// terminate GLFW (crashes with Linux NVidia drivers)
|
||||
#if defined(__APPLE__) || defined(_WIN32)
|
||||
glfwTerminate();
|
||||
#endif
|
||||
|
||||
return 1;
|
||||
}
|
||||
@@ -0,0 +1,146 @@
|
||||
// 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.
|
||||
|
||||
#include "mujoco.h"
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <ctype.h>
|
||||
|
||||
|
||||
// help
|
||||
const char helpstring[] =
|
||||
"\n Usage: compile infile outfile\n"
|
||||
" infile can be in mjcf, urdf, mjb format\n"
|
||||
" outfile can be in mjcf, mjb, txt format\n\n"
|
||||
" Example: compile model.xml model.mjb\n";
|
||||
|
||||
|
||||
// deallocate and print message
|
||||
int finish(const char* msg = 0, mjModel* m = 0)
|
||||
{
|
||||
// deallocated everything
|
||||
if( m )
|
||||
mj_deleteModel(m);
|
||||
|
||||
// print message
|
||||
if( msg )
|
||||
printf("%s\n", msg);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
// possible file types
|
||||
enum
|
||||
{
|
||||
typeUNKNOWN = 0,
|
||||
typeXML,
|
||||
typeMJB,
|
||||
typeTXT
|
||||
};
|
||||
|
||||
|
||||
// determine file type
|
||||
int filetype(const char* filename)
|
||||
{
|
||||
// convert to lower case for string comparison
|
||||
char lower[1000];
|
||||
size_t i=0;
|
||||
while( i<strlen(filename) && i<999 )
|
||||
{
|
||||
lower[i] = (char)tolower(filename[i]);
|
||||
i++;
|
||||
}
|
||||
lower[i] = 0;
|
||||
|
||||
// find last dot
|
||||
int dot = (int)strlen(lower);
|
||||
while( dot>=0 && lower[dot]!='.' )
|
||||
dot--;
|
||||
|
||||
// no dot found
|
||||
if( dot<0 )
|
||||
return typeUNKNOWN;
|
||||
|
||||
// check extension
|
||||
if( !strcmp(lower+dot, ".xml") || !strcmp(lower+dot, ".urdf") )
|
||||
return typeXML;
|
||||
else if( !strcmp(lower+dot, ".mjb") )
|
||||
return typeMJB;
|
||||
else if( !strcmp(lower+dot, ".txt") )
|
||||
return typeTXT;
|
||||
else
|
||||
return typeUNKNOWN;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// main function
|
||||
int main(int argc, const char** argv)
|
||||
{
|
||||
// model and error
|
||||
mjModel* m = 0;
|
||||
char error[1000];
|
||||
|
||||
// print help if arguments are missing
|
||||
if( argc!=3 )
|
||||
return finish(helpstring);
|
||||
|
||||
// determine file types
|
||||
int type1 = filetype(argv[1]);
|
||||
int type2 = filetype(argv[2]);
|
||||
|
||||
// check types
|
||||
if( type1==typeUNKNOWN || type1==typeTXT ||
|
||||
type2==typeUNKNOWN || (type1==typeMJB && type2==typeXML) )
|
||||
return finish("Illegal combination of file formats");
|
||||
|
||||
// make sure output file does not exist
|
||||
FILE* fp = fopen(argv[2], "r");
|
||||
if( fp )
|
||||
{
|
||||
fclose(fp);
|
||||
return finish("Output file already exists");
|
||||
}
|
||||
|
||||
// load model
|
||||
if( type1==typeXML )
|
||||
m = mj_loadXML(argv[1], 0, error, 1000);
|
||||
else
|
||||
m = mj_loadModel(argv[1], 0);
|
||||
|
||||
// check error
|
||||
if( !m )
|
||||
{
|
||||
if( type1==typeXML )
|
||||
return finish(error, 0);
|
||||
else
|
||||
return finish("Could not load model", 0);
|
||||
}
|
||||
|
||||
// save model
|
||||
if( type2==typeXML )
|
||||
{
|
||||
if( mj_saveLastXML(argv[2], m, error, 1000) )
|
||||
return finish(error, m);
|
||||
}
|
||||
else if( type2==typeMJB )
|
||||
mj_saveModel(m, argv[2], 0, 0);
|
||||
else
|
||||
mj_printModel(m, argv[2]);
|
||||
|
||||
// finalize
|
||||
return finish("Done", m);
|
||||
}
|
||||
@@ -0,0 +1,443 @@
|
||||
// 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.
|
||||
|
||||
#include "mujoco.h"
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
|
||||
|
||||
// enable compilation with and without OpenMP support
|
||||
#if defined(_OPENMP)
|
||||
#include <omp.h>
|
||||
#else
|
||||
// omp timer replacement
|
||||
#include <chrono>
|
||||
double omp_get_wtime(void)
|
||||
{
|
||||
static std::chrono::system_clock::time_point _start = std::chrono::system_clock::now();
|
||||
std::chrono::duration<double> elapsed = std::chrono::system_clock::now() - _start;
|
||||
return elapsed.count();
|
||||
}
|
||||
|
||||
// omp functions used below
|
||||
void omp_set_dynamic(int) {}
|
||||
void omp_set_num_threads(int) {}
|
||||
int omp_get_num_procs(void) {return 1;}
|
||||
#endif
|
||||
|
||||
|
||||
// gloval variables: internal
|
||||
const int MAXTHREAD = 64; // maximum number of threads allowed
|
||||
const int MAXEPOCH = 100; // maximum number of epochs
|
||||
int isforward = 0; // dynamics mode: forward or inverse
|
||||
mjtNum* deriv = 0; // dynamics derivatives (6*nv*nv):
|
||||
// dinv/dpos, dinv/dvel, dinv/dacc, dacc/dpos, dacc/dvel, dacc/dfrc
|
||||
|
||||
|
||||
// global variables: user-defined, with defaults
|
||||
int nthread = 0; // number of parallel threads (default set later)
|
||||
int niter = 30; // fixed number of solver iterations for finite-differencing
|
||||
int nwarmup = 3; // center point repetitions to improve warmstart
|
||||
int nepoch = 20; // number of timing epochs
|
||||
int nstep = 500; // number of simulation steps per epoch
|
||||
double eps = 1e-6; // finite-difference epsilon
|
||||
|
||||
|
||||
// worker function for parallel finite-difference computation of derivatives
|
||||
void worker(const mjModel* m, const mjData* dmain, mjData* d, int id)
|
||||
{
|
||||
int nv = m->nv;
|
||||
|
||||
// allocate stack space for result at center
|
||||
mjMARKSTACK
|
||||
mjtNum* center = mj_stackAlloc(d, nv);
|
||||
mjtNum* warmstart = mj_stackAlloc(d, nv);
|
||||
|
||||
// prepare static schedule: range of derivative columns to be computed by this thread
|
||||
int chunk = (m->nv + nthread-1) / nthread;
|
||||
int istart = id * chunk;
|
||||
int iend = mjMIN(istart + chunk, m->nv);
|
||||
|
||||
// copy state and control from dmain to thread-specific d
|
||||
d->time = dmain->time;
|
||||
mju_copy(d->qpos, dmain->qpos, m->nq);
|
||||
mju_copy(d->qvel, dmain->qvel, m->nv);
|
||||
mju_copy(d->qacc, dmain->qacc, m->nv);
|
||||
mju_copy(d->qacc_warmstart, dmain->qacc_warmstart, m->nv);
|
||||
mju_copy(d->qfrc_applied, dmain->qfrc_applied, m->nv);
|
||||
mju_copy(d->xfrc_applied, dmain->xfrc_applied, 6*m->nbody);
|
||||
mju_copy(d->ctrl, dmain->ctrl, m->nu);
|
||||
|
||||
// run full computation at center point (usually faster than copying dmain)
|
||||
if( isforward )
|
||||
{
|
||||
mj_forward(m, d);
|
||||
|
||||
// extra solver iterations to improve warmstart (qacc) at center point
|
||||
for( int rep=1; rep<nwarmup; rep++ )
|
||||
mj_forwardSkip(m, d, mjSTAGE_VEL, 1);
|
||||
}
|
||||
else
|
||||
mj_inverse(m, d);
|
||||
|
||||
// select output from forward or inverse dynamics
|
||||
mjtNum* output = (isforward ? d->qacc : d->qfrc_inverse);
|
||||
|
||||
// save output for center point and warmstart (needed in forward only)
|
||||
mju_copy(center, output, nv);
|
||||
mju_copy(warmstart, d->qacc_warmstart, nv);
|
||||
|
||||
// select target vector and original vector for force or acceleration derivative
|
||||
mjtNum* target = (isforward ? d->qfrc_applied : d->qacc);
|
||||
const mjtNum* original = (isforward ? dmain->qfrc_applied : dmain->qacc);
|
||||
|
||||
// finite-difference over force or acceleration: skip = mjSTAGE_VEL
|
||||
for( int i=istart; i<iend; i++ )
|
||||
{
|
||||
// perturb selected target
|
||||
target[i] += eps;
|
||||
|
||||
// evaluate dynamics, with center warmstart
|
||||
if( isforward )
|
||||
{
|
||||
mju_copy(d->qacc_warmstart, warmstart, m->nv);
|
||||
mj_forwardSkip(m, d, mjSTAGE_VEL, 1);
|
||||
}
|
||||
else
|
||||
mj_inverseSkip(m, d, mjSTAGE_VEL, 1);
|
||||
|
||||
// undo perturbation
|
||||
target[i] = original[i];
|
||||
|
||||
// compute column i of derivative 2
|
||||
for( int j=0; j<nv; j++ )
|
||||
deriv[(3*isforward+2)*nv*nv + i + j*nv] = (output[j] - center[j])/eps;
|
||||
}
|
||||
|
||||
// finite-difference over velocity: skip = mjSTAGE_POS
|
||||
for( int i=istart; i<iend; i++ )
|
||||
{
|
||||
// perturb velocity
|
||||
d->qvel[i] += eps;
|
||||
|
||||
// evaluate dynamics, with center warmstart
|
||||
if( isforward )
|
||||
{
|
||||
mju_copy(d->qacc_warmstart, warmstart, m->nv);
|
||||
mj_forwardSkip(m, d, mjSTAGE_POS, 1);
|
||||
}
|
||||
else
|
||||
mj_inverseSkip(m, d, mjSTAGE_POS, 1);
|
||||
|
||||
// undo perturbation
|
||||
d->qvel[i] = dmain->qvel[i];
|
||||
|
||||
// compute column i of derivative 1
|
||||
for( int j=0; j<nv; j++ )
|
||||
deriv[(3*isforward+1)*nv*nv + i + j*nv] = (output[j] - center[j])/eps;
|
||||
}
|
||||
|
||||
// finite-difference over position: skip = mjSTAGE_NONE
|
||||
for( int i=istart; i<iend; i++ )
|
||||
{
|
||||
// get joint id for this dof
|
||||
int jid = m->dof_jntid[i];
|
||||
|
||||
// get quaternion address and dof position within quaternion (-1: not in quaternion)
|
||||
int quatadr = -1, dofpos = 0;
|
||||
if( m->jnt_type[jid]==mjJNT_BALL )
|
||||
{
|
||||
quatadr = m->jnt_qposadr[jid];
|
||||
dofpos = i - m->jnt_dofadr[jid];
|
||||
}
|
||||
else if( m->jnt_type[jid]==mjJNT_FREE && i>=m->jnt_dofadr[jid]+3 )
|
||||
{
|
||||
quatadr = m->jnt_qposadr[jid] + 3;
|
||||
dofpos = i - m->jnt_dofadr[jid] - 3;
|
||||
}
|
||||
|
||||
// apply quaternion or simple perturbation
|
||||
if( quatadr>=0 )
|
||||
{
|
||||
mjtNum angvel[3] = {0,0,0};
|
||||
angvel[dofpos] = eps;
|
||||
mju_quatIntegrate(d->qpos+quatadr, angvel, 1);
|
||||
}
|
||||
else
|
||||
d->qpos[m->jnt_qposadr[jid] + i - m->jnt_dofadr[jid]] += eps;
|
||||
|
||||
// evaluate dynamics, with center warmstart
|
||||
if( isforward )
|
||||
{
|
||||
mju_copy(d->qacc_warmstart, warmstart, m->nv);
|
||||
mj_forwardSkip(m, d, mjSTAGE_NONE, 1);
|
||||
}
|
||||
else
|
||||
mj_inverseSkip(m, d, mjSTAGE_NONE, 1);
|
||||
|
||||
// undo perturbation
|
||||
mju_copy(d->qpos, dmain->qpos, m->nq);
|
||||
|
||||
// compute column i of derivative 0
|
||||
for( int j=0; j<nv; j++ )
|
||||
deriv[(3*isforward+0)*nv*nv + i + j*nv] = (output[j] - center[j])/eps;
|
||||
}
|
||||
|
||||
mjFREESTACK
|
||||
}
|
||||
|
||||
|
||||
// compute relative L1 norm of residual
|
||||
double relnorm(mjtNum* residual, mjtNum* base, int n)
|
||||
{
|
||||
mjtNum L1res = 0, L1base = 0;
|
||||
for( int i=0; i<n; i++ )
|
||||
{
|
||||
L1res += mju_abs(residual[i]);
|
||||
L1base += mju_abs(base[i]);
|
||||
}
|
||||
|
||||
return (double) mju_log10(mju_max(mjMINVAL,L1res/mju_max(mjMINVAL,L1base)));
|
||||
}
|
||||
|
||||
|
||||
// names of residuals for accuracy check
|
||||
const char* accuracy[8] = {
|
||||
"G2*F2 - I ",
|
||||
"G2 - G2' ",
|
||||
"G1 - G1' ",
|
||||
"F2 - F2' ",
|
||||
"G1 + G2*F1",
|
||||
"G0 + G2*F0",
|
||||
"F1 + F2*G1",
|
||||
"F0 + F2*G0"
|
||||
};
|
||||
|
||||
|
||||
// check accuracy of derivatives using known mathematical identities
|
||||
void checkderiv(const mjModel* m, mjData* d, mjtNum error[7])
|
||||
{
|
||||
int nv = m->nv;
|
||||
|
||||
// allocate space
|
||||
mjMARKSTACK
|
||||
mjtNum* mat = mj_stackAlloc(d, nv*nv);
|
||||
|
||||
// get pointers to derivative matrices
|
||||
mjtNum* G0 = deriv; // dinv/dpos
|
||||
mjtNum* G1 = deriv + nv*nv; // dinv/dvel
|
||||
mjtNum* G2 = deriv + 2*nv*nv; // dinv/dacc
|
||||
mjtNum* F0 = deriv + 3*nv*nv; // dacc/dpos
|
||||
mjtNum* F1 = deriv + 4*nv*nv; // dacc/dvel
|
||||
mjtNum* F2 = deriv + 5*nv*nv; // dacc/dfrc
|
||||
|
||||
// G2*F2 - I
|
||||
mju_mulMatMat(mat, G2, F2, nv, nv, nv);
|
||||
for( int i=0; i<nv; i++ )
|
||||
mat[i*(nv+1)] -= 1;
|
||||
error[0] = relnorm(mat, G2, nv*nv);
|
||||
|
||||
// G2 - G2'
|
||||
mju_transpose(mat, G2, nv, nv);
|
||||
mju_sub(mat, mat, G2, nv*nv);
|
||||
error[1] = relnorm(mat, G2, nv*nv);
|
||||
|
||||
// G1 - G1'
|
||||
mju_transpose(mat, G1, nv, nv);
|
||||
mju_sub(mat, mat, G1, nv*nv);
|
||||
error[2] = relnorm(mat, G1, nv*nv);
|
||||
|
||||
// F2 - F2'
|
||||
mju_transpose(mat, F2, nv, nv);
|
||||
mju_sub(mat, mat, F2, nv*nv);
|
||||
error[3] = relnorm(mat, F2, nv*nv);
|
||||
|
||||
// G1 + G2*F1
|
||||
mju_mulMatMat(mat, G2, F1, nv, nv, nv);
|
||||
mju_addTo(mat, G1, nv*nv);
|
||||
error[4] = relnorm(mat, G1, nv*nv);
|
||||
|
||||
// G0 + G2*F0
|
||||
mju_mulMatMat(mat, G2, F0, nv, nv, nv);
|
||||
mju_addTo(mat, G0, nv*nv);
|
||||
error[5] = relnorm(mat, G0, nv*nv);
|
||||
|
||||
// F1 + F2*G1
|
||||
mju_mulMatMat(mat, F2, G1, nv, nv, nv);
|
||||
mju_addTo(mat, F1, nv*nv);
|
||||
error[6] = relnorm(mat, F1, nv*nv);
|
||||
|
||||
// F0 + F2*G0
|
||||
mju_mulMatMat(mat, F2, G0, nv, nv, nv);
|
||||
mju_addTo(mat, F0, nv*nv);
|
||||
error[7] = relnorm(mat, F0, nv*nv);
|
||||
|
||||
mjFREESTACK
|
||||
}
|
||||
|
||||
|
||||
// main function
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
// print help if not enough arguments
|
||||
if( argc<2 )
|
||||
{
|
||||
printf("\n Arguments: modelfile [nthread niter nwarmup nepoch nstep eps]\n\n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
// default nthread = number of logical cores (usually optimal)
|
||||
nthread = omp_get_num_procs();
|
||||
|
||||
// get numeric command-line arguments
|
||||
if( argc>2 )
|
||||
sscanf(argv[2], "%d", &nthread);
|
||||
if( argc>3 )
|
||||
sscanf(argv[3], "%d", &niter);
|
||||
if( argc>4 )
|
||||
sscanf(argv[4], "%d", &nwarmup);
|
||||
if( argc>5 )
|
||||
sscanf(argv[5], "%d", &nepoch);
|
||||
if( argc>6 )
|
||||
sscanf(argv[6], "%d", &nstep);
|
||||
if( argc>7 )
|
||||
sscanf(argv[7], "%lf", &eps);
|
||||
|
||||
// check number of threads
|
||||
if( nthread<1 || nthread>MAXTHREAD )
|
||||
{
|
||||
printf("nthread must be between 1 and %d\n", MAXTHREAD);
|
||||
return 1;
|
||||
}
|
||||
|
||||
// check number of epochs
|
||||
if( nepoch<1 || nepoch>MAXEPOCH )
|
||||
{
|
||||
printf("nepoch must be between 1 and %d\n", MAXEPOCH);
|
||||
return 1;
|
||||
}
|
||||
|
||||
// load model
|
||||
mjModel* m = 0;
|
||||
if( strlen(argv[1])>4 && !strcmp(argv[1]+strlen(argv[1])-4, ".mjb") )
|
||||
m = mj_loadModel(argv[1], NULL);
|
||||
else
|
||||
m = mj_loadXML(argv[1], NULL, NULL, 0);
|
||||
if( !m )
|
||||
{
|
||||
printf("Could not load modelfile '%s'\n", argv[1]);
|
||||
return 1;
|
||||
}
|
||||
|
||||
// print arguments
|
||||
#if defined(_OPENMP)
|
||||
printf("\nnthread : %d (OpenMP)\n", nthread);
|
||||
#else
|
||||
printf("\nnthread : %d (serial)\n", nthread);
|
||||
#endif
|
||||
printf("niter : %d\n", niter);
|
||||
printf("nwarmup : %d\n", nwarmup);
|
||||
printf("nepoch : %d\n", nepoch);
|
||||
printf("nstep : %d\n", nstep);
|
||||
printf("eps : %g\n\n", eps);
|
||||
|
||||
// make mjData: main, per-thread
|
||||
mjData* dmain = mj_makeData(m);
|
||||
mjData* d[MAXTHREAD];
|
||||
for( int n=0; n<nthread; n++ )
|
||||
d[n] = mj_makeData(m);
|
||||
|
||||
// allocate derivatives
|
||||
deriv = (mjtNum*) mju_malloc(6*sizeof(mjtNum)*m->nv*m->nv);
|
||||
|
||||
// set up OpenMP (if not enabled, this does nothing)
|
||||
omp_set_dynamic(0);
|
||||
omp_set_num_threads(nthread);
|
||||
|
||||
// save solver options
|
||||
int save_iterations = m->opt.iterations;
|
||||
mjtNum save_tolerance = m->opt.tolerance;
|
||||
|
||||
// allocate statistics
|
||||
int nefc = 0;
|
||||
double cputm[MAXEPOCH][2];
|
||||
mjtNum error[MAXEPOCH][8];
|
||||
|
||||
// run epochs, collect statistics
|
||||
for( int epoch=0; epoch<nepoch; epoch++ )
|
||||
{
|
||||
// set solver options for main simulation
|
||||
m->opt.iterations = save_iterations;
|
||||
m->opt.tolerance = save_tolerance;
|
||||
|
||||
// advance main simulation for nstep
|
||||
for( int i=0; i<nstep; i++ )
|
||||
mj_step(m, dmain);
|
||||
|
||||
// count number of active constraints
|
||||
nefc += dmain->nefc;
|
||||
|
||||
// set solver options for finite differences
|
||||
m->opt.iterations = niter;
|
||||
m->opt.tolerance = 0;
|
||||
|
||||
// test forward and inverse
|
||||
for( isforward=0; isforward<2; isforward++ )
|
||||
{
|
||||
// start timer
|
||||
double starttm = omp_get_wtime();
|
||||
|
||||
// run worker threads in parallel if OpenMP is enabled
|
||||
#pragma omp parallel for schedule(static)
|
||||
for( int n=0; n<nthread; n++ )
|
||||
worker(m, dmain, d[n], n);
|
||||
|
||||
// record duration in ms
|
||||
cputm[epoch][isforward] = 1000*(omp_get_wtime() - starttm);
|
||||
}
|
||||
|
||||
// check derivatives
|
||||
checkderiv(m, d[0], error[epoch]);
|
||||
}
|
||||
|
||||
// compute statistics
|
||||
double mcputm[2] = {0,0}, merror[8] = {0,0,0,0,0,0,0,0};
|
||||
for( int epoch=0; epoch<nepoch; epoch++ )
|
||||
{
|
||||
mcputm[0] += cputm[epoch][0];
|
||||
mcputm[1] += cputm[epoch][1];
|
||||
|
||||
for( int ie=0; ie<8; ie++ )
|
||||
merror[ie] += error[epoch][ie];
|
||||
}
|
||||
|
||||
// print sizes, timing, accuracy
|
||||
printf("sizes : nv %d, nefc %d\n\n", m->nv, nefc/nepoch);
|
||||
printf("inverse : %.2f ms\n", mcputm[0]/nepoch);
|
||||
printf("forward : %.2f ms\n\n", mcputm[1]/nepoch);
|
||||
printf("accuracy: log10(residual L1 relnorm)\n");
|
||||
printf("------------------------------------\n");
|
||||
for( int ie=0; ie<8; ie++ )
|
||||
printf(" %s : %.2g\n", accuracy[ie], merror[ie]/nepoch);
|
||||
printf("\n");
|
||||
|
||||
// shut down
|
||||
mju_free(deriv);
|
||||
mj_deleteData(dmain);
|
||||
for( int n=0; n<nthread; n++ )
|
||||
mj_deleteData(d[n]);
|
||||
mj_deleteModel(m);
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,311 @@
|
||||
// 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.
|
||||
|
||||
#include "mujoco.h"
|
||||
#include "stdio.h"
|
||||
#include "stdlib.h"
|
||||
#include "string.h"
|
||||
|
||||
|
||||
// select EGL, OSMESA or GLFW
|
||||
#if defined(MJ_EGL)
|
||||
#include <EGL/egl.h>
|
||||
#elif defined(MJ_OSMESA)
|
||||
#include <GL/osmesa.h>
|
||||
OSMesaContext ctx;
|
||||
unsigned char buffer[10000000];
|
||||
#else
|
||||
#include "glfw3.h"
|
||||
#endif
|
||||
|
||||
|
||||
//-------------------------------- global data ------------------------------------------
|
||||
|
||||
// MuJoCo model and data
|
||||
mjModel* m = 0;
|
||||
mjData* d = 0;
|
||||
|
||||
// MuJoCo visualization
|
||||
mjvScene scn;
|
||||
mjvCamera cam;
|
||||
mjvOption opt;
|
||||
mjrContext con;
|
||||
|
||||
|
||||
//-------------------------------- utility functions ------------------------------------
|
||||
|
||||
// load model, init simulation and rendering
|
||||
void initMuJoCo(const char* filename)
|
||||
{
|
||||
// load and compile
|
||||
char error[1000] = "Could not load binary model";
|
||||
if( strlen(filename)>4 && !strcmp(filename+strlen(filename)-4, ".mjb") )
|
||||
m = mj_loadModel(filename, 0);
|
||||
else
|
||||
m = mj_loadXML(filename, 0, error, 1000);
|
||||
if( !m )
|
||||
mju_error_s("Load model error: %s", error);
|
||||
|
||||
// make data, run one computation to initialize all fields
|
||||
d = mj_makeData(m);
|
||||
mj_forward(m, d);
|
||||
|
||||
// initialize visualization data structures
|
||||
mjv_defaultCamera(&cam);
|
||||
mjv_defaultOption(&opt);
|
||||
mjv_defaultScene(&scn);
|
||||
mjr_defaultContext(&con);
|
||||
|
||||
// create scene and context
|
||||
mjv_makeScene(m, &scn, 2000);
|
||||
mjr_makeContext(m, &con, 200);
|
||||
|
||||
// center and scale view
|
||||
cam.lookat[0] = m->stat.center[0];
|
||||
cam.lookat[1] = m->stat.center[1];
|
||||
cam.lookat[2] = m->stat.center[2];
|
||||
cam.distance = 1.5 * m->stat.extent;
|
||||
}
|
||||
|
||||
|
||||
// deallocate everything
|
||||
void closeMuJoCo(void)
|
||||
{
|
||||
mj_deleteData(d);
|
||||
mj_deleteModel(m);
|
||||
mjr_freeContext(&con);
|
||||
mjv_freeScene(&scn);
|
||||
}
|
||||
|
||||
|
||||
// create OpenGL context/window
|
||||
void initOpenGL(void)
|
||||
{
|
||||
//------------------------ EGL
|
||||
#if defined(MJ_EGL)
|
||||
// desired config
|
||||
const EGLint configAttribs[] ={
|
||||
EGL_RED_SIZE, 8,
|
||||
EGL_GREEN_SIZE, 8,
|
||||
EGL_BLUE_SIZE, 8,
|
||||
EGL_ALPHA_SIZE, 8,
|
||||
EGL_DEPTH_SIZE, 24,
|
||||
EGL_STENCIL_SIZE, 8,
|
||||
EGL_COLOR_BUFFER_TYPE, EGL_RGB_BUFFER,
|
||||
EGL_SURFACE_TYPE, EGL_PBUFFER_BIT,
|
||||
EGL_RENDERABLE_TYPE, EGL_OPENGL_BIT,
|
||||
EGL_NONE
|
||||
};
|
||||
|
||||
// get default display
|
||||
EGLDisplay eglDpy = eglGetDisplay(EGL_DEFAULT_DISPLAY);
|
||||
if( eglDpy==EGL_NO_DISPLAY )
|
||||
mju_error_i("Could not get EGL display, error 0x%x\n", eglGetError());
|
||||
|
||||
// initialize
|
||||
EGLint major, minor;
|
||||
if( eglInitialize(eglDpy, &major, &minor)!=EGL_TRUE )
|
||||
mju_error_i("Could not initialize EGL, error 0x%x\n", eglGetError());
|
||||
|
||||
// choose config
|
||||
EGLint numConfigs;
|
||||
EGLConfig eglCfg;
|
||||
if( eglChooseConfig(eglDpy, configAttribs, &eglCfg, 1, &numConfigs)!=EGL_TRUE )
|
||||
mju_error_i("Could not choose EGL config, error 0x%x\n", eglGetError());
|
||||
|
||||
// bind OpenGL API
|
||||
if( eglBindAPI(EGL_OPENGL_API)!=EGL_TRUE )
|
||||
mju_error_i("Could not bind EGL OpenGL API, error 0x%x\n", eglGetError());
|
||||
|
||||
// create context
|
||||
EGLContext eglCtx = eglCreateContext(eglDpy, eglCfg, EGL_NO_CONTEXT, NULL);
|
||||
if( eglCtx==EGL_NO_CONTEXT )
|
||||
mju_error_i("Could not create EGL context, error 0x%x\n", eglGetError());
|
||||
|
||||
// make context current, no surface (let OpenGL handle FBO)
|
||||
if( eglMakeCurrent(eglDpy, EGL_NO_SURFACE, EGL_NO_SURFACE, eglCtx)!=EGL_TRUE )
|
||||
mju_error_i("Could not make EGL context current, error 0x%x\n", eglGetError());
|
||||
|
||||
//------------------------ OSMESA
|
||||
#elif defined(MJ_OSMESA)
|
||||
// create context
|
||||
ctx = OSMesaCreateContextExt(GL_RGBA, 24, 8, 8, 0);
|
||||
if( !ctx )
|
||||
mju_error("OSMesa context creation failed");
|
||||
|
||||
// make current
|
||||
if( !OSMesaMakeCurrent(ctx, buffer, GL_UNSIGNED_BYTE, 800, 800) )
|
||||
mju_error("OSMesa make current failed");
|
||||
|
||||
//------------------------ GLFW
|
||||
#else
|
||||
// init GLFW
|
||||
if( !glfwInit() )
|
||||
mju_error("Could not initialize GLFW");
|
||||
|
||||
// create invisible window, single-buffered
|
||||
glfwWindowHint(GLFW_VISIBLE, 0);
|
||||
glfwWindowHint(GLFW_DOUBLEBUFFER, GLFW_FALSE);
|
||||
GLFWwindow* window = glfwCreateWindow(800, 800, "Invisible window", NULL, NULL);
|
||||
if( !window )
|
||||
mju_error("Could not create GLFW window");
|
||||
|
||||
// make context current
|
||||
glfwMakeContextCurrent(window);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
// close OpenGL context/window
|
||||
void closeOpenGL(void)
|
||||
{
|
||||
//------------------------ EGL
|
||||
#if defined(MJ_EGL)
|
||||
// get current display
|
||||
EGLDisplay eglDpy = eglGetCurrentDisplay();
|
||||
if( eglDpy==EGL_NO_DISPLAY )
|
||||
return;
|
||||
|
||||
// get current context
|
||||
EGLContext eglCtx = eglGetCurrentContext();
|
||||
|
||||
// release context
|
||||
eglMakeCurrent(eglDpy, EGL_NO_SURFACE, EGL_NO_SURFACE, EGL_NO_CONTEXT);
|
||||
|
||||
// destroy context if valid
|
||||
if( eglCtx!=EGL_NO_CONTEXT )
|
||||
eglDestroyContext(eglDpy, eglCtx);
|
||||
|
||||
// terminate display
|
||||
eglTerminate(eglDpy);
|
||||
|
||||
//------------------------ OSMESA
|
||||
#elif defined(MJ_OSMESA)
|
||||
OSMesaDestroyContext(ctx);
|
||||
|
||||
//------------------------ GLFW
|
||||
#else
|
||||
// terminate GLFW (crashes with Linux NVidia drivers)
|
||||
#if defined(__APPLE__) || defined(_WIN32)
|
||||
glfwTerminate();
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
//-------------------------------- main function ----------------------------------------
|
||||
|
||||
int main(int argc, const char** argv)
|
||||
{
|
||||
// check command-line arguments
|
||||
if( argc!=5 )
|
||||
{
|
||||
printf(" USAGE: record modelfile duration fps rgbfile\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
// parse numeric arguments
|
||||
double duration = 10, fps = 30;
|
||||
sscanf(argv[2], "%lf", &duration);
|
||||
sscanf(argv[3], "%lf", &fps);
|
||||
|
||||
// initialize OpenGL and MuJoCo
|
||||
initOpenGL();
|
||||
initMuJoCo(argv[1]);
|
||||
|
||||
// set rendering to offscreen buffer
|
||||
mjr_setBuffer(mjFB_OFFSCREEN, &con);
|
||||
if( con.currentBuffer!=mjFB_OFFSCREEN )
|
||||
printf("Warning: offscreen rendering not supported, using default/window framebuffer\n");
|
||||
|
||||
// get size of active renderbuffer
|
||||
mjrRect viewport = mjr_maxViewport(&con);
|
||||
int W = viewport.width;
|
||||
int H = viewport.height;
|
||||
|
||||
// allocate rgb and depth buffers
|
||||
unsigned char* rgb = (unsigned char*)malloc(3*W*H);
|
||||
float* depth = (float*)malloc(sizeof(float)*W*H);
|
||||
if( !rgb || !depth )
|
||||
mju_error("Could not allocate buffers");
|
||||
|
||||
// create output rgb file
|
||||
FILE* fp = fopen(argv[4], "wb");
|
||||
if( !fp )
|
||||
mju_error("Could not open rgbfile for writing");
|
||||
|
||||
// main loop
|
||||
double frametime = 0;
|
||||
int framecount = 0;
|
||||
while( d->time<duration )
|
||||
{
|
||||
// render new frame if it is time (or first frame)
|
||||
if( (d->time-frametime)>1/fps || frametime==0 )
|
||||
{
|
||||
// update abstract scene
|
||||
mjv_updateScene(m, d, &opt, NULL, &cam, mjCAT_ALL, &scn);
|
||||
|
||||
// render scene in offscreen buffer
|
||||
mjr_render(viewport, &scn, &con);
|
||||
|
||||
// add time stamp in upper-left corner
|
||||
char stamp[50];
|
||||
sprintf(stamp, "Time = %.3f", d->time);
|
||||
mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, viewport, stamp, NULL, &con);
|
||||
|
||||
// read rgb and depth buffers
|
||||
mjr_readPixels(rgb, depth, viewport, &con);
|
||||
|
||||
// insert subsampled depth image in lower-left corner of rgb image
|
||||
const int NS = 3; // depth image sub-sampling
|
||||
for( int r=0; r<H; r+=NS )
|
||||
for( int c=0; c<W; c+=NS )
|
||||
{
|
||||
int adr = (r/NS)*W + c/NS;
|
||||
rgb[3*adr] = rgb[3*adr+1] = rgb[3*adr+2] =
|
||||
(unsigned char)((1.0f-depth[r*W+c])*255.0f);
|
||||
}
|
||||
|
||||
// write rgb image to file
|
||||
fwrite(rgb, 3, W*H, fp);
|
||||
|
||||
// print every 10 frames: '.' if ok, 'x' if OpenGL error
|
||||
if( ((framecount++)%10)==0 )
|
||||
{
|
||||
if( mjr_getError() )
|
||||
printf("x");
|
||||
else
|
||||
printf(".");
|
||||
}
|
||||
|
||||
// save simulation time
|
||||
frametime = d->time;
|
||||
}
|
||||
|
||||
// advance simulation
|
||||
mj_step(m, d);
|
||||
}
|
||||
printf("\n");
|
||||
|
||||
// close file, free buffers
|
||||
fclose(fp);
|
||||
free(rgb);
|
||||
free(depth);
|
||||
|
||||
// close MuJoCo and OpenGL
|
||||
closeMuJoCo();
|
||||
closeOpenGL();
|
||||
|
||||
return 1;
|
||||
}
|
||||
+2066
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,195 @@
|
||||
// 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.
|
||||
|
||||
#include "mujoco.h"
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <cstring>
|
||||
#include <string>
|
||||
#include <chrono>
|
||||
#include <thread>
|
||||
|
||||
using namespace std;
|
||||
|
||||
|
||||
// model and per-thread data
|
||||
mjModel* m = NULL;
|
||||
mjData* d[64];
|
||||
|
||||
|
||||
// per-thread statistics
|
||||
int contacts[64];
|
||||
int constraints[64];
|
||||
double simtime[64];
|
||||
|
||||
|
||||
// timer
|
||||
chrono::system_clock::time_point tm_start;
|
||||
mjtNum gettm(void)
|
||||
{
|
||||
chrono::duration<double> elapsed = chrono::system_clock::now() - tm_start;
|
||||
return elapsed.count();
|
||||
}
|
||||
|
||||
|
||||
// deallocate and print message
|
||||
int finish(const char* msg = NULL, mjModel* m = NULL)
|
||||
{
|
||||
// deallocate model
|
||||
if( m )
|
||||
mj_deleteModel(m);
|
||||
|
||||
// print message
|
||||
if( msg )
|
||||
printf("%s\n", msg);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
// thread function
|
||||
void simulate(int id, int nstep)
|
||||
{
|
||||
// clear statistics
|
||||
contacts[id] = 0;
|
||||
constraints[id] = 0;
|
||||
|
||||
// run and time
|
||||
double start = gettm();
|
||||
for( int i=0; i<nstep; i++ )
|
||||
{
|
||||
// advance simulation
|
||||
mj_step(m, d[id]);
|
||||
|
||||
// accumulate statistics
|
||||
contacts[id] += d[id]->ncon;
|
||||
constraints[id] += d[id]->nefc;
|
||||
}
|
||||
simtime[id] = gettm() - start;
|
||||
}
|
||||
|
||||
|
||||
// main function
|
||||
int main(int argc, const char** argv)
|
||||
{
|
||||
// print help if arguments are missing
|
||||
if( argc<3 || argc>5 )
|
||||
return finish("\n Usage: testspeed modelfile nstep [nthread [profile]]\n");
|
||||
|
||||
// read nstep and nthread
|
||||
int nstep = 0, nthread = 0, profile = 0;
|
||||
if( sscanf(argv[2], "%d", &nstep)!=1 || nstep<=0 )
|
||||
return finish("Invalid nstep argument");
|
||||
if( argc>3 )
|
||||
if( sscanf(argv[3], "%d", &nthread)!=1 )
|
||||
return finish("Invalid nthread argument");
|
||||
if( argc>4 )
|
||||
if( sscanf(argv[4], "%d", &profile)!=1 )
|
||||
return finish("Invalid profile argument");
|
||||
|
||||
// clamp nthread to [1, 64]
|
||||
nthread = mjMAX(1, mjMIN(64, nthread));
|
||||
|
||||
// get filename, determine file type
|
||||
std::string filename(argv[1]);
|
||||
bool binary = (filename.find(".mjb")!=std::string::npos);
|
||||
|
||||
// load model
|
||||
char error[1000] = "Could not load binary model";
|
||||
if( binary )
|
||||
m = mj_loadModel(argv[1], 0);
|
||||
else
|
||||
m = mj_loadXML(argv[1], 0, error, 1000);
|
||||
if( !m )
|
||||
return finish(error);
|
||||
|
||||
// make per-thread data
|
||||
int testkey = mj_name2id(m, mjOBJ_KEY, "test");
|
||||
for( int id=0; id<nthread; id++ )
|
||||
{
|
||||
d[id] = mj_makeData(m);
|
||||
if( !d[id] )
|
||||
return finish("Could not allocate mjData", m);
|
||||
|
||||
// init to keyframe "test" if present
|
||||
if( testkey>=0 )
|
||||
{
|
||||
mju_copy(d[id]->qpos, m->key_qpos + testkey*m->nq, m->nq);
|
||||
mju_copy(d[id]->qvel, m->key_qvel + testkey*m->nv, m->nv);
|
||||
mju_copy(d[id]->act, m->key_act + testkey*m->na, m->na);
|
||||
}
|
||||
}
|
||||
|
||||
// install timer callback for profiling if requested
|
||||
tm_start = chrono::system_clock::now();
|
||||
if( profile )
|
||||
mjcb_time = gettm;
|
||||
|
||||
// print start
|
||||
if( nthread>1 )
|
||||
printf("\nRunning %d steps per thread at dt = %g ...\n\n", nstep, m->opt.timestep);
|
||||
else
|
||||
printf("\nRunning %d steps at dt = %g ...\n\n", nstep, m->opt.timestep);
|
||||
|
||||
// run simulation, record total time
|
||||
thread th[64];
|
||||
double starttime = gettm();
|
||||
for( int id=0; id<nthread; id++ )
|
||||
th[id] = thread(simulate, id, nstep);
|
||||
for( int id=0; id<nthread; id++ )
|
||||
th[id].join();
|
||||
double tottime = gettm() - starttime;
|
||||
|
||||
// all-thread summary
|
||||
if( nthread>1 )
|
||||
{
|
||||
printf("Summary for all %d threads\n\n", nthread);
|
||||
printf(" Total simulation time : %.2f s\n", tottime);
|
||||
printf(" Total steps per second : %.0f\n", nthread*nstep/tottime);
|
||||
printf(" Total realtime factor : %.2f x\n", nthread*nstep*m->opt.timestep/tottime);
|
||||
printf(" Total time per step : %.4f ms\n\n", 1000*tottime/(nthread*nstep));
|
||||
|
||||
printf("Details for thread 0\n\n");
|
||||
}
|
||||
|
||||
// details for thread 0
|
||||
printf(" Simulation time : %.2f s\n", simtime[0]);
|
||||
printf(" Steps per second : %.0f\n", nstep/simtime[0]);
|
||||
printf(" Realtime factor : %.2f x\n", nstep*m->opt.timestep/simtime[0]);
|
||||
printf(" Time per step : %.4f ms\n\n", 1000*simtime[0]/nstep);
|
||||
printf(" Contacts per step : %d\n", contacts[0]/nstep);
|
||||
printf(" Constraints per step : %d\n", constraints[0]/nstep);
|
||||
printf(" Degrees of freedom : %d\n\n", m->nv);
|
||||
|
||||
// profiler results for thread 0
|
||||
if( profile )
|
||||
{
|
||||
printf(" Profiler phase (ms per step)\n");
|
||||
mjtNum tstep = d[0]->timer[mjTIMER_STEP].duration/d[0]->timer[mjTIMER_STEP].number;
|
||||
for( int i=0; i<mjNTIMER; i++ )
|
||||
if( d[0]->timer[i].number>0 )
|
||||
{
|
||||
mjtNum istep = d[0]->timer[i].duration/d[0]->timer[i].number;
|
||||
printf(" %16s : %.5f (%6.2f %%)\n", mjTIMERSTRING[i],
|
||||
1000*istep, 100*istep/tstep);
|
||||
}
|
||||
}
|
||||
|
||||
// free per-thread data
|
||||
for( int id=0; id<nthread; id++ )
|
||||
mj_deleteData(d[id]);
|
||||
|
||||
// finalize
|
||||
return finish();
|
||||
}
|
||||
@@ -0,0 +1,174 @@
|
||||
// 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.
|
||||
|
||||
#include "mujoco.h"
|
||||
#include "mjxmacro.h"
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <cstring>
|
||||
#include <string>
|
||||
#include <chrono>
|
||||
|
||||
|
||||
using namespace std;
|
||||
|
||||
|
||||
// help
|
||||
const char helpstring[] = "\n Usage: testxml modelfile.xml\n";
|
||||
|
||||
|
||||
// deallocate and print message
|
||||
int finish(const char* msg = 0, mjModel* m = 0, mjData* d = 0)
|
||||
{
|
||||
// deallocated everything
|
||||
if( d )
|
||||
mj_deleteData(d);
|
||||
if( m )
|
||||
mj_deleteModel(m);
|
||||
|
||||
// print message
|
||||
if( msg )
|
||||
printf("%s\n", msg);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
// return absolute difference if it is below 1, relative difference otherwise
|
||||
static mjtNum _compare(mjtNum val1, mjtNum val2)
|
||||
{
|
||||
mjtNum magnitude = mju_max(mju_abs(val1), mju_abs(val2));
|
||||
|
||||
if( magnitude>1.0 )
|
||||
return mju_abs(val1-val2) / magnitude;
|
||||
else
|
||||
return mju_abs(val1-val2);
|
||||
}
|
||||
|
||||
|
||||
// compare two models, return largest difference and field name
|
||||
mjtNum compareModel(const mjModel* m1, const mjModel* m2, char* field)
|
||||
{
|
||||
int r, c;
|
||||
mjtNum dif, maxdif = 0.0;
|
||||
|
||||
// define symbols corresponding to number of columns (needed in MJMODEL_POINTERS)
|
||||
int nq = m1->nq;
|
||||
int nv = m1->nv;
|
||||
int na = m1->na;
|
||||
int nmocap3 = 3*m1->nmocap;
|
||||
int nmocap4 = 4*m1->nmocap;
|
||||
int nuser_body = m1->nuser_body;
|
||||
int nuser_jnt = m1->nuser_jnt;
|
||||
int nuser_geom = m1->nuser_geom;
|
||||
int nuser_site = m1->nuser_site;
|
||||
int nuser_cam = m1->nuser_cam;
|
||||
int nuser_tendon = m1->nuser_tendon;
|
||||
int nuser_actuator = m1->nuser_actuator;
|
||||
int nuser_sensor = m1->nuser_sensor;
|
||||
|
||||
// compare ints
|
||||
#define X(name) if(m1->name!=m2->name) {strcpy(field, #name); return 1.0;}
|
||||
|
||||
MJMODEL_INTS
|
||||
#undef X
|
||||
|
||||
// compare arrays
|
||||
#define X(type, name, nr, nc) \
|
||||
for( r=0; r<m1->nr; r++ ) \
|
||||
for( c=0; c<nc; c++ ) { \
|
||||
dif = _compare(m1->name[r*nc+c], m2->name[r*nc+c]); \
|
||||
if(dif>maxdif) {maxdif=dif; strcpy(field, #name);} }
|
||||
|
||||
MJMODEL_POINTERS
|
||||
#undef X
|
||||
|
||||
// compare scalars in mjOption
|
||||
#define X(type, name) \
|
||||
dif = _compare(m1->opt.name, m2->opt.name); \
|
||||
if(dif>maxdif) {maxdif=dif; strcpy(field, #name);}
|
||||
|
||||
MJOPTION_SCALARS
|
||||
#undef X
|
||||
|
||||
// compare arrays in mjOption
|
||||
#define X(name, n) \
|
||||
for( c=0; c<n; c++ ) { \
|
||||
dif = _compare(m1->opt.name[c], m2->opt.name[c]); \
|
||||
if(dif>maxdif) {maxdif=dif; strcpy(field, #name);} }
|
||||
|
||||
MJOPTION_VECTORS
|
||||
#undef X
|
||||
|
||||
// mjVisual and mjStatistics ignored for now
|
||||
|
||||
return maxdif;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// main function
|
||||
int main(int argc, const char** argv)
|
||||
{
|
||||
// print help if arguments are missing
|
||||
if( argc<2 )
|
||||
return finish(helpstring);
|
||||
|
||||
// get filename, check file type
|
||||
std::string filename(argv[1]);
|
||||
if( filename.find(".xml")==std::string::npos )
|
||||
return finish("xml model file is required");
|
||||
|
||||
// load model
|
||||
char error[1000];
|
||||
mjModel* m = mj_loadXML(argv[1], 0, error, 1000);
|
||||
if( !m )
|
||||
return finish(error);
|
||||
|
||||
// make data
|
||||
mjData* d = mj_makeData(m);
|
||||
if( !d )
|
||||
return finish("Could not allocate mjData", m);
|
||||
|
||||
// prepare temp filename in the same directory as original (for asset loading)
|
||||
std::string tempfile;
|
||||
size_t lastpath = filename.find_last_of("/\\");
|
||||
if( lastpath==std::string::npos )
|
||||
tempfile = "_tempfile_.xml";
|
||||
else
|
||||
tempfile = filename.substr(0, lastpath+1) + "_tempfile_.xml";
|
||||
|
||||
// save
|
||||
if( !mj_saveLastXML(tempfile.c_str(), m, error, 1000) )
|
||||
return finish(error, m, d);
|
||||
|
||||
// load back
|
||||
mjModel* mtemp = mj_loadXML(tempfile.c_str(), 0, error, 100);
|
||||
if( !mtemp )
|
||||
return finish(error, m, d);
|
||||
|
||||
// compare
|
||||
char field[500] = "";
|
||||
mjtNum result = compareModel(m, mtemp, field);
|
||||
printf("\nComparison of original and saved model\n");
|
||||
printf(" Max difference : %.3g\n", result);
|
||||
printf(" Field name : %s\n", field);
|
||||
|
||||
// delete temp model and file
|
||||
mj_deleteModel(mtemp);
|
||||
remove(tempfile.c_str());
|
||||
|
||||
// finalize
|
||||
return finish();
|
||||
}
|
||||
Reference in New Issue
Block a user