Add sleep related data structures
PiperOrigin-RevId: 829055431 Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
3080e3424f
commit
252a0d73df
@@ -950,7 +950,7 @@ Euler integrator, semi-implicit in velocity.
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self.assertEqual(mujoco.mjtEnableBit.mjENBL_OVERRIDE, 1 << 0)
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self.assertEqual(mujoco.mjtEnableBit.mjENBL_ENERGY, 1 << 1)
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self.assertEqual(mujoco.mjtEnableBit.mjENBL_FWDINV, 1 << 2)
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self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 5)
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self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 6)
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self.assertEqual(mujoco.mjtGeom.mjGEOM_PLANE, 0)
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self.assertEqual(mujoco.mjtGeom.mjGEOM_HFIELD, 1)
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self.assertEqual(mujoco.mjtGeom.mjGEOM_SPHERE, 2)
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@@ -59,7 +59,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
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('mjENBL_FWDINV', 4),
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('mjENBL_INVDISCRETE', 8),
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('mjENBL_MULTICCD', 16),
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('mjNENABLE', 5),
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('mjENBL_SLEEP', 32),
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('mjNENABLE', 6),
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]),
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)),
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('mjtJoint',
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@@ -418,6 +419,19 @@ ENUMS: Mapping[str, EnumDecl] = dict([
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('mjSAMEFRAME_INERTIAROT', 4),
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]),
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)),
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('mjtSleepPolicy',
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EnumDecl(
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name='mjtSleepPolicy',
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declname='enum mjtSleepPolicy_',
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values=dict([
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('mjSLEEP_AUTO', 0),
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('mjSLEEP_AUTO_NEVER', 1),
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('mjSLEEP_AUTO_ALLOWED', 2),
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('mjSLEEP_NEVER', 3),
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('mjSLEEP_ALLOWED', 4),
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('mjSLEEP_INIT', 5),
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]),
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)),
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('mjtLRMode',
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EnumDecl(
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name='mjtLRMode',
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@@ -553,6 +567,16 @@ ENUMS: Mapping[str, EnumDecl] = dict([
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('mjNTIMER', 15),
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]),
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)),
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('mjtSleepState',
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EnumDecl(
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name='mjtSleepState',
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declname='enum mjtSleepState_',
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values=dict([
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('mjS_STATIC', -1),
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('mjS_ASLEEP', 0),
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('mjS_AWAKE', 1),
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]),
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)),
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('mjtGeomInertia',
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EnumDecl(
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name='mjtGeomInertia',
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@@ -43,7 +43,8 @@ class EnumsTest(absltest.TestCase):
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('mjENBL_FWDINV', 1<<2),
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('mjENBL_INVDISCRETE', 1<<3),
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('mjENBL_MULTICCD', 1<<4),
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('mjNENABLE', 5)))
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('mjENBL_SLEEP', 1<<5),
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('mjNENABLE', 6)))
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# values mostly increment by one with occasional overrides
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def test_mjtGeom(self): # pylint: disable=invalid-name
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@@ -148,6 +148,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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type=ValueType(name='mjtNum'),
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doc='convex collision solver tolerance',
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),
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StructFieldDecl(
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name='sleep_tolerance',
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type=ValueType(name='mjtNum'),
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doc='sleep velocity tolerance',
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),
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StructFieldDecl(
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name='gravity',
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type=ArrayType(
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@@ -1846,6 +1851,54 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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doc='diag. inertia in qpos0',
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array_extent=('nv',),
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),
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StructFieldDecl(
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name='dof_length',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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doc='linear: 1; angular: approx. length scale',
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array_extent=('nv',),
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),
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StructFieldDecl(
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name='tree_bodyadr',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='start addr of bodies',
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array_extent=('ntree',),
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),
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StructFieldDecl(
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name='tree_bodynum',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='number of bodies in tree',
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array_extent=('ntree',),
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),
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StructFieldDecl(
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name='tree_dofadr',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='start addr of dofs',
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array_extent=('ntree',),
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),
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StructFieldDecl(
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name='tree_dofnum',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='number of dofs in tree',
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array_extent=('ntree',),
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),
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StructFieldDecl(
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name='tree_sleep_policy',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='sleep policy (mjtSleepPolicy)',
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array_extent=('ntree',),
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),
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StructFieldDecl(
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name='geom_type',
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type=PointerType(
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@@ -3742,6 +3795,22 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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doc='group for visibility',
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array_extent=('ntendon',),
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),
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StructFieldDecl(
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name='tendon_treenum',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc="number of trees along tendon's path",
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array_extent=('ntendon',),
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),
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StructFieldDecl(
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name='tendon_treeid',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc="first two trees along tendon's path",
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array_extent=('ntendon', 2),
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),
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StructFieldDecl(
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name='tendon_limited',
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type=PointerType(
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@@ -5136,6 +5205,26 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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type=ValueType(name='int'),
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doc='number of dofs in all islands',
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),
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StructFieldDecl(
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name='ntree_awake',
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type=ValueType(name='int'),
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doc='number of awake trees',
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),
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StructFieldDecl(
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name='nbody_awake',
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type=ValueType(name='int'),
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doc='number of awake dynamic and static bodies',
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),
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StructFieldDecl(
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name='nparent_awake',
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type=ValueType(name='int'),
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doc='number of bodies with awake parents',
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),
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StructFieldDecl(
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name='nv_awake',
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type=ValueType(name='int'),
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doc='number of awake dofs',
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),
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StructFieldDecl(
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name='time',
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type=ValueType(name='mjtNum'),
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@@ -5283,6 +5372,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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doc='sensor data array',
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array_extent=('nsensordata',),
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),
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StructFieldDecl(
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name='tree_asleep',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='<0: awake; >=0: index cycle of sleeping trees',
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array_extent=('ntree',),
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),
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StructFieldDecl(
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name='plugin',
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type=PointerType(
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@@ -5667,6 +5764,46 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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doc='was bounding volume checked for collision',
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array_extent=('nbvh',),
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),
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StructFieldDecl(
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name='tree_awake',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='is tree awake; 0: asleep; 1: awake',
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array_extent=('ntree',),
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),
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StructFieldDecl(
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name='body_awake',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='body sleep state (mjtSleepState)',
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array_extent=('nbody',),
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),
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StructFieldDecl(
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name='body_awake_ind',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='indices of awake and static bodies',
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array_extent=('nbody',),
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),
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StructFieldDecl(
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name='parent_awake_ind',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='indices of bodies with awake or static parents',
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array_extent=('nbody',),
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),
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StructFieldDecl(
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name='dof_awake_ind',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='indices of awake dofs',
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array_extent=('nv',),
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),
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StructFieldDecl(
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name='flexedge_velocity',
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type=PointerType(
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@@ -6003,6 +6140,38 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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doc='first efc address involving tendon; -1: none',
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array_extent=('ntendon',),
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),
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StructFieldDecl(
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name='tree_island',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='island id of this tree; -1: none',
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array_extent=('ntree',),
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),
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StructFieldDecl(
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name='island_ntree',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='number of trees in this island',
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array_extent=('nisland',),
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),
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StructFieldDecl(
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name='island_itreeadr',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='island start address in itree vector',
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array_extent=('nisland',),
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),
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StructFieldDecl(
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name='map_itree2tree',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='map from itree to tree',
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array_extent=('ntree',),
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),
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StructFieldDecl(
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name='dof_island',
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type=PointerType(
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@@ -6815,6 +6984,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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type=ValueType(name='double'),
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doc='gravity compensation',
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),
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StructFieldDecl(
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name='sleep',
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type=ValueType(name='mjtSleepPolicy'),
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doc='sleep policy',
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),
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StructFieldDecl(
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name='userdata',
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type=PointerType(
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