Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
PiperOrigin-RevId: 919020039 Change-Id: I441295c0baa0b7456f78239fbd5478d32ffc07c1
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
ad96acfb16
commit
2810edd27a
+1
-1
@@ -117,7 +117,7 @@ set(MUJOCO_HEADERS
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include/mujoco/mjsan.h
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include/mujoco/mjspec.h
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include/mujoco/mjthread.h
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include/mujoco/mjtnum.h
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include/mujoco/mjtype.h
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include/mujoco/mjui.h
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include/mujoco/mjvisualize.h
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include/mujoco/mjxmacro.h
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@@ -415,7 +415,7 @@ indicated otherwise.
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- 1E-15
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- The minimal value allowed in any denominator, and in general any mathematical operation where 0 is not allowed.
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In almost all cases, MuJoCo silently clamps smaller values to mjMINVAL.
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Defined in `mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`_.
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Defined in `mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>`_.
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* - ``mjPI``
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- :math:`\pi`
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- The value of :math:`\pi`. This is used in various trigonometric functions, and also for conversion from degrees
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@@ -46,7 +46,7 @@ MuJoCo defines a large number of types:
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Primitive types
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---------------
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The two types below are defined in `mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`__.
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The three types below are defined in `mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>`__.
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.. _mjtNum:
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@@ -63,7 +63,7 @@ double-precision version will always be available. Thus it is safe to write user
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However, our preference is to write code that works with either single or double precision. To this end we provide math
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utility functions that are always defined with the correct floating-point type.
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Note that changing ``mjUSESINGLE`` in ``mjtnum.h`` will not change how the library was compiled, and instead will
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Note that changing ``mjUSESINGLE`` in ``mjtype.h`` will not change how the library was compiled, and instead will
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result in numerous link errors. In general, the header files distributed with precompiled MuJoCo should never be
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changed by the user.
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+5
-1
@@ -73,6 +73,10 @@ General
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- The :ref:`mjfCollision` functions now populate the :ref:`mjPreContact` struct instead of the :ref:`mjContact`
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struct. The :ref:`mjPreContact` only contains the necessary fields needed for the narrowphase collision detection.
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- The header file ``mjtnum.h`` was renamed to
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`mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>` and now includes all
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enum type definitions.
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- MJX: Removed the deprecated ``nconmax`` argument from ``mjx.make_data`` and ``mjx.put_data`` in favor of
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``naconmax``.
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@@ -1194,7 +1198,7 @@ General
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10. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
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11. Added support for ``ball`` joints in the URDF parser ("spherical" in URDF).
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12. Replaced ``mjUSEDOUBLE`` which was previously hard-coded in
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`mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`__
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`mjtnum.h <https://github.com/google-deepmind/mujoco/blob/3577e2cf8bf841475b489aefff52276a39f24d51/include/mjtnum.h>`__
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with the build-time flag ``mjUSESINGLE``. If this symbol is not defined, MuJoCo will use double-precision floating
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point, as usual. If ``mjUSESINGLE`` is defined, MuJoCo will use single-precision floating point. See :ref:`mjtNum`.
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+448
-448
@@ -16,91 +16,6 @@
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// Error: C reference not found
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// NOLINTBEGIN
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typedef enum mjtState_ { // state elements
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mjSTATE_TIME = 1<<0, // time
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mjSTATE_QPOS = 1<<1, // position
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mjSTATE_QVEL = 1<<2, // velocity
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mjSTATE_ACT = 1<<3, // actuator activation
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mjSTATE_HISTORY = 1<<4, // history buffers (control, sensor)
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mjSTATE_WARMSTART = 1<<5, // acceleration used for warmstart
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mjSTATE_CTRL = 1<<6, // control
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mjSTATE_QFRC_APPLIED = 1<<7, // applied generalized force
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mjSTATE_XFRC_APPLIED = 1<<8, // applied Cartesian force/torque
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mjSTATE_EQ_ACTIVE = 1<<9, // enable/disable constraints
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mjSTATE_MOCAP_POS = 1<<10, // positions of mocap bodies
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mjSTATE_MOCAP_QUAT = 1<<11, // orientations of mocap bodies
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mjSTATE_USERDATA = 1<<12, // user data
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mjSTATE_PLUGIN = 1<<13, // plugin state
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mjNSTATE = 14, // number of state elements
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// convenience values for commonly used state specifications
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mjSTATE_PHYSICS = mjSTATE_QPOS | mjSTATE_QVEL | mjSTATE_ACT | mjSTATE_HISTORY,
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mjSTATE_FULLPHYSICS = mjSTATE_TIME | mjSTATE_PHYSICS | mjSTATE_PLUGIN,
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mjSTATE_USER = mjSTATE_CTRL | mjSTATE_QFRC_APPLIED | mjSTATE_XFRC_APPLIED |
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mjSTATE_EQ_ACTIVE | mjSTATE_MOCAP_POS | mjSTATE_MOCAP_QUAT |
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mjSTATE_USERDATA,
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mjSTATE_INTEGRATION = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
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} mjtState;
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typedef enum mjtConstraint_ { // type of constraint
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mjCNSTR_EQUALITY = 0, // equality constraint
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mjCNSTR_FRICTION_DOF, // dof friction
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mjCNSTR_FRICTION_TENDON, // tendon friction
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mjCNSTR_LIMIT_JOINT, // joint limit
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mjCNSTR_LIMIT_TENDON, // tendon limit
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mjCNSTR_CONTACT_FRICTIONLESS, // frictionless contact
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mjCNSTR_CONTACT_PYRAMIDAL, // frictional contact, pyramidal friction cone
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mjCNSTR_CONTACT_ELLIPTIC // frictional contact, elliptic friction cone
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} mjtConstraint;
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typedef enum mjtConstraintState_ { // constraint state
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mjCNSTRSTATE_SATISFIED = 0, // constraint satisfied, zero cost (limit, contact)
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mjCNSTRSTATE_QUADRATIC, // quadratic cost (equality, friction, limit, contact)
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mjCNSTRSTATE_LINEARNEG, // linear cost, negative side (friction)
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mjCNSTRSTATE_LINEARPOS, // linear cost, positive side (friction)
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mjCNSTRSTATE_CONE // squared distance to cone cost (elliptic contact)
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} mjtConstraintState;
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typedef enum mjtWarning_ { // warning types
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mjWARN_INERTIA = 0, // (near) singular inertia matrix
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mjWARN_CONTACTFULL, // too many contacts in contact list
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mjWARN_CNSTRFULL, // too many constraints
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mjWARN_BADQPOS, // bad number in qpos
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mjWARN_BADQVEL, // bad number in qvel
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mjWARN_BADQACC, // bad number in qacc
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mjWARN_BADCTRL, // bad number in ctrl
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mjNWARNING // number of warnings
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} mjtWarning;
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typedef enum mjtTimer_ { // internal timers
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// main api
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mjTIMER_STEP = 0, // step
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mjTIMER_FORWARD, // forward
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mjTIMER_INVERSE, // inverse
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// breakdown of step/forward
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mjTIMER_POSITION, // fwdPosition
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mjTIMER_VELOCITY, // fwdVelocity
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mjTIMER_ACTUATION, // fwdActuation
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mjTIMER_CONSTRAINT, // fwdConstraint
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mjTIMER_ADVANCE, // mj_Euler, mj_implicit
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// breakdown of fwdPosition
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mjTIMER_POS_KINEMATICS, // kinematics, com, tendon, transmission
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mjTIMER_POS_INERTIA, // inertia computations
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mjTIMER_POS_COLLISION, // collision detection
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mjTIMER_POS_MAKE, // make constraints
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mjTIMER_POS_PROJECT, // project constraints
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// breakdown of mj_collision
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mjTIMER_COL_BROAD, // broadphase
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mjTIMER_COL_NARROW, // narrowphase
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mjNTIMER // number of timers
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} mjtTimer;
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typedef enum mjtSleepState_ { // sleep state of an object
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mjS_STATIC = -1, // object is static
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mjS_ASLEEP = 0, // object is asleep
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mjS_AWAKE = 1 // object is awake
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} mjtSleepState;
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struct mjPreContact_ { // contact parameters set by narrowphase collision functions
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mjtNum dist;
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mjtNum pos[3];
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@@ -486,369 +401,6 @@ struct mjData_ {
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uint64_t signature; // also held by the mjSpec that compiled the model
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};
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typedef struct mjData_ mjData;
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typedef enum mjtDisableBit_ { // disable default feature bitflags
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mjDSBL_CONSTRAINT = 1<<0, // entire constraint solver
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mjDSBL_EQUALITY = 1<<1, // equality constraints
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mjDSBL_FRICTIONLOSS = 1<<2, // joint and tendon frictionloss constraints
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mjDSBL_LIMIT = 1<<3, // joint and tendon limit constraints
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mjDSBL_CONTACT = 1<<4, // contact constraints
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mjDSBL_SPRING = 1<<5, // passive spring forces
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mjDSBL_DAMPER = 1<<6, // passive damping forces
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mjDSBL_GRAVITY = 1<<7, // gravitational forces
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mjDSBL_CLAMPCTRL = 1<<8, // clamp control to specified range
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mjDSBL_WARMSTART = 1<<9, // warmstart constraint solver
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mjDSBL_FILTERPARENT = 1<<10, // remove collisions with parent body
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mjDSBL_ACTUATION = 1<<11, // apply actuation forces
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mjDSBL_REFSAFE = 1<<12, // integrator safety: make ref[0]>=2*timestep
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mjDSBL_SENSOR = 1<<13, // sensors
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mjDSBL_MIDPHASE = 1<<14, // mid-phase collision filtering
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mjDSBL_EULERDAMP = 1<<15, // implicit integration of joint damping in Euler integrator
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mjDSBL_AUTORESET = 1<<16, // automatic reset when numerical issues are detected
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mjDSBL_NATIVECCD = 1<<17, // native convex collision detection
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mjDSBL_ISLAND = 1<<18, // constraint island discovery
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mjDSBL_MULTICCD = 1<<19, // multiple CCD contact points
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mjNDISABLE = 20 // number of disable flags
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} mjtDisableBit;
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typedef enum mjtEnableBit_ { // enable optional feature bitflags
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mjENBL_OVERRIDE = 1<<0, // override contact parameters
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mjENBL_ENERGY = 1<<1, // energy computation
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mjENBL_FWDINV = 1<<2, // record solver statistics
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mjENBL_INVDISCRETE = 1<<3, // discrete-time inverse dynamics
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mjENBL_SLEEP = 1<<4, // sleeping
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mjENBL_DIAGEXACT = 1<<5, // exact diagonal of constraint inertia
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mjNENABLE = 6 // number of enable flags
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} mjtEnableBit;
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typedef enum mjtJoint_ { // type of degree of freedom
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mjJNT_FREE = 0, // global position and orientation (quat) (7)
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mjJNT_BALL, // orientation (quat) relative to parent (4)
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mjJNT_SLIDE, // sliding distance along body-fixed axis (1)
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mjJNT_HINGE // rotation angle (rad) around body-fixed axis (1)
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} mjtJoint;
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typedef enum mjtGeom_ { // type of geometric shape
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// regular geom types
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mjGEOM_PLANE = 0, // plane
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mjGEOM_HFIELD, // height field
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mjGEOM_SPHERE, // sphere
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mjGEOM_CAPSULE, // capsule
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mjGEOM_ELLIPSOID, // ellipsoid
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mjGEOM_CYLINDER, // cylinder
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mjGEOM_BOX, // box
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mjGEOM_MESH, // mesh
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mjGEOM_SDF, // signed distance field
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mjNGEOMTYPES, // number of regular geom types
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// rendering-only geom types: not used in mjModel, not counted in mjNGEOMTYPES
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mjGEOM_ARROW = 100, // arrow
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mjGEOM_ARROW1, // arrow without wedges
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mjGEOM_ARROW2, // arrow in both directions
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mjGEOM_LINE, // line
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mjGEOM_LINEBOX, // box with line edges
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mjGEOM_FLEX, // flex
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mjGEOM_SKIN, // skin
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mjGEOM_LABEL, // text label
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mjGEOM_TRIANGLE, // triangle
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mjGEOM_NONE = 1001 // missing geom type
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} mjtGeom;
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typedef enum mjtProjection_ { // type of camera projection
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mjPROJ_PERSPECTIVE = 0, // perspective
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mjPROJ_ORTHOGRAPHIC // orthographic
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} mjtProjection;
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typedef enum mjtCamLight_ { // tracking mode for camera and light
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mjCAMLIGHT_FIXED = 0, // pos and rot fixed in body
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mjCAMLIGHT_TRACK, // pos tracks body, rot fixed in global
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mjCAMLIGHT_TRACKCOM, // pos tracks subtree com, rot fixed in body
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mjCAMLIGHT_TARGETBODY, // pos fixed in body, rot tracks target body
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mjCAMLIGHT_TARGETBODYCOM // pos fixed in body, rot tracks target subtree com
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} mjtCamLight;
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typedef enum mjtLightType_ { // type of light
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mjLIGHT_SPOT = 0, // spot
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mjLIGHT_DIRECTIONAL, // directional
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mjLIGHT_POINT, // point
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mjLIGHT_IMAGE, // image-based
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} mjtLightType;
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typedef enum mjtTexture_ { // type of texture
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mjTEXTURE_2D = 0, // 2d texture, suitable for planes and hfields
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mjTEXTURE_CUBE, // cube texture, suitable for all other geom types
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mjTEXTURE_SKYBOX // cube texture used as skybox
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} mjtTexture;
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typedef enum mjtTextureRole_ { // role of texture map in rendering
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mjTEXROLE_USER = 0, // unspecified
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mjTEXROLE_RGB, // base color (albedo)
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mjTEXROLE_OCCLUSION, // ambient occlusion
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mjTEXROLE_ROUGHNESS, // roughness
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mjTEXROLE_METALLIC, // metallic
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mjTEXROLE_NORMAL, // normal (bump) map
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mjTEXROLE_OPACITY, // opacity
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mjTEXROLE_EMISSIVE, // light emission
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mjTEXROLE_RGBA, // base color, opacity
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mjTEXROLE_ORM, // occlusion, roughness, metallic
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mjNTEXROLE
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} mjtTextureRole;
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typedef enum mjtColorSpace_ { // type of color space encoding
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mjCOLORSPACE_AUTO = 0, // attempts to autodetect color space, defaults to linear
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mjCOLORSPACE_LINEAR, // linear color space
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mjCOLORSPACE_SRGB // standard RGB color space
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} mjtColorSpace;
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typedef enum mjtIntegrator_ { // integrator mode
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mjINT_EULER = 0, // semi-implicit Euler
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mjINT_RK4, // 4th-order Runge Kutta
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mjINT_IMPLICIT, // implicit in velocity
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mjINT_IMPLICITFAST // implicit in velocity, no rne derivative
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} mjtIntegrator;
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typedef enum mjtCone_ { // type of friction cone
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mjCONE_PYRAMIDAL = 0, // pyramidal
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mjCONE_ELLIPTIC // elliptic
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} mjtCone;
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typedef enum mjtJacobian_ { // type of constraint Jacobian
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mjJAC_DENSE = 0, // dense
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mjJAC_SPARSE, // sparse
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mjJAC_AUTO // dense if nv<60, sparse otherwise
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} mjtJacobian;
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typedef enum mjtSolver_ { // constraint solver algorithm
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mjSOL_PGS = 0, // PGS (dual)
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mjSOL_CG, // CG (primal)
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mjSOL_NEWTON // Newton (primal)
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} mjtSolver;
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typedef enum mjtEq_ { // type of equality constraint
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mjEQ_CONNECT = 0, // connect two bodies at a point (ball joint)
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mjEQ_WELD, // fix relative position and orientation of two bodies
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mjEQ_JOINT, // couple the values of two scalar joints with cubic
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mjEQ_TENDON, // couple the lengths of two tendons with cubic
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mjEQ_FLEX, // fix all edge lengths of a flex
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mjEQ_FLEXVERT, // fix all vertex lengths of a flex
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mjEQ_FLEXSTRAIN, // constrain strain of a trilinear/quadratic flex (B-bar)
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mjEQ_DISTANCE // unsupported, will cause an error if used
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} mjtEq;
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typedef enum mjtWrap_ { // type of tendon wrap object
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mjWRAP_NONE = 0, // null object
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mjWRAP_JOINT, // constant moment arm
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mjWRAP_PULLEY, // pulley used to split tendon
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mjWRAP_SITE, // pass through site
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mjWRAP_SPHERE, // wrap around sphere
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mjWRAP_CYLINDER // wrap around (infinite) cylinder
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} mjtWrap;
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typedef enum mjtTrn_ { // type of actuator transmission
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mjTRN_JOINT = 0, // force on joint
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mjTRN_JOINTINPARENT, // force on joint, expressed in parent frame
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mjTRN_SLIDERCRANK, // force via slider-crank linkage
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mjTRN_TENDON, // force on tendon
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mjTRN_SITE, // force on site
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mjTRN_BODY, // adhesion force on a body's geoms
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mjTRN_UNDEFINED = 1000 // undefined transmission type
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} mjtTrn;
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typedef enum mjtDyn_ { // type of actuator dynamics
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mjDYN_NONE = 0, // no internal dynamics; ctrl specifies force
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mjDYN_INTEGRATOR, // integrator: da/dt = u
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mjDYN_FILTER, // linear filter: da/dt = (u-a) / tau
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mjDYN_FILTEREXACT, // linear filter: da/dt = (u-a) / tau, with exact integration
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mjDYN_MUSCLE, // piecewise linear filter with two time constants
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mjDYN_DCMOTOR, // DC motor electrical dynamics
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mjDYN_USER // user-defined dynamics type
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} mjtDyn;
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typedef enum mjtGain_ { // type of actuator gain
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mjGAIN_FIXED = 0, // fixed gain
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mjGAIN_AFFINE, // const + kp*length + kv*velocity
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mjGAIN_MUSCLE, // muscle FLV curve computed by mju_muscleGain()
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mjGAIN_DCMOTOR, // DC motor gain: K or K/R
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mjGAIN_USER // user-defined gain type
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} mjtGain;
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typedef enum mjtBias_ { // type of actuator bias
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mjBIAS_NONE = 0, // no bias
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mjBIAS_AFFINE, // const + kp*length + kv*velocity
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mjBIAS_MUSCLE, // muscle passive force computed by mju_muscleBias()
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mjBIAS_DCMOTOR, // DC motor bias: back-EMF, cogging, LuGre friction
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mjBIAS_USER // user-defined bias type
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} mjtBias;
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typedef enum mjtObj_ { // type of MujoCo object
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mjOBJ_UNKNOWN = 0, // unknown object type
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mjOBJ_BODY, // body
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mjOBJ_XBODY, // body, used to access regular frame instead of i-frame
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mjOBJ_JOINT, // joint
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mjOBJ_DOF, // dof
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mjOBJ_GEOM, // geom
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mjOBJ_SITE, // site
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mjOBJ_CAMERA, // camera
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mjOBJ_LIGHT, // light
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mjOBJ_FLEX, // flex
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mjOBJ_MESH, // mesh
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mjOBJ_SKIN, // skin
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mjOBJ_HFIELD, // heightfield
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mjOBJ_TEXTURE, // texture
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mjOBJ_MATERIAL, // material for rendering
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mjOBJ_PAIR, // geom pair to include
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mjOBJ_EXCLUDE, // body pair to exclude
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mjOBJ_EQUALITY, // equality constraint
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mjOBJ_TENDON, // tendon
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mjOBJ_ACTUATOR, // actuator
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mjOBJ_SENSOR, // sensor
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mjOBJ_NUMERIC, // numeric
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mjOBJ_TEXT, // text
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mjOBJ_TUPLE, // tuple
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mjOBJ_KEY, // keyframe
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mjOBJ_PLUGIN, // plugin instance
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mjNOBJECT, // number of object types
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// meta elements, do not appear in mjModel
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mjOBJ_FRAME = 100, // frame
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mjOBJ_DEFAULT, // default
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mjOBJ_MODEL // entire model
|
||||
} mjtObj;
|
||||
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 along z-axis
|
||||
mjSENS_CAMPROJECTION, // pixel coordinates of a site in the camera image
|
||||
|
||||
// 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
|
||||
mjSENS_JOINTACTFRC, // scalar actuator force, measured at the joint
|
||||
mjSENS_TENDONACTFRC, // scalar actuator force, measured at the tendon
|
||||
|
||||
// sensors related to ball joints
|
||||
mjSENS_BALLQUAT, // 4D ball joint quaternion
|
||||
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
|
||||
|
||||
// sensors of geometric relationships
|
||||
mjSENS_INSIDESITE, // 1 if object is inside a site, 0 otherwise
|
||||
mjSENS_GEOMDIST, // signed distance between two geoms
|
||||
mjSENS_GEOMNORMAL, // normal direction between two geoms
|
||||
mjSENS_GEOMFROMTO, // segment between two geoms
|
||||
|
||||
// sensors for reporting contacts which occurred during the simulation
|
||||
mjSENS_CONTACT, // contacts which occurred during the simulation
|
||||
|
||||
// global sensors
|
||||
mjSENS_E_POTENTIAL, // potential energy
|
||||
mjSENS_E_KINETIC, // kinetic energy
|
||||
mjSENS_CLOCK, // simulation time
|
||||
|
||||
// sensors related to SDFs
|
||||
mjSENS_TACTILE, // tactile sensor
|
||||
|
||||
// plugin-controlled sensors
|
||||
mjSENS_PLUGIN, // plugin-controlled
|
||||
|
||||
// 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 mjtConDataField_ { // data fields returned by contact sensors
|
||||
mjCONDATA_FOUND = 0, // whether a contact was found
|
||||
mjCONDATA_FORCE, // contact force
|
||||
mjCONDATA_TORQUE, // contact torque
|
||||
mjCONDATA_DIST, // contact penetration distance
|
||||
mjCONDATA_POS, // contact position
|
||||
mjCONDATA_NORMAL, // contact frame normal
|
||||
mjCONDATA_TANGENT, // contact frame first tangent
|
||||
|
||||
mjNCONDATA // number of contact sensor data fields
|
||||
} mjtConDataField;
|
||||
typedef enum mjtRayDataField_ { // data fields returned by rangefinder sensors
|
||||
mjRAYDATA_DIST = 0, // distance from ray origin to nearest surface
|
||||
mjRAYDATA_DIR, // normalized ray direction
|
||||
mjRAYDATA_ORIGIN, // ray origin
|
||||
mjRAYDATA_POINT, // point at which ray intersects nearest surface
|
||||
mjRAYDATA_NORMAL, // surface normal at intersection point
|
||||
mjRAYDATA_DEPTH, // depth along z-axis
|
||||
|
||||
mjNRAYDATA // number of rangefinder sensor data fields
|
||||
} mjtRayDataField;
|
||||
typedef enum mjtCamOutBit_ { // camera output type bitflags
|
||||
mjCAMOUT_RGB = 1<<0, // RGB image
|
||||
mjCAMOUT_DEPTH = 1<<1, // depth image (distance from camera plane)
|
||||
mjCAMOUT_DIST = 1<<2, // distance image (distance from camera origin)
|
||||
mjCAMOUT_NORMAL = 1<<3, // normal image
|
||||
mjCAMOUT_SEG = 1<<4, // segmentation image
|
||||
|
||||
mjNCAMOUT = 5 // number of camera output types
|
||||
} mjtCamOutBit;
|
||||
typedef enum mjtSameFrame_ { // frame alignment of bodies with their children
|
||||
mjSAMEFRAME_NONE = 0, // no alignment
|
||||
mjSAMEFRAME_BODY, // frame is same as body frame
|
||||
mjSAMEFRAME_INERTIA, // frame is same as inertial frame
|
||||
mjSAMEFRAME_BODYROT, // frame orientation is same as body orientation
|
||||
mjSAMEFRAME_INERTIAROT // frame orientation is same as inertia orientation
|
||||
} mjtSameFrame;
|
||||
typedef enum mjtSleepPolicy_ { // per-tree sleep policy
|
||||
mjSLEEP_AUTO = 0, // compiler chooses sleep policy
|
||||
mjSLEEP_AUTO_NEVER, // compiler sleep policy: never
|
||||
mjSLEEP_AUTO_ALLOWED, // compiler sleep policy: allowed
|
||||
mjSLEEP_NEVER, // user sleep policy: never
|
||||
mjSLEEP_ALLOWED, // user sleep policy: allowed
|
||||
mjSLEEP_INIT, // user sleep policy: initialized asleep
|
||||
} mjtSleepPolicy;
|
||||
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;
|
||||
typedef enum mjtFlexSelf_ { // mode for flex selfcollide
|
||||
mjFLEXSELF_NONE = 0, // no self-collisions
|
||||
mjFLEXSELF_NARROW, // skip midphase, go directly to narrowphase
|
||||
mjFLEXSELF_BVH, // use BVH in midphase (if midphase enabled)
|
||||
mjFLEXSELF_SAP, // use SAP in midphase
|
||||
mjFLEXSELF_AUTO // choose between BVH and SAP automatically
|
||||
} mjtFlexSelf;
|
||||
typedef enum mjtSDFType_ { // signed distance function (SDF) type
|
||||
mjSDFTYPE_SINGLE = 0, // single SDF
|
||||
mjSDFTYPE_INTERSECTION, // max(A, B)
|
||||
mjSDFTYPE_MIDSURFACE, // A - B
|
||||
mjSDFTYPE_COLLISION, // A + B + abs(max(A, B))
|
||||
} mjtSDFType;
|
||||
struct mjLROpt_ { // options for mj_setLengthRange()
|
||||
// flags
|
||||
int mode; // which actuators to process (mjtLRMode)
|
||||
@@ -2609,6 +2161,454 @@ struct mjTask_ { // a task that can be executed by a thread pool.
|
||||
volatile int status; // status of the task
|
||||
};
|
||||
typedef struct mjTask_ mjTask;
|
||||
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_SPRING = 1<<5, // passive spring forces
|
||||
mjDSBL_DAMPER = 1<<6, // passive damping forces
|
||||
mjDSBL_GRAVITY = 1<<7, // gravitational forces
|
||||
mjDSBL_CLAMPCTRL = 1<<8, // clamp control to specified range
|
||||
mjDSBL_WARMSTART = 1<<9, // warmstart constraint solver
|
||||
mjDSBL_FILTERPARENT = 1<<10, // remove collisions with parent body
|
||||
mjDSBL_ACTUATION = 1<<11, // apply actuation forces
|
||||
mjDSBL_REFSAFE = 1<<12, // integrator safety: make ref[0]>=2*timestep
|
||||
mjDSBL_SENSOR = 1<<13, // sensors
|
||||
mjDSBL_MIDPHASE = 1<<14, // mid-phase collision filtering
|
||||
mjDSBL_EULERDAMP = 1<<15, // implicit integration of joint damping in Euler integrator
|
||||
mjDSBL_AUTORESET = 1<<16, // automatic reset when numerical issues are detected
|
||||
mjDSBL_NATIVECCD = 1<<17, // native convex collision detection
|
||||
mjDSBL_ISLAND = 1<<18, // constraint island discovery
|
||||
mjDSBL_MULTICCD = 1<<19, // multiple CCD contact points
|
||||
|
||||
mjNDISABLE = 20 // 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_INVDISCRETE = 1<<3, // discrete-time inverse dynamics
|
||||
mjENBL_SLEEP = 1<<4, // sleeping
|
||||
mjENBL_DIAGEXACT = 1<<5, // exact diagonal of constraint inertia
|
||||
|
||||
mjNENABLE = 6 // 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
|
||||
mjGEOM_SDF, // signed distance field
|
||||
|
||||
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_LINEBOX, // box with line edges
|
||||
mjGEOM_FLEX, // flex
|
||||
mjGEOM_SKIN, // skin
|
||||
mjGEOM_LABEL, // text label
|
||||
mjGEOM_TRIANGLE, // triangle
|
||||
|
||||
mjGEOM_NONE = 1001 // missing geom type
|
||||
} mjtGeom;
|
||||
typedef enum mjtProjection_ { // type of camera projection
|
||||
mjPROJ_PERSPECTIVE = 0, // perspective
|
||||
mjPROJ_ORTHOGRAPHIC // orthographic
|
||||
} mjtProjection;
|
||||
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 mjtLightType_ { // type of light
|
||||
mjLIGHT_SPOT = 0, // spot
|
||||
mjLIGHT_DIRECTIONAL, // directional
|
||||
mjLIGHT_POINT, // point
|
||||
mjLIGHT_IMAGE, // image-based
|
||||
} mjtLightType;
|
||||
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 mjtTextureRole_ { // role of texture map in rendering
|
||||
mjTEXROLE_USER = 0, // unspecified
|
||||
mjTEXROLE_RGB, // base color (albedo)
|
||||
mjTEXROLE_OCCLUSION, // ambient occlusion
|
||||
mjTEXROLE_ROUGHNESS, // roughness
|
||||
mjTEXROLE_METALLIC, // metallic
|
||||
mjTEXROLE_NORMAL, // normal (bump) map
|
||||
mjTEXROLE_OPACITY, // opacity
|
||||
mjTEXROLE_EMISSIVE, // light emission
|
||||
mjTEXROLE_RGBA, // base color, opacity
|
||||
mjTEXROLE_ORM, // occlusion, roughness, metallic
|
||||
mjNTEXROLE
|
||||
} mjtTextureRole;
|
||||
typedef enum mjtColorSpace_ { // type of color space encoding
|
||||
mjCOLORSPACE_AUTO = 0, // attempts to autodetect color space, defaults to linear
|
||||
mjCOLORSPACE_LINEAR, // linear color space
|
||||
mjCOLORSPACE_SRGB // standard RGB color space
|
||||
} mjtColorSpace;
|
||||
typedef enum mjtIntegrator_ { // integrator mode
|
||||
mjINT_EULER = 0, // semi-implicit Euler
|
||||
mjINT_RK4, // 4th-order Runge Kutta
|
||||
mjINT_IMPLICIT, // implicit in velocity
|
||||
mjINT_IMPLICITFAST // implicit in velocity, no rne derivative
|
||||
} mjtIntegrator;
|
||||
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_FLEX, // fix all edge lengths of a flex
|
||||
mjEQ_FLEXVERT, // fix all vertex lengths of a flex
|
||||
mjEQ_FLEXSTRAIN, // constrain strain of a trilinear/quadratic flex (B-bar)
|
||||
mjEQ_DISTANCE // unsupported, will cause an error if used
|
||||
} 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_BODY, // adhesion force on a body's geoms
|
||||
|
||||
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_FILTEREXACT, // linear filter: da/dt = (u-a) / tau, with exact integration
|
||||
mjDYN_MUSCLE, // piecewise linear filter with two time constants
|
||||
mjDYN_DCMOTOR, // DC motor electrical dynamics
|
||||
mjDYN_USER // user-defined dynamics type
|
||||
} mjtDyn;
|
||||
typedef enum mjtGain_ { // type of actuator gain
|
||||
mjGAIN_FIXED = 0, // fixed gain
|
||||
mjGAIN_AFFINE, // const + kp*length + kv*velocity
|
||||
mjGAIN_MUSCLE, // muscle FLV curve computed by mju_muscleGain()
|
||||
mjGAIN_DCMOTOR, // DC motor gain: K or K/R
|
||||
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_DCMOTOR, // DC motor bias: back-EMF, cogging, LuGre friction
|
||||
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_FLEX, // flex
|
||||
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
|
||||
mjOBJ_PLUGIN, // plugin instance
|
||||
|
||||
mjNOBJECT, // number of object types
|
||||
|
||||
// meta elements, do not appear in mjModel
|
||||
mjOBJ_FRAME = 100, // frame
|
||||
mjOBJ_DEFAULT, // default
|
||||
mjOBJ_MODEL // entire model
|
||||
} mjtObj;
|
||||
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 along z-axis
|
||||
mjSENS_CAMPROJECTION, // pixel coordinates of a site in the camera image
|
||||
|
||||
// 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
|
||||
mjSENS_JOINTACTFRC, // scalar actuator force, measured at the joint
|
||||
mjSENS_TENDONACTFRC, // scalar actuator force, measured at the tendon
|
||||
|
||||
// sensors related to ball joints
|
||||
mjSENS_BALLQUAT, // 4D ball joint quaternion
|
||||
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
|
||||
|
||||
// sensors of geometric relationships
|
||||
mjSENS_INSIDESITE, // 1 if object is inside a site, 0 otherwise
|
||||
mjSENS_GEOMDIST, // signed distance between two geoms
|
||||
mjSENS_GEOMNORMAL, // normal direction between two geoms
|
||||
mjSENS_GEOMFROMTO, // segment between two geoms
|
||||
|
||||
// sensors for reporting contacts which occurred during the simulation
|
||||
mjSENS_CONTACT, // contacts which occurred during the simulation
|
||||
|
||||
// global sensors
|
||||
mjSENS_E_POTENTIAL, // potential energy
|
||||
mjSENS_E_KINETIC, // kinetic energy
|
||||
mjSENS_CLOCK, // simulation time
|
||||
|
||||
// sensors related to SDFs
|
||||
mjSENS_TACTILE, // tactile sensor
|
||||
|
||||
// plugin-controlled sensors
|
||||
mjSENS_PLUGIN, // plugin-controlled
|
||||
|
||||
// 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 mjtConDataField_ { // data fields returned by contact sensors
|
||||
mjCONDATA_FOUND = 0, // whether a contact was found
|
||||
mjCONDATA_FORCE, // contact force
|
||||
mjCONDATA_TORQUE, // contact torque
|
||||
mjCONDATA_DIST, // contact penetration distance
|
||||
mjCONDATA_POS, // contact position
|
||||
mjCONDATA_NORMAL, // contact frame normal
|
||||
mjCONDATA_TANGENT, // contact frame first tangent
|
||||
|
||||
mjNCONDATA // number of contact sensor data fields
|
||||
} mjtConDataField;
|
||||
typedef enum mjtRayDataField_ { // data fields returned by rangefinder sensors
|
||||
mjRAYDATA_DIST = 0, // distance from ray origin to nearest surface
|
||||
mjRAYDATA_DIR, // normalized ray direction
|
||||
mjRAYDATA_ORIGIN, // ray origin
|
||||
mjRAYDATA_POINT, // point at which ray intersects nearest surface
|
||||
mjRAYDATA_NORMAL, // surface normal at intersection point
|
||||
mjRAYDATA_DEPTH, // depth along z-axis
|
||||
|
||||
mjNRAYDATA // number of rangefinder sensor data fields
|
||||
} mjtRayDataField;
|
||||
typedef enum mjtCamOutBit_ { // camera output type bitflags
|
||||
mjCAMOUT_RGB = 1<<0, // RGB image
|
||||
mjCAMOUT_DEPTH = 1<<1, // depth image (distance from camera plane)
|
||||
mjCAMOUT_DIST = 1<<2, // distance image (distance from camera origin)
|
||||
mjCAMOUT_NORMAL = 1<<3, // normal image
|
||||
mjCAMOUT_SEG = 1<<4, // segmentation image
|
||||
|
||||
mjNCAMOUT = 5 // number of camera output types
|
||||
} mjtCamOutBit;
|
||||
typedef enum mjtSameFrame_ { // frame alignment of bodies with their children
|
||||
mjSAMEFRAME_NONE = 0, // no alignment
|
||||
mjSAMEFRAME_BODY, // frame is same as body frame
|
||||
mjSAMEFRAME_INERTIA, // frame is same as inertial frame
|
||||
mjSAMEFRAME_BODYROT, // frame orientation is same as body orientation
|
||||
mjSAMEFRAME_INERTIAROT // frame orientation is same as inertia orientation
|
||||
} mjtSameFrame;
|
||||
typedef enum mjtSleepPolicy_ { // per-tree sleep policy
|
||||
mjSLEEP_AUTO = 0, // compiler chooses sleep policy
|
||||
mjSLEEP_AUTO_NEVER, // compiler sleep policy: never
|
||||
mjSLEEP_AUTO_ALLOWED, // compiler sleep policy: allowed
|
||||
mjSLEEP_NEVER, // user sleep policy: never
|
||||
mjSLEEP_ALLOWED, // user sleep policy: allowed
|
||||
mjSLEEP_INIT, // user sleep policy: initialized asleep
|
||||
} mjtSleepPolicy;
|
||||
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;
|
||||
typedef enum mjtFlexSelf_ { // mode for flex selfcollide
|
||||
mjFLEXSELF_NONE = 0, // no self-collisions
|
||||
mjFLEXSELF_NARROW, // skip midphase, go directly to narrowphase
|
||||
mjFLEXSELF_BVH, // use BVH in midphase (if midphase enabled)
|
||||
mjFLEXSELF_SAP, // use SAP in midphase
|
||||
mjFLEXSELF_AUTO // choose between BVH and SAP automatically
|
||||
} mjtFlexSelf;
|
||||
typedef enum mjtSDFType_ { // signed distance function (SDF) type
|
||||
mjSDFTYPE_SINGLE = 0, // single SDF
|
||||
mjSDFTYPE_INTERSECTION, // max(A, B)
|
||||
mjSDFTYPE_MIDSURFACE, // A - B
|
||||
mjSDFTYPE_COLLISION, // A + B + abs(max(A, B))
|
||||
} mjtSDFType;
|
||||
typedef enum mjtState_ { // state elements
|
||||
mjSTATE_TIME = 1<<0, // time
|
||||
mjSTATE_QPOS = 1<<1, // position
|
||||
mjSTATE_QVEL = 1<<2, // velocity
|
||||
mjSTATE_ACT = 1<<3, // actuator activation
|
||||
mjSTATE_HISTORY = 1<<4, // history buffers (control, sensor)
|
||||
mjSTATE_WARMSTART = 1<<5, // acceleration used for warmstart
|
||||
mjSTATE_CTRL = 1<<6, // control
|
||||
mjSTATE_QFRC_APPLIED = 1<<7, // applied generalized force
|
||||
mjSTATE_XFRC_APPLIED = 1<<8, // applied Cartesian force/torque
|
||||
mjSTATE_EQ_ACTIVE = 1<<9, // enable/disable constraints
|
||||
mjSTATE_MOCAP_POS = 1<<10, // positions of mocap bodies
|
||||
mjSTATE_MOCAP_QUAT = 1<<11, // orientations of mocap bodies
|
||||
mjSTATE_USERDATA = 1<<12, // user data
|
||||
mjSTATE_PLUGIN = 1<<13, // plugin state
|
||||
|
||||
mjNSTATE = 14, // number of state elements
|
||||
|
||||
// convenience values for commonly used state specifications
|
||||
mjSTATE_PHYSICS = mjSTATE_QPOS | mjSTATE_QVEL | mjSTATE_ACT | mjSTATE_HISTORY,
|
||||
mjSTATE_FULLPHYSICS = mjSTATE_TIME | mjSTATE_PHYSICS | mjSTATE_PLUGIN,
|
||||
mjSTATE_USER = mjSTATE_CTRL | mjSTATE_QFRC_APPLIED | mjSTATE_XFRC_APPLIED |
|
||||
mjSTATE_EQ_ACTIVE | mjSTATE_MOCAP_POS | mjSTATE_MOCAP_QUAT |
|
||||
mjSTATE_USERDATA,
|
||||
mjSTATE_INTEGRATION = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
|
||||
} mjtState;
|
||||
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 mjtWarning_ { // warning types
|
||||
mjWARN_INERTIA = 0, // (near) singular inertia matrix
|
||||
mjWARN_CONTACTFULL, // too many contacts in contact list
|
||||
mjWARN_CNSTRFULL, // too many constraints
|
||||
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_ { // internal timers
|
||||
// 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_CONSTRAINT, // fwdConstraint
|
||||
mjTIMER_ADVANCE, // mj_Euler, mj_implicit
|
||||
|
||||
// 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
|
||||
|
||||
// breakdown of mj_collision
|
||||
mjTIMER_COL_BROAD, // broadphase
|
||||
mjTIMER_COL_NARROW, // narrowphase
|
||||
|
||||
mjNTIMER // number of timers
|
||||
} mjtTimer;
|
||||
typedef enum mjtSleepState_ { // sleep state of an object
|
||||
mjS_STATIC = -1, // object is static
|
||||
mjS_ASLEEP = 0, // object is asleep
|
||||
mjS_AWAKE = 1 // object is awake
|
||||
} mjtSleepState;
|
||||
typedef enum mjtButton_ { // mouse button
|
||||
mjBUTTON_NONE = 0, // no button
|
||||
mjBUTTON_LEFT, // left button
|
||||
|
||||
@@ -165,8 +165,9 @@ links below, to make this documentation self-contained.
|
||||
Defines the primitive types and structures needed by the OpenGL renderer.
|
||||
`mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`__
|
||||
Defines the primitive types and structures needed by the UI framework.
|
||||
`mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`__
|
||||
Defines MuJoCo's ``mjtNum`` floating-point type to be either ``double`` or ``float``. See :ref:`mjtNum`.
|
||||
`mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>`__
|
||||
Defines primitive types and enums, including the ``mjtNum`` floating-point type to be either ``double`` or ``float``
|
||||
(see :ref:`mjtNum`).
|
||||
`mjspec.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjspec.h>`__
|
||||
Defines enums and structs used for :doc:`procedural model editing <modeledit>`.
|
||||
`mjplugin.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjplugin.h>`__
|
||||
|
||||
+1
-98
@@ -18,107 +18,10 @@
|
||||
#include <stddef.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjthread.h>
|
||||
|
||||
//---------------------------------- primitive types (mjt) -----------------------------------------
|
||||
|
||||
typedef enum mjtState_ { // state elements
|
||||
mjSTATE_TIME = 1<<0, // time
|
||||
mjSTATE_QPOS = 1<<1, // position
|
||||
mjSTATE_QVEL = 1<<2, // velocity
|
||||
mjSTATE_ACT = 1<<3, // actuator activation
|
||||
mjSTATE_HISTORY = 1<<4, // history buffers (control, sensor)
|
||||
mjSTATE_WARMSTART = 1<<5, // acceleration used for warmstart
|
||||
mjSTATE_CTRL = 1<<6, // control
|
||||
mjSTATE_QFRC_APPLIED = 1<<7, // applied generalized force
|
||||
mjSTATE_XFRC_APPLIED = 1<<8, // applied Cartesian force/torque
|
||||
mjSTATE_EQ_ACTIVE = 1<<9, // enable/disable constraints
|
||||
mjSTATE_MOCAP_POS = 1<<10, // positions of mocap bodies
|
||||
mjSTATE_MOCAP_QUAT = 1<<11, // orientations of mocap bodies
|
||||
mjSTATE_USERDATA = 1<<12, // user data
|
||||
mjSTATE_PLUGIN = 1<<13, // plugin state
|
||||
|
||||
mjNSTATE = 14, // number of state elements
|
||||
|
||||
// convenience values for commonly used state specifications
|
||||
mjSTATE_PHYSICS = mjSTATE_QPOS | mjSTATE_QVEL | mjSTATE_ACT | mjSTATE_HISTORY,
|
||||
mjSTATE_FULLPHYSICS = mjSTATE_TIME | mjSTATE_PHYSICS | mjSTATE_PLUGIN,
|
||||
mjSTATE_USER = mjSTATE_CTRL | mjSTATE_QFRC_APPLIED | mjSTATE_XFRC_APPLIED |
|
||||
mjSTATE_EQ_ACTIVE | mjSTATE_MOCAP_POS | mjSTATE_MOCAP_QUAT |
|
||||
mjSTATE_USERDATA,
|
||||
mjSTATE_INTEGRATION = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
|
||||
} mjtState;
|
||||
|
||||
|
||||
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 mjtWarning_ { // warning types
|
||||
mjWARN_INERTIA = 0, // (near) singular inertia matrix
|
||||
mjWARN_CONTACTFULL, // too many contacts in contact list
|
||||
mjWARN_CNSTRFULL, // too many constraints
|
||||
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_ { // internal timers
|
||||
// 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_CONSTRAINT, // fwdConstraint
|
||||
mjTIMER_ADVANCE, // mj_Euler, mj_implicit
|
||||
|
||||
// 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
|
||||
|
||||
// breakdown of mj_collision
|
||||
mjTIMER_COL_BROAD, // broadphase
|
||||
mjTIMER_COL_NARROW, // narrowphase
|
||||
|
||||
mjNTIMER // number of timers
|
||||
} mjtTimer;
|
||||
|
||||
|
||||
typedef enum mjtSleepState_ { // sleep state of an object
|
||||
mjS_STATIC = -1, // object is static
|
||||
mjS_ASLEEP = 0, // object is asleep
|
||||
mjS_AWAKE = 1 // object is awake
|
||||
} mjtSleepState;
|
||||
|
||||
|
||||
//------------------------------------- Contact ----------------------------------------------------
|
||||
|
||||
+1
-430
@@ -18,8 +18,7 @@
|
||||
#include <stddef.h>
|
||||
#include <stdint.h>
|
||||
|
||||
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
// global constants
|
||||
#define mjPI 3.14159265358979323846
|
||||
@@ -48,434 +47,6 @@
|
||||
#define mjNISLAND 20 // number of mjData.solver arrays
|
||||
|
||||
|
||||
//---------------------------------- enum types (mjt) ----------------------------------------------
|
||||
|
||||
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_SPRING = 1<<5, // passive spring forces
|
||||
mjDSBL_DAMPER = 1<<6, // passive damping forces
|
||||
mjDSBL_GRAVITY = 1<<7, // gravitational forces
|
||||
mjDSBL_CLAMPCTRL = 1<<8, // clamp control to specified range
|
||||
mjDSBL_WARMSTART = 1<<9, // warmstart constraint solver
|
||||
mjDSBL_FILTERPARENT = 1<<10, // remove collisions with parent body
|
||||
mjDSBL_ACTUATION = 1<<11, // apply actuation forces
|
||||
mjDSBL_REFSAFE = 1<<12, // integrator safety: make ref[0]>=2*timestep
|
||||
mjDSBL_SENSOR = 1<<13, // sensors
|
||||
mjDSBL_MIDPHASE = 1<<14, // mid-phase collision filtering
|
||||
mjDSBL_EULERDAMP = 1<<15, // implicit integration of joint damping in Euler integrator
|
||||
mjDSBL_AUTORESET = 1<<16, // automatic reset when numerical issues are detected
|
||||
mjDSBL_NATIVECCD = 1<<17, // native convex collision detection
|
||||
mjDSBL_ISLAND = 1<<18, // constraint island discovery
|
||||
mjDSBL_MULTICCD = 1<<19, // multiple CCD contact points
|
||||
|
||||
mjNDISABLE = 20 // 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_INVDISCRETE = 1<<3, // discrete-time inverse dynamics
|
||||
mjENBL_SLEEP = 1<<4, // sleeping
|
||||
mjENBL_DIAGEXACT = 1<<5, // exact diagonal of constraint inertia
|
||||
|
||||
mjNENABLE = 6 // 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
|
||||
mjGEOM_SDF, // signed distance field
|
||||
|
||||
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_LINEBOX, // box with line edges
|
||||
mjGEOM_FLEX, // flex
|
||||
mjGEOM_SKIN, // skin
|
||||
mjGEOM_LABEL, // text label
|
||||
mjGEOM_TRIANGLE, // triangle
|
||||
|
||||
mjGEOM_NONE = 1001 // missing geom type
|
||||
} mjtGeom;
|
||||
|
||||
|
||||
typedef enum mjtProjection_ { // type of camera projection
|
||||
mjPROJ_PERSPECTIVE = 0, // perspective
|
||||
mjPROJ_ORTHOGRAPHIC // orthographic
|
||||
} mjtProjection;
|
||||
|
||||
|
||||
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 mjtLightType_ { // type of light
|
||||
mjLIGHT_SPOT = 0, // spot
|
||||
mjLIGHT_DIRECTIONAL, // directional
|
||||
mjLIGHT_POINT, // point
|
||||
mjLIGHT_IMAGE, // image-based
|
||||
} mjtLightType;
|
||||
|
||||
|
||||
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 mjtTextureRole_ { // role of texture map in rendering
|
||||
mjTEXROLE_USER = 0, // unspecified
|
||||
mjTEXROLE_RGB, // base color (albedo)
|
||||
mjTEXROLE_OCCLUSION, // ambient occlusion
|
||||
mjTEXROLE_ROUGHNESS, // roughness
|
||||
mjTEXROLE_METALLIC, // metallic
|
||||
mjTEXROLE_NORMAL, // normal (bump) map
|
||||
mjTEXROLE_OPACITY, // opacity
|
||||
mjTEXROLE_EMISSIVE, // light emission
|
||||
mjTEXROLE_RGBA, // base color, opacity
|
||||
mjTEXROLE_ORM, // occlusion, roughness, metallic
|
||||
mjNTEXROLE
|
||||
} mjtTextureRole;
|
||||
|
||||
|
||||
typedef enum mjtColorSpace_ { // type of color space encoding
|
||||
mjCOLORSPACE_AUTO = 0, // attempts to autodetect color space, defaults to linear
|
||||
mjCOLORSPACE_LINEAR, // linear color space
|
||||
mjCOLORSPACE_SRGB // standard RGB color space
|
||||
} mjtColorSpace;
|
||||
|
||||
|
||||
typedef enum mjtIntegrator_ { // integrator mode
|
||||
mjINT_EULER = 0, // semi-implicit Euler
|
||||
mjINT_RK4, // 4th-order Runge Kutta
|
||||
mjINT_IMPLICIT, // implicit in velocity
|
||||
mjINT_IMPLICITFAST // implicit in velocity, no rne derivative
|
||||
} mjtIntegrator;
|
||||
|
||||
|
||||
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_FLEX, // fix all edge lengths of a flex
|
||||
mjEQ_FLEXVERT, // fix all vertex lengths of a flex
|
||||
mjEQ_FLEXSTRAIN, // constrain strain of a trilinear/quadratic flex (B-bar)
|
||||
mjEQ_DISTANCE // unsupported, will cause an error if used
|
||||
} 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_BODY, // adhesion force on a body's geoms
|
||||
|
||||
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_FILTEREXACT, // linear filter: da/dt = (u-a) / tau, with exact integration
|
||||
mjDYN_MUSCLE, // piecewise linear filter with two time constants
|
||||
mjDYN_DCMOTOR, // DC motor electrical dynamics
|
||||
mjDYN_USER // user-defined dynamics type
|
||||
} mjtDyn;
|
||||
|
||||
|
||||
typedef enum mjtGain_ { // type of actuator gain
|
||||
mjGAIN_FIXED = 0, // fixed gain
|
||||
mjGAIN_AFFINE, // const + kp*length + kv*velocity
|
||||
mjGAIN_MUSCLE, // muscle FLV curve computed by mju_muscleGain()
|
||||
mjGAIN_DCMOTOR, // DC motor gain: K or K/R
|
||||
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_DCMOTOR, // DC motor bias: back-EMF, cogging, LuGre friction
|
||||
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_FLEX, // flex
|
||||
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
|
||||
mjOBJ_PLUGIN, // plugin instance
|
||||
|
||||
mjNOBJECT, // number of object types
|
||||
|
||||
// meta elements, do not appear in mjModel
|
||||
mjOBJ_FRAME = 100, // frame
|
||||
mjOBJ_DEFAULT, // default
|
||||
mjOBJ_MODEL // entire model
|
||||
} mjtObj;
|
||||
|
||||
|
||||
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 along z-axis
|
||||
mjSENS_CAMPROJECTION, // pixel coordinates of a site in the camera image
|
||||
|
||||
// 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
|
||||
mjSENS_JOINTACTFRC, // scalar actuator force, measured at the joint
|
||||
mjSENS_TENDONACTFRC, // scalar actuator force, measured at the tendon
|
||||
|
||||
// sensors related to ball joints
|
||||
mjSENS_BALLQUAT, // 4D ball joint quaternion
|
||||
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
|
||||
|
||||
// sensors of geometric relationships
|
||||
mjSENS_INSIDESITE, // 1 if object is inside a site, 0 otherwise
|
||||
mjSENS_GEOMDIST, // signed distance between two geoms
|
||||
mjSENS_GEOMNORMAL, // normal direction between two geoms
|
||||
mjSENS_GEOMFROMTO, // segment between two geoms
|
||||
|
||||
// sensors for reporting contacts which occurred during the simulation
|
||||
mjSENS_CONTACT, // contacts which occurred during the simulation
|
||||
|
||||
// global sensors
|
||||
mjSENS_E_POTENTIAL, // potential energy
|
||||
mjSENS_E_KINETIC, // kinetic energy
|
||||
mjSENS_CLOCK, // simulation time
|
||||
|
||||
// sensors related to SDFs
|
||||
mjSENS_TACTILE, // tactile sensor
|
||||
|
||||
// plugin-controlled sensors
|
||||
mjSENS_PLUGIN, // plugin-controlled
|
||||
|
||||
// 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 mjtConDataField_ { // data fields returned by contact sensors
|
||||
mjCONDATA_FOUND = 0, // whether a contact was found
|
||||
mjCONDATA_FORCE, // contact force
|
||||
mjCONDATA_TORQUE, // contact torque
|
||||
mjCONDATA_DIST, // contact penetration distance
|
||||
mjCONDATA_POS, // contact position
|
||||
mjCONDATA_NORMAL, // contact frame normal
|
||||
mjCONDATA_TANGENT, // contact frame first tangent
|
||||
|
||||
mjNCONDATA // number of contact sensor data fields
|
||||
} mjtConDataField;
|
||||
|
||||
|
||||
typedef enum mjtRayDataField_ { // data fields returned by rangefinder sensors
|
||||
mjRAYDATA_DIST = 0, // distance from ray origin to nearest surface
|
||||
mjRAYDATA_DIR, // normalized ray direction
|
||||
mjRAYDATA_ORIGIN, // ray origin
|
||||
mjRAYDATA_POINT, // point at which ray intersects nearest surface
|
||||
mjRAYDATA_NORMAL, // surface normal at intersection point
|
||||
mjRAYDATA_DEPTH, // depth along z-axis
|
||||
|
||||
mjNRAYDATA // number of rangefinder sensor data fields
|
||||
} mjtRayDataField;
|
||||
|
||||
|
||||
typedef enum mjtCamOutBit_ { // camera output type bitflags
|
||||
mjCAMOUT_RGB = 1<<0, // RGB image
|
||||
mjCAMOUT_DEPTH = 1<<1, // depth image (distance from camera plane)
|
||||
mjCAMOUT_DIST = 1<<2, // distance image (distance from camera origin)
|
||||
mjCAMOUT_NORMAL = 1<<3, // normal image
|
||||
mjCAMOUT_SEG = 1<<4, // segmentation image
|
||||
|
||||
mjNCAMOUT = 5 // number of camera output types
|
||||
} mjtCamOutBit;
|
||||
|
||||
|
||||
typedef enum mjtSameFrame_ { // frame alignment of bodies with their children
|
||||
mjSAMEFRAME_NONE = 0, // no alignment
|
||||
mjSAMEFRAME_BODY, // frame is same as body frame
|
||||
mjSAMEFRAME_INERTIA, // frame is same as inertial frame
|
||||
mjSAMEFRAME_BODYROT, // frame orientation is same as body orientation
|
||||
mjSAMEFRAME_INERTIAROT // frame orientation is same as inertia orientation
|
||||
} mjtSameFrame;
|
||||
|
||||
|
||||
typedef enum mjtSleepPolicy_ { // per-tree sleep policy
|
||||
mjSLEEP_AUTO = 0, // compiler chooses sleep policy
|
||||
mjSLEEP_AUTO_NEVER, // compiler sleep policy: never
|
||||
mjSLEEP_AUTO_ALLOWED, // compiler sleep policy: allowed
|
||||
mjSLEEP_NEVER, // user sleep policy: never
|
||||
mjSLEEP_ALLOWED, // user sleep policy: allowed
|
||||
mjSLEEP_INIT, // user sleep policy: initialized asleep
|
||||
} mjtSleepPolicy;
|
||||
|
||||
|
||||
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;
|
||||
|
||||
|
||||
typedef enum mjtFlexSelf_ { // mode for flex selfcollide
|
||||
mjFLEXSELF_NONE = 0, // no self-collisions
|
||||
mjFLEXSELF_NARROW, // skip midphase, go directly to narrowphase
|
||||
mjFLEXSELF_BVH, // use BVH in midphase (if midphase enabled)
|
||||
mjFLEXSELF_SAP, // use SAP in midphase
|
||||
mjFLEXSELF_AUTO // choose between BVH and SAP automatically
|
||||
} mjtFlexSelf;
|
||||
|
||||
|
||||
typedef enum mjtSDFType_ { // signed distance function (SDF) type
|
||||
mjSDFTYPE_SINGLE = 0, // single SDF
|
||||
mjSDFTYPE_INTERSECTION, // max(A, B)
|
||||
mjSDFTYPE_MIDSURFACE, // A - B
|
||||
mjSDFTYPE_COLLISION, // A + B + abs(max(A, B))
|
||||
} mjtSDFType;
|
||||
|
||||
|
||||
//---------------------------------- mjLROpt -------------------------------------------------------
|
||||
|
||||
|
||||
@@ -18,7 +18,7 @@
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjspec.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mjvisualize.h>
|
||||
|
||||
|
||||
|
||||
@@ -17,7 +17,7 @@
|
||||
|
||||
#include <stddef.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
|
||||
// this is a C-API
|
||||
|
||||
@@ -1,46 +0,0 @@
|
||||
// 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_INCLUDE_MJTNUM_H_
|
||||
#define MUJOCO_INCLUDE_MJTNUM_H_
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
|
||||
//---------------------------------- floating-point definition -------------------------------------
|
||||
|
||||
// floating point data type and minval
|
||||
#ifndef mjUSESINGLE
|
||||
typedef double mjtNum;
|
||||
#define mjMINVAL 1E-15 // minimum value in any denominator
|
||||
#else
|
||||
typedef float mjtNum;
|
||||
#define mjMINVAL 1E-15f
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
//---------------------------------- byte definition -----------------------------------------------
|
||||
|
||||
typedef unsigned char mjtByte; // used for true/false
|
||||
|
||||
|
||||
|
||||
//---------------------------------- size definition -----------------------------------------------
|
||||
|
||||
typedef int64_t mjtSize; // used for buffer sizes
|
||||
|
||||
|
||||
|
||||
#endif // MUJOCO_INCLUDE_MJTNUM_H_
|
||||
@@ -0,0 +1,574 @@
|
||||
// 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_INCLUDE_MJTYPE_H_
|
||||
#define MUJOCO_INCLUDE_MJTYPE_H_
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
|
||||
//---------------------------------- floating-point definition -------------------------------------
|
||||
|
||||
// floating point data type and minval
|
||||
#ifndef mjUSESINGLE
|
||||
typedef double mjtNum;
|
||||
#define mjMINVAL 1E-15 // minimum value in any denominator
|
||||
#else
|
||||
typedef float mjtNum;
|
||||
#define mjMINVAL 1E-15f
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
//---------------------------------- byte definition -----------------------------------------------
|
||||
|
||||
typedef unsigned char mjtByte; // used for true/false
|
||||
|
||||
|
||||
|
||||
//---------------------------------- size definition -----------------------------------------------
|
||||
|
||||
typedef int64_t mjtSize; // used for buffer sizes
|
||||
|
||||
|
||||
|
||||
//---------------------------------- enum types (mjModel) ------------------------------------------
|
||||
|
||||
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_SPRING = 1<<5, // passive spring forces
|
||||
mjDSBL_DAMPER = 1<<6, // passive damping forces
|
||||
mjDSBL_GRAVITY = 1<<7, // gravitational forces
|
||||
mjDSBL_CLAMPCTRL = 1<<8, // clamp control to specified range
|
||||
mjDSBL_WARMSTART = 1<<9, // warmstart constraint solver
|
||||
mjDSBL_FILTERPARENT = 1<<10, // remove collisions with parent body
|
||||
mjDSBL_ACTUATION = 1<<11, // apply actuation forces
|
||||
mjDSBL_REFSAFE = 1<<12, // integrator safety: make ref[0]>=2*timestep
|
||||
mjDSBL_SENSOR = 1<<13, // sensors
|
||||
mjDSBL_MIDPHASE = 1<<14, // mid-phase collision filtering
|
||||
mjDSBL_EULERDAMP = 1<<15, // implicit integration of joint damping in Euler integrator
|
||||
mjDSBL_AUTORESET = 1<<16, // automatic reset when numerical issues are detected
|
||||
mjDSBL_NATIVECCD = 1<<17, // native convex collision detection
|
||||
mjDSBL_ISLAND = 1<<18, // constraint island discovery
|
||||
mjDSBL_MULTICCD = 1<<19, // multiple CCD contact points
|
||||
|
||||
mjNDISABLE = 20 // 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_INVDISCRETE = 1<<3, // discrete-time inverse dynamics
|
||||
mjENBL_SLEEP = 1<<4, // sleeping
|
||||
mjENBL_DIAGEXACT = 1<<5, // exact diagonal of constraint inertia
|
||||
|
||||
mjNENABLE = 6 // 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
|
||||
mjGEOM_SDF, // signed distance field
|
||||
|
||||
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_LINEBOX, // box with line edges
|
||||
mjGEOM_FLEX, // flex
|
||||
mjGEOM_SKIN, // skin
|
||||
mjGEOM_LABEL, // text label
|
||||
mjGEOM_TRIANGLE, // triangle
|
||||
|
||||
mjGEOM_NONE = 1001 // missing geom type
|
||||
} mjtGeom;
|
||||
|
||||
|
||||
typedef enum mjtProjection_ { // type of camera projection
|
||||
mjPROJ_PERSPECTIVE = 0, // perspective
|
||||
mjPROJ_ORTHOGRAPHIC // orthographic
|
||||
} mjtProjection;
|
||||
|
||||
|
||||
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 mjtLightType_ { // type of light
|
||||
mjLIGHT_SPOT = 0, // spot
|
||||
mjLIGHT_DIRECTIONAL, // directional
|
||||
mjLIGHT_POINT, // point
|
||||
mjLIGHT_IMAGE, // image-based
|
||||
} mjtLightType;
|
||||
|
||||
|
||||
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 mjtTextureRole_ { // role of texture map in rendering
|
||||
mjTEXROLE_USER = 0, // unspecified
|
||||
mjTEXROLE_RGB, // base color (albedo)
|
||||
mjTEXROLE_OCCLUSION, // ambient occlusion
|
||||
mjTEXROLE_ROUGHNESS, // roughness
|
||||
mjTEXROLE_METALLIC, // metallic
|
||||
mjTEXROLE_NORMAL, // normal (bump) map
|
||||
mjTEXROLE_OPACITY, // opacity
|
||||
mjTEXROLE_EMISSIVE, // light emission
|
||||
mjTEXROLE_RGBA, // base color, opacity
|
||||
mjTEXROLE_ORM, // occlusion, roughness, metallic
|
||||
mjNTEXROLE
|
||||
} mjtTextureRole;
|
||||
|
||||
|
||||
typedef enum mjtColorSpace_ { // type of color space encoding
|
||||
mjCOLORSPACE_AUTO = 0, // attempts to autodetect color space, defaults to linear
|
||||
mjCOLORSPACE_LINEAR, // linear color space
|
||||
mjCOLORSPACE_SRGB // standard RGB color space
|
||||
} mjtColorSpace;
|
||||
|
||||
|
||||
typedef enum mjtIntegrator_ { // integrator mode
|
||||
mjINT_EULER = 0, // semi-implicit Euler
|
||||
mjINT_RK4, // 4th-order Runge Kutta
|
||||
mjINT_IMPLICIT, // implicit in velocity
|
||||
mjINT_IMPLICITFAST // implicit in velocity, no rne derivative
|
||||
} mjtIntegrator;
|
||||
|
||||
|
||||
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_FLEX, // fix all edge lengths of a flex
|
||||
mjEQ_FLEXVERT, // fix all vertex lengths of a flex
|
||||
mjEQ_FLEXSTRAIN, // constrain strain of a trilinear/quadratic flex (B-bar)
|
||||
mjEQ_DISTANCE // unsupported, will cause an error if used
|
||||
} 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_BODY, // adhesion force on a body's geoms
|
||||
|
||||
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_FILTEREXACT, // linear filter: da/dt = (u-a) / tau, with exact integration
|
||||
mjDYN_MUSCLE, // piecewise linear filter with two time constants
|
||||
mjDYN_DCMOTOR, // DC motor electrical dynamics
|
||||
mjDYN_USER // user-defined dynamics type
|
||||
} mjtDyn;
|
||||
|
||||
|
||||
typedef enum mjtGain_ { // type of actuator gain
|
||||
mjGAIN_FIXED = 0, // fixed gain
|
||||
mjGAIN_AFFINE, // const + kp*length + kv*velocity
|
||||
mjGAIN_MUSCLE, // muscle FLV curve computed by mju_muscleGain()
|
||||
mjGAIN_DCMOTOR, // DC motor gain: K or K/R
|
||||
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_DCMOTOR, // DC motor bias: back-EMF, cogging, LuGre friction
|
||||
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_FLEX, // flex
|
||||
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
|
||||
mjOBJ_PLUGIN, // plugin instance
|
||||
|
||||
mjNOBJECT, // number of object types
|
||||
|
||||
// meta elements, do not appear in mjModel
|
||||
mjOBJ_FRAME = 100, // frame
|
||||
mjOBJ_DEFAULT, // default
|
||||
mjOBJ_MODEL // entire model
|
||||
} mjtObj;
|
||||
|
||||
|
||||
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 along z-axis
|
||||
mjSENS_CAMPROJECTION, // pixel coordinates of a site in the camera image
|
||||
|
||||
// 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
|
||||
mjSENS_JOINTACTFRC, // scalar actuator force, measured at the joint
|
||||
mjSENS_TENDONACTFRC, // scalar actuator force, measured at the tendon
|
||||
|
||||
// sensors related to ball joints
|
||||
mjSENS_BALLQUAT, // 4D ball joint quaternion
|
||||
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
|
||||
|
||||
// sensors of geometric relationships
|
||||
mjSENS_INSIDESITE, // 1 if object is inside a site, 0 otherwise
|
||||
mjSENS_GEOMDIST, // signed distance between two geoms
|
||||
mjSENS_GEOMNORMAL, // normal direction between two geoms
|
||||
mjSENS_GEOMFROMTO, // segment between two geoms
|
||||
|
||||
// sensors for reporting contacts which occurred during the simulation
|
||||
mjSENS_CONTACT, // contacts which occurred during the simulation
|
||||
|
||||
// global sensors
|
||||
mjSENS_E_POTENTIAL, // potential energy
|
||||
mjSENS_E_KINETIC, // kinetic energy
|
||||
mjSENS_CLOCK, // simulation time
|
||||
|
||||
// sensors related to SDFs
|
||||
mjSENS_TACTILE, // tactile sensor
|
||||
|
||||
// plugin-controlled sensors
|
||||
mjSENS_PLUGIN, // plugin-controlled
|
||||
|
||||
// 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 mjtConDataField_ { // data fields returned by contact sensors
|
||||
mjCONDATA_FOUND = 0, // whether a contact was found
|
||||
mjCONDATA_FORCE, // contact force
|
||||
mjCONDATA_TORQUE, // contact torque
|
||||
mjCONDATA_DIST, // contact penetration distance
|
||||
mjCONDATA_POS, // contact position
|
||||
mjCONDATA_NORMAL, // contact frame normal
|
||||
mjCONDATA_TANGENT, // contact frame first tangent
|
||||
|
||||
mjNCONDATA // number of contact sensor data fields
|
||||
} mjtConDataField;
|
||||
|
||||
|
||||
typedef enum mjtRayDataField_ { // data fields returned by rangefinder sensors
|
||||
mjRAYDATA_DIST = 0, // distance from ray origin to nearest surface
|
||||
mjRAYDATA_DIR, // normalized ray direction
|
||||
mjRAYDATA_ORIGIN, // ray origin
|
||||
mjRAYDATA_POINT, // point at which ray intersects nearest surface
|
||||
mjRAYDATA_NORMAL, // surface normal at intersection point
|
||||
mjRAYDATA_DEPTH, // depth along z-axis
|
||||
|
||||
mjNRAYDATA // number of rangefinder sensor data fields
|
||||
} mjtRayDataField;
|
||||
|
||||
|
||||
typedef enum mjtCamOutBit_ { // camera output type bitflags
|
||||
mjCAMOUT_RGB = 1<<0, // RGB image
|
||||
mjCAMOUT_DEPTH = 1<<1, // depth image (distance from camera plane)
|
||||
mjCAMOUT_DIST = 1<<2, // distance image (distance from camera origin)
|
||||
mjCAMOUT_NORMAL = 1<<3, // normal image
|
||||
mjCAMOUT_SEG = 1<<4, // segmentation image
|
||||
|
||||
mjNCAMOUT = 5 // number of camera output types
|
||||
} mjtCamOutBit;
|
||||
|
||||
|
||||
typedef enum mjtSameFrame_ { // frame alignment of bodies with their children
|
||||
mjSAMEFRAME_NONE = 0, // no alignment
|
||||
mjSAMEFRAME_BODY, // frame is same as body frame
|
||||
mjSAMEFRAME_INERTIA, // frame is same as inertial frame
|
||||
mjSAMEFRAME_BODYROT, // frame orientation is same as body orientation
|
||||
mjSAMEFRAME_INERTIAROT // frame orientation is same as inertia orientation
|
||||
} mjtSameFrame;
|
||||
|
||||
|
||||
typedef enum mjtSleepPolicy_ { // per-tree sleep policy
|
||||
mjSLEEP_AUTO = 0, // compiler chooses sleep policy
|
||||
mjSLEEP_AUTO_NEVER, // compiler sleep policy: never
|
||||
mjSLEEP_AUTO_ALLOWED, // compiler sleep policy: allowed
|
||||
mjSLEEP_NEVER, // user sleep policy: never
|
||||
mjSLEEP_ALLOWED, // user sleep policy: allowed
|
||||
mjSLEEP_INIT, // user sleep policy: initialized asleep
|
||||
} mjtSleepPolicy;
|
||||
|
||||
|
||||
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;
|
||||
|
||||
|
||||
typedef enum mjtFlexSelf_ { // mode for flex selfcollide
|
||||
mjFLEXSELF_NONE = 0, // no self-collisions
|
||||
mjFLEXSELF_NARROW, // skip midphase, go directly to narrowphase
|
||||
mjFLEXSELF_BVH, // use BVH in midphase (if midphase enabled)
|
||||
mjFLEXSELF_SAP, // use SAP in midphase
|
||||
mjFLEXSELF_AUTO // choose between BVH and SAP automatically
|
||||
} mjtFlexSelf;
|
||||
|
||||
|
||||
typedef enum mjtSDFType_ { // signed distance function (SDF) type
|
||||
mjSDFTYPE_SINGLE = 0, // single SDF
|
||||
mjSDFTYPE_INTERSECTION, // max(A, B)
|
||||
mjSDFTYPE_MIDSURFACE, // A - B
|
||||
mjSDFTYPE_COLLISION, // A + B + abs(max(A, B))
|
||||
} mjtSDFType;
|
||||
|
||||
|
||||
|
||||
//---------------------------------- enum types (mjData) -------------------------------------------
|
||||
|
||||
typedef enum mjtState_ { // state elements
|
||||
mjSTATE_TIME = 1<<0, // time
|
||||
mjSTATE_QPOS = 1<<1, // position
|
||||
mjSTATE_QVEL = 1<<2, // velocity
|
||||
mjSTATE_ACT = 1<<3, // actuator activation
|
||||
mjSTATE_HISTORY = 1<<4, // history buffers (control, sensor)
|
||||
mjSTATE_WARMSTART = 1<<5, // acceleration used for warmstart
|
||||
mjSTATE_CTRL = 1<<6, // control
|
||||
mjSTATE_QFRC_APPLIED = 1<<7, // applied generalized force
|
||||
mjSTATE_XFRC_APPLIED = 1<<8, // applied Cartesian force/torque
|
||||
mjSTATE_EQ_ACTIVE = 1<<9, // enable/disable constraints
|
||||
mjSTATE_MOCAP_POS = 1<<10, // positions of mocap bodies
|
||||
mjSTATE_MOCAP_QUAT = 1<<11, // orientations of mocap bodies
|
||||
mjSTATE_USERDATA = 1<<12, // user data
|
||||
mjSTATE_PLUGIN = 1<<13, // plugin state
|
||||
|
||||
mjNSTATE = 14, // number of state elements
|
||||
|
||||
// convenience values for commonly used state specifications
|
||||
mjSTATE_PHYSICS = mjSTATE_QPOS | mjSTATE_QVEL | mjSTATE_ACT | mjSTATE_HISTORY,
|
||||
mjSTATE_FULLPHYSICS = mjSTATE_TIME | mjSTATE_PHYSICS | mjSTATE_PLUGIN,
|
||||
mjSTATE_USER = mjSTATE_CTRL | mjSTATE_QFRC_APPLIED | mjSTATE_XFRC_APPLIED |
|
||||
mjSTATE_EQ_ACTIVE | mjSTATE_MOCAP_POS | mjSTATE_MOCAP_QUAT |
|
||||
mjSTATE_USERDATA,
|
||||
mjSTATE_INTEGRATION = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
|
||||
} mjtState;
|
||||
|
||||
|
||||
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 mjtWarning_ { // warning types
|
||||
mjWARN_INERTIA = 0, // (near) singular inertia matrix
|
||||
mjWARN_CONTACTFULL, // too many contacts in contact list
|
||||
mjWARN_CNSTRFULL, // too many constraints
|
||||
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_ { // internal timers
|
||||
// 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_CONSTRAINT, // fwdConstraint
|
||||
mjTIMER_ADVANCE, // mj_Euler, mj_implicit
|
||||
|
||||
// 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
|
||||
|
||||
// breakdown of mj_collision
|
||||
mjTIMER_COL_BROAD, // broadphase
|
||||
mjTIMER_COL_NARROW, // narrowphase
|
||||
|
||||
mjNTIMER // number of timers
|
||||
} mjtTimer;
|
||||
|
||||
|
||||
typedef enum mjtSleepState_ { // sleep state of an object
|
||||
mjS_STATIC = -1, // object is static
|
||||
mjS_ASLEEP = 0, // object is asleep
|
||||
mjS_AWAKE = 1 // object is awake
|
||||
} mjtSleepState;
|
||||
|
||||
#endif // MUJOCO_INCLUDE_MJTYPE_H_
|
||||
@@ -17,7 +17,7 @@
|
||||
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
|
||||
#define mjNGROUP 6 // number of geom, site, joint, skin groups with visflags
|
||||
|
||||
@@ -32,7 +32,7 @@
|
||||
#include <mujoco/mjsan.h>
|
||||
#include <mujoco/mjspec.h>
|
||||
#include <mujoco/mjthread.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mjui.h>
|
||||
#include <mujoco/mjvisualize.h>
|
||||
|
||||
|
||||
@@ -21,7 +21,7 @@
|
||||
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
namespace mujoco::plugin::actuator {
|
||||
|
||||
|
||||
@@ -18,7 +18,7 @@
|
||||
#include <optional>
|
||||
|
||||
#include <mujoco/mjplugin.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "cable.h"
|
||||
|
||||
|
||||
@@ -20,7 +20,7 @@
|
||||
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mjvisualize.h>
|
||||
|
||||
|
||||
|
||||
+1
-1
@@ -19,7 +19,7 @@
|
||||
#include <utility>
|
||||
|
||||
#include <mujoco/mjplugin.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "sdf.h"
|
||||
#include "bolt.h"
|
||||
|
||||
+1
-1
@@ -19,7 +19,7 @@
|
||||
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mjvisualize.h>
|
||||
#include "sdf.h"
|
||||
|
||||
|
||||
+1
-1
@@ -17,7 +17,7 @@
|
||||
#include <utility>
|
||||
|
||||
#include <mujoco/mjplugin.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "sdf.h"
|
||||
#include "bowl.h"
|
||||
|
||||
+1
-1
@@ -19,7 +19,7 @@
|
||||
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mjvisualize.h>
|
||||
#include "sdf.h"
|
||||
|
||||
|
||||
+1
-1
@@ -18,7 +18,7 @@
|
||||
#include <utility>
|
||||
|
||||
#include <mujoco/mjplugin.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mjvisualize.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "sdf.h"
|
||||
|
||||
+1
-1
@@ -19,7 +19,7 @@
|
||||
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mjvisualize.h>
|
||||
#include "sdf.h"
|
||||
|
||||
|
||||
+1
-1
@@ -19,7 +19,7 @@
|
||||
#include <utility>
|
||||
|
||||
#include <mujoco/mjplugin.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "sdf.h"
|
||||
#include "nut.h"
|
||||
|
||||
+1
-1
@@ -19,7 +19,7 @@
|
||||
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mjvisualize.h>
|
||||
#include "sdf.h"
|
||||
|
||||
|
||||
+1
-1
@@ -17,7 +17,7 @@
|
||||
#include <utility>
|
||||
|
||||
#include <mujoco/mjplugin.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "sdf.h"
|
||||
#include "torus.h"
|
||||
|
||||
+1
-1
@@ -19,7 +19,7 @@
|
||||
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include "sdf.h"
|
||||
|
||||
namespace mujoco::plugin::sdf {
|
||||
|
||||
@@ -25,7 +25,7 @@
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjplugin.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mjvisualize.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
|
||||
|
||||
@@ -20,7 +20,7 @@
|
||||
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mjvisualize.h>
|
||||
|
||||
namespace mujoco::plugin::sensor {
|
||||
|
||||
@@ -83,7 +83,7 @@ PYBIND11_MODULE(_constants, pymodule) {
|
||||
// from mujoco.h
|
||||
X(mjVERSION_HEADER);
|
||||
|
||||
// from mjtnum.h
|
||||
// from mjtype.h
|
||||
X(mjMINVAL);
|
||||
|
||||
#undef X
|
||||
|
||||
@@ -508,16 +508,6 @@ ENUMS: Mapping[str, EnumDecl] = dict([
|
||||
('mjSDFTYPE_COLLISION', 3),
|
||||
]),
|
||||
)),
|
||||
('mjtTaskStatus',
|
||||
EnumDecl(
|
||||
name='mjtTaskStatus',
|
||||
declname='enum mjtTaskStatus_',
|
||||
values=dict([
|
||||
('mjTASK_NEW', 0),
|
||||
('mjTASK_QUEUED', 1),
|
||||
('mjTASK_COMPLETED', 2),
|
||||
]),
|
||||
)),
|
||||
('mjtState',
|
||||
EnumDecl(
|
||||
name='mjtState',
|
||||
@@ -619,6 +609,16 @@ ENUMS: Mapping[str, EnumDecl] = dict([
|
||||
('mjS_AWAKE', 1),
|
||||
]),
|
||||
)),
|
||||
('mjtTaskStatus',
|
||||
EnumDecl(
|
||||
name='mjtTaskStatus',
|
||||
declname='enum mjtTaskStatus_',
|
||||
values=dict([
|
||||
('mjTASK_NEW', 0),
|
||||
('mjTASK_QUEUED', 1),
|
||||
('mjTASK_COMPLETED', 2),
|
||||
]),
|
||||
)),
|
||||
('mjtGeomInertia',
|
||||
EnumDecl(
|
||||
name='mjtGeomInertia',
|
||||
|
||||
@@ -18,7 +18,7 @@
|
||||
#include <cstddef>
|
||||
#include <iostream>
|
||||
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
namespace mujoco::python::_impl {
|
||||
|
||||
|
||||
@@ -26,7 +26,7 @@
|
||||
#include <mujoco/mjexport.h>
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
// minimum number of vertices to use hill-climbing in mesh support
|
||||
#define mjMESH_HILLCLIMB_MIN 10
|
||||
|
||||
@@ -18,7 +18,7 @@
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjexport.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
|
||||
@@ -19,7 +19,7 @@
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include "engine/engine_collision_convex.h"
|
||||
#include "engine/engine_util_blas.h"
|
||||
|
||||
@@ -20,7 +20,7 @@
|
||||
|
||||
#include <mujoco/mjexport.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
#include "engine/engine_collision_convex.h"
|
||||
|
||||
|
||||
@@ -18,7 +18,7 @@
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjexport.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
|
||||
@@ -20,7 +20,7 @@
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjsan.h> // IWYU pragma: keep
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include "engine/engine_plugin.h"
|
||||
#include "engine/engine_util_blas.h"
|
||||
#include "engine/engine_util_errmem.h"
|
||||
|
||||
@@ -19,7 +19,7 @@
|
||||
#include <mujoco/mjexport.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjplugin.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
|
||||
@@ -18,7 +18,7 @@
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjexport.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
|
||||
@@ -18,7 +18,7 @@
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjexport.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
|
||||
@@ -18,7 +18,7 @@
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjexport.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
|
||||
@@ -18,7 +18,7 @@
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjexport.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
|
||||
@@ -17,7 +17,7 @@
|
||||
#include <string.h>
|
||||
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include "engine/engine_util_blas.h"
|
||||
|
||||
#ifdef _MSC_VER
|
||||
|
||||
@@ -15,7 +15,7 @@
|
||||
#ifndef MUJOCO_SRC_ENGINE_ENGINE_INLINE_H_
|
||||
#define MUJOCO_SRC_ENGINE_ENGINE_INLINE_H_
|
||||
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
@@ -17,8 +17,8 @@
|
||||
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjexport.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjsan.h> // IWYU pragma: keep
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mjxmacro.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
@@ -24,7 +24,7 @@
|
||||
#include <mujoco/mjmacro.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjsan.h> // IWYU pragma: keep
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mjxmacro.h>
|
||||
#include "engine/engine_core_constraint.h"
|
||||
#include "engine/engine_core_util.h"
|
||||
|
||||
@@ -18,7 +18,7 @@
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjexport.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
|
||||
@@ -16,7 +16,7 @@
|
||||
|
||||
#include <string.h>
|
||||
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
#include "engine/engine_util_blas_avx.h" // IWYU pragma: keep
|
||||
|
||||
|
||||
@@ -18,7 +18,7 @@
|
||||
#include <math.h>
|
||||
|
||||
#include <mujoco/mjexport.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
|
||||
@@ -22,7 +22,7 @@
|
||||
|
||||
#include <immintrin.h>
|
||||
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
// res = vec*scl
|
||||
static inline
|
||||
|
||||
@@ -17,7 +17,7 @@
|
||||
|
||||
#include <mujoco/mjexport.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
|
||||
@@ -17,7 +17,7 @@
|
||||
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjexport.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
|
||||
@@ -17,7 +17,7 @@
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjmacro.h>
|
||||
#include <mujoco/mjsan.h> // IWYU pragma: keep
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include "engine/engine_memory.h"
|
||||
#include "engine/engine_util_blas.h"
|
||||
#include "engine/engine_util_misc.h"
|
||||
|
||||
@@ -19,7 +19,7 @@
|
||||
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjexport.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include "engine/engine_util_sparse_avx.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
@@ -23,7 +23,7 @@
|
||||
#include <immintrin.h>
|
||||
#include <string.h>
|
||||
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
|
||||
//------------------------------ sparse operations using avx ---------------------------------------
|
||||
|
||||
@@ -16,7 +16,7 @@
|
||||
#define MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPATIAL_H_
|
||||
|
||||
#include <mujoco/mjexport.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
|
||||
+1
-1
@@ -21,7 +21,7 @@
|
||||
#include <mujoco/mjexport.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjspec.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
|
||||
|
||||
// this is a C-API
|
||||
|
||||
@@ -21,7 +21,7 @@
|
||||
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjspec.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include "cc/array_safety.h"
|
||||
#include "engine/engine_util_blas.h"
|
||||
#include "engine/engine_util_errmem.h"
|
||||
|
||||
@@ -26,7 +26,7 @@
|
||||
|
||||
#include <mujoco/mjmacro.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mjplugin.h>
|
||||
#include "cc/array_safety.h"
|
||||
#include "engine/engine_crossplatform.h"
|
||||
|
||||
@@ -57,7 +57,7 @@
|
||||
#include <mujoco/mjmacro.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjplugin.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include "engine/engine_crossplatform.h" // IWYU pragma: keep
|
||||
#include "engine/engine_plugin.h"
|
||||
#include "engine/engine_util_errmem.h"
|
||||
|
||||
@@ -41,7 +41,7 @@
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjplugin.h>
|
||||
#include <mujoco/mjspec.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "cc/array_safety.h"
|
||||
#include "engine/engine_core_util.h"
|
||||
|
||||
@@ -30,7 +30,7 @@
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjplugin.h>
|
||||
#include <mujoco/mjspec.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include "user/user_objects.h"
|
||||
|
||||
typedef std::map<std::string, int, std::less<> > mjKeyMap;
|
||||
|
||||
@@ -32,7 +32,7 @@
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjplugin.h>
|
||||
#include <mujoco/mjspec.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include "user/user_cache.h"
|
||||
#include "user/user_util.h"
|
||||
|
||||
|
||||
@@ -31,7 +31,7 @@
|
||||
#include <mujoco/mujoco.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjplugin.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mjvisualize.h>
|
||||
#include "engine/engine_plugin.h"
|
||||
#include "engine/engine_support.h"
|
||||
|
||||
@@ -24,7 +24,7 @@
|
||||
|
||||
#include "src/engine/engine_collision_convex.h"
|
||||
#include <mujoco/mujoco.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include "test/fixture.h"
|
||||
#include <gmock/gmock.h>
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
@@ -19,7 +19,7 @@
|
||||
#include <gtest/gtest.h>
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "src/engine/engine_collision_sdf.h"
|
||||
#include "test/fixture.h"
|
||||
|
||||
@@ -28,7 +28,7 @@
|
||||
#include <gmock/gmock.h>
|
||||
#include <gtest/gtest.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
#include <mujoco/mjxmacro.h>
|
||||
#include "src/cc/array_safety.h"
|
||||
|
||||
@@ -21,7 +21,7 @@
|
||||
#include <gtest/gtest.h>
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "src/engine/engine_ray.h"
|
||||
#include "test/fixture.h"
|
||||
|
||||
@@ -22,7 +22,7 @@
|
||||
#include <gmock/gmock.h>
|
||||
#include <gtest/gtest.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "src/engine/engine_support.h"
|
||||
#include "src/engine/engine_util_blas.h"
|
||||
|
||||
@@ -20,7 +20,7 @@
|
||||
|
||||
#include <gmock/gmock.h>
|
||||
#include <gtest/gtest.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include "test/fixture.h"
|
||||
|
||||
namespace mujoco {
|
||||
|
||||
@@ -21,7 +21,7 @@
|
||||
#include <gtest/gtest.h>
|
||||
#include <gtest/gtest-spi.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "src/engine/engine_util_blas.h"
|
||||
#include "src/engine/engine_util_spatial.h"
|
||||
|
||||
+1
-1
@@ -24,7 +24,7 @@
|
||||
#include <mujoco/mjdata.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjrender.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mjui.h>
|
||||
#include <mujoco/mjvisualize.h>
|
||||
#include <mujoco/mjxmacro.h>
|
||||
|
||||
@@ -28,7 +28,7 @@
|
||||
#include <absl/strings/str_format.h>
|
||||
#include <absl/strings/str_replace.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "src/cc/array_safety.h"
|
||||
#include "test/fixture.h"
|
||||
|
||||
@@ -24,7 +24,7 @@
|
||||
#include <gmock/gmock.h>
|
||||
#include <gtest/gtest.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "test/fixture.h"
|
||||
|
||||
|
||||
@@ -31,7 +31,7 @@
|
||||
#include <gtest/gtest.h>
|
||||
#include <absl/strings/match.h>
|
||||
#include <mujoco/mjmodel.h>
|
||||
#include <mujoco/mjtnum.h>
|
||||
#include <mujoco/mjtype.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "src/xml/xml_numeric_format.h"
|
||||
#include "test/fixture.h"
|
||||
|
||||
@@ -64,7 +64,7 @@ public const bool ADDRESS_SANITIZER = true;
|
||||
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJSPEC_H_ = true;
|
||||
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTHREAD_H_ = true;
|
||||
public const int mjMAXTHREAD = 128;
|
||||
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTNUM_H_ = true;
|
||||
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTYPE_H_ = true;
|
||||
public const double mjMINVAL = 1e-15;
|
||||
public const bool THIRD_PARTY_MUJOCO_MJUI_H_ = true;
|
||||
public const int mjMAXUISECT = 10;
|
||||
@@ -443,11 +443,6 @@ public enum mjtSDFType : int{
|
||||
mjSDFTYPE_MIDSURFACE = 2,
|
||||
mjSDFTYPE_COLLISION = 3,
|
||||
}
|
||||
public enum mjtTaskStatus : int{
|
||||
mjTASK_NEW = 0,
|
||||
mjTASK_QUEUED = 1,
|
||||
mjTASK_COMPLETED = 2,
|
||||
}
|
||||
public enum mjtState : int{
|
||||
mjSTATE_TIME = 1,
|
||||
mjSTATE_QPOS = 2,
|
||||
@@ -519,6 +514,11 @@ public enum mjtSleepState : int{
|
||||
mjS_ASLEEP = 0,
|
||||
mjS_AWAKE = 1,
|
||||
}
|
||||
public enum mjtTaskStatus : int{
|
||||
mjTASK_NEW = 0,
|
||||
mjTASK_QUEUED = 1,
|
||||
mjTASK_COMPLETED = 2,
|
||||
}
|
||||
public enum mjtGeomInertia : int{
|
||||
mjINERTIA_VOLUME = 0,
|
||||
mjINERTIA_SHELL = 1,
|
||||
|
||||
Reference in New Issue
Block a user