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Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

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PiperOrigin-RevId: 919020039
Change-Id: I441295c0baa0b7456f78239fbd5478d32ffc07c1
This commit is contained in:
Yuval Tassa
2026-05-21 06:42:56 -07:00
committed by Copybara-Service
parent ad96acfb16
commit 2810edd27a
77 changed files with 1117 additions and 1110 deletions
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CMakeLists.txt
+1 -1
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@@ -117,7 +117,7 @@ set(MUJOCO_HEADERS
include/mujoco/mjsan.h include/mujoco/mjsan.h
include/mujoco/mjspec.h include/mujoco/mjspec.h
include/mujoco/mjthread.h include/mujoco/mjthread.h
include/mujoco/mjtnum.h include/mujoco/mjtype.h
include/mujoco/mjui.h include/mujoco/mjui.h
include/mujoco/mjvisualize.h include/mujoco/mjvisualize.h
include/mujoco/mjxmacro.h include/mujoco/mjxmacro.h
doc/APIreference/APIglobals.rst
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@@ -415,7 +415,7 @@ indicated otherwise.
- 1E-15 - 1E-15
- The minimal value allowed in any denominator, and in general any mathematical operation where 0 is not allowed. - The minimal value allowed in any denominator, and in general any mathematical operation where 0 is not allowed.
In almost all cases, MuJoCo silently clamps smaller values to mjMINVAL. In almost all cases, MuJoCo silently clamps smaller values to mjMINVAL.
Defined in `mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`_. Defined in `mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>`_.
* - ``mjPI`` * - ``mjPI``
- :math:`\pi` - :math:`\pi`
- The value of :math:`\pi`. This is used in various trigonometric functions, and also for conversion from degrees - The value of :math:`\pi`. This is used in various trigonometric functions, and also for conversion from degrees
doc/APIreference/APItypes.rst
+2 -2
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@@ -46,7 +46,7 @@ MuJoCo defines a large number of types:
Primitive types Primitive types
--------------- ---------------
The two types below are defined in `mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`__. The three types below are defined in `mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>`__.
.. _mjtNum: .. _mjtNum:
@@ -63,7 +63,7 @@ double-precision version will always be available. Thus it is safe to write user
However, our preference is to write code that works with either single or double precision. To this end we provide math However, our preference is to write code that works with either single or double precision. To this end we provide math
utility functions that are always defined with the correct floating-point type. utility functions that are always defined with the correct floating-point type.
Note that changing ``mjUSESINGLE`` in ``mjtnum.h`` will not change how the library was compiled, and instead will Note that changing ``mjUSESINGLE`` in ``mjtype.h`` will not change how the library was compiled, and instead will
result in numerous link errors. In general, the header files distributed with precompiled MuJoCo should never be result in numerous link errors. In general, the header files distributed with precompiled MuJoCo should never be
changed by the user. changed by the user.
doc/changelog.rst
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@@ -73,6 +73,10 @@ General
- The :ref:`mjfCollision` functions now populate the :ref:`mjPreContact` struct instead of the :ref:`mjContact` - The :ref:`mjfCollision` functions now populate the :ref:`mjPreContact` struct instead of the :ref:`mjContact`
struct. The :ref:`mjPreContact` only contains the necessary fields needed for the narrowphase collision detection. struct. The :ref:`mjPreContact` only contains the necessary fields needed for the narrowphase collision detection.
- The header file ``mjtnum.h`` was renamed to
`mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>` and now includes all
enum type definitions.
- MJX: Removed the deprecated ``nconmax`` argument from ``mjx.make_data`` and ``mjx.put_data`` in favor of - MJX: Removed the deprecated ``nconmax`` argument from ``mjx.make_data`` and ``mjx.put_data`` in favor of
``naconmax``. ``naconmax``.
@@ -1194,7 +1198,7 @@ General
10. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe. 10. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
11. Added support for ``ball`` joints in the URDF parser ("spherical" in URDF). 11. Added support for ``ball`` joints in the URDF parser ("spherical" in URDF).
12. Replaced ``mjUSEDOUBLE`` which was previously hard-coded in 12. Replaced ``mjUSEDOUBLE`` which was previously hard-coded in
`mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`__ `mjtnum.h <https://github.com/google-deepmind/mujoco/blob/3577e2cf8bf841475b489aefff52276a39f24d51/include/mjtnum.h>`__
with the build-time flag ``mjUSESINGLE``. If this symbol is not defined, MuJoCo will use double-precision floating with the build-time flag ``mjUSESINGLE``. If this symbol is not defined, MuJoCo will use double-precision floating
point, as usual. If ``mjUSESINGLE`` is defined, MuJoCo will use single-precision floating point. See :ref:`mjtNum`. point, as usual. If ``mjUSESINGLE`` is defined, MuJoCo will use single-precision floating point. See :ref:`mjtNum`.
doc/includes/references.h
+448 -448
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@@ -16,91 +16,6 @@
// Error: C reference not found // Error: C reference not found
// NOLINTBEGIN // NOLINTBEGIN
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;
struct mjPreContact_ { // contact parameters set by narrowphase collision functions struct mjPreContact_ { // contact parameters set by narrowphase collision functions
mjtNum dist; mjtNum dist;
mjtNum pos[3]; mjtNum pos[3];
@@ -486,369 +401,6 @@ struct mjData_ {
uint64_t signature; // also held by the mjSpec that compiled the model uint64_t signature; // also held by the mjSpec that compiled the model
}; };
typedef struct mjData_ mjData; typedef struct mjData_ mjData;
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;
struct mjLROpt_ { // options for mj_setLengthRange() struct mjLROpt_ { // options for mj_setLengthRange()
// flags // flags
int mode; // which actuators to process (mjtLRMode) 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 volatile int status; // status of the task
}; };
typedef struct mjTask_ mjTask; 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 typedef enum mjtButton_ { // mouse button
mjBUTTON_NONE = 0, // no button mjBUTTON_NONE = 0, // no button
mjBUTTON_LEFT, // left button mjBUTTON_LEFT, // left button
doc/programming/index.rst
+3 -2
View File
@@ -165,8 +165,9 @@ links below, to make this documentation self-contained.
Defines the primitive types and structures needed by the OpenGL renderer. 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>`__ `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. 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>`__ `mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>`__
Defines MuJoCo's ``mjtNum`` floating-point type to be either ``double`` or ``float``. See :ref:`mjtNum`. 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>`__ `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>`. 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>`__ `mjplugin.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjplugin.h>`__
include/mujoco/mjdata.h
+1 -98
View File
@@ -18,107 +18,10 @@
#include <stddef.h> #include <stddef.h>
#include <stdint.h> #include <stdint.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjthread.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 ---------------------------------------------------- //------------------------------------- Contact ----------------------------------------------------
include/mujoco/mjmodel.h
+1 -430
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@@ -18,8 +18,7 @@
#include <stddef.h> #include <stddef.h>
#include <stdint.h> #include <stdint.h>
#include <mujoco/mjtype.h>
#include <mujoco/mjtnum.h>
// global constants // global constants
#define mjPI 3.14159265358979323846 #define mjPI 3.14159265358979323846
@@ -48,434 +47,6 @@
#define mjNISLAND 20 // number of mjData.solver arrays #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 ------------------------------------------------------- //---------------------------------- mjLROpt -------------------------------------------------------
include/mujoco/mjplugin.h
+1 -1
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@@ -18,7 +18,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjspec.h> #include <mujoco/mjspec.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mjvisualize.h> #include <mujoco/mjvisualize.h>
include/mujoco/mjspec.h
+1 -1
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@@ -17,7 +17,7 @@
#include <stddef.h> #include <stddef.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
// this is a C-API // this is a C-API
include/mujoco/mjtnum.h
-46
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@@ -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_
include/mujoco/mjtype.h
+574
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@@ -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_
include/mujoco/mjvisualize.h
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@@ -17,7 +17,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjmodel.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 #define mjNGROUP 6 // number of geom, site, joint, skin groups with visflags
include/mujoco/mujoco.h
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@@ -32,7 +32,7 @@
#include <mujoco/mjsan.h> #include <mujoco/mjsan.h>
#include <mujoco/mjspec.h> #include <mujoco/mjspec.h>
#include <mujoco/mjthread.h> #include <mujoco/mjthread.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mjui.h> #include <mujoco/mjui.h>
#include <mujoco/mjvisualize.h> #include <mujoco/mjvisualize.h>
plugin/actuator/pid.h
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@@ -21,7 +21,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
namespace mujoco::plugin::actuator { namespace mujoco::plugin::actuator {
plugin/elasticity/cable.cc
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@@ -18,7 +18,7 @@
#include <optional> #include <optional>
#include <mujoco/mjplugin.h> #include <mujoco/mjplugin.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "cable.h" #include "cable.h"
plugin/elasticity/cable.h
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@@ -20,7 +20,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mjvisualize.h> #include <mujoco/mjvisualize.h>
plugin/sdf/bolt.cc
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@@ -19,7 +19,7 @@
#include <utility> #include <utility>
#include <mujoco/mjplugin.h> #include <mujoco/mjplugin.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "sdf.h" #include "sdf.h"
#include "bolt.h" #include "bolt.h"
plugin/sdf/bolt.h
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@@ -19,7 +19,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mjvisualize.h> #include <mujoco/mjvisualize.h>
#include "sdf.h" #include "sdf.h"
plugin/sdf/bowl.cc
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@@ -17,7 +17,7 @@
#include <utility> #include <utility>
#include <mujoco/mjplugin.h> #include <mujoco/mjplugin.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "sdf.h" #include "sdf.h"
#include "bowl.h" #include "bowl.h"
plugin/sdf/bowl.h
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@@ -19,7 +19,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mjvisualize.h> #include <mujoco/mjvisualize.h>
#include "sdf.h" #include "sdf.h"
plugin/sdf/gear.cc
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@@ -18,7 +18,7 @@
#include <utility> #include <utility>
#include <mujoco/mjplugin.h> #include <mujoco/mjplugin.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mjvisualize.h> #include <mujoco/mjvisualize.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "sdf.h" #include "sdf.h"
plugin/sdf/gear.h
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@@ -19,7 +19,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mjvisualize.h> #include <mujoco/mjvisualize.h>
#include "sdf.h" #include "sdf.h"
plugin/sdf/nut.cc
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@@ -19,7 +19,7 @@
#include <utility> #include <utility>
#include <mujoco/mjplugin.h> #include <mujoco/mjplugin.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "sdf.h" #include "sdf.h"
#include "nut.h" #include "nut.h"
plugin/sdf/nut.h
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@@ -19,7 +19,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mjvisualize.h> #include <mujoco/mjvisualize.h>
#include "sdf.h" #include "sdf.h"
plugin/sdf/torus.cc
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@@ -17,7 +17,7 @@
#include <utility> #include <utility>
#include <mujoco/mjplugin.h> #include <mujoco/mjplugin.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "sdf.h" #include "sdf.h"
#include "torus.h" #include "torus.h"
plugin/sdf/torus.h
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@@ -19,7 +19,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include "sdf.h" #include "sdf.h"
namespace mujoco::plugin::sdf { namespace mujoco::plugin::sdf {
plugin/sensor/touch_grid.cc
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@@ -25,7 +25,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjplugin.h> #include <mujoco/mjplugin.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mjvisualize.h> #include <mujoco/mjvisualize.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
plugin/sensor/touch_grid.h
+1 -1
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@@ -20,7 +20,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mjvisualize.h> #include <mujoco/mjvisualize.h>
namespace mujoco::plugin::sensor { namespace mujoco::plugin::sensor {
python/mujoco/constants.cc
+1 -1
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@@ -83,7 +83,7 @@ PYBIND11_MODULE(_constants, pymodule) {
// from mujoco.h // from mujoco.h
X(mjVERSION_HEADER); X(mjVERSION_HEADER);
// from mjtnum.h // from mjtype.h
X(mjMINVAL); X(mjMINVAL);
#undef X #undef X
python/mujoco/introspect/enums.py
+10 -10
View File
@@ -508,16 +508,6 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjSDFTYPE_COLLISION', 3), ('mjSDFTYPE_COLLISION', 3),
]), ]),
)), )),
('mjtTaskStatus',
EnumDecl(
name='mjtTaskStatus',
declname='enum mjtTaskStatus_',
values=dict([
('mjTASK_NEW', 0),
('mjTASK_QUEUED', 1),
('mjTASK_COMPLETED', 2),
]),
)),
('mjtState', ('mjtState',
EnumDecl( EnumDecl(
name='mjtState', name='mjtState',
@@ -619,6 +609,16 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjS_AWAKE', 1), ('mjS_AWAKE', 1),
]), ]),
)), )),
('mjtTaskStatus',
EnumDecl(
name='mjtTaskStatus',
declname='enum mjtTaskStatus_',
values=dict([
('mjTASK_NEW', 0),
('mjTASK_QUEUED', 1),
('mjTASK_COMPLETED', 2),
]),
)),
('mjtGeomInertia', ('mjtGeomInertia',
EnumDecl( EnumDecl(
name='mjtGeomInertia', name='mjtGeomInertia',
python/mujoco/serialization.h
+1 -1
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@@ -18,7 +18,7 @@
#include <cstddef> #include <cstddef>
#include <iostream> #include <iostream>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
namespace mujoco::python::_impl { namespace mujoco::python::_impl {
src/engine/engine_collision_convex.h
+1 -1
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@@ -26,7 +26,7 @@
#include <mujoco/mjexport.h> #include <mujoco/mjexport.h>
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
// minimum number of vertices to use hill-climbing in mesh support // minimum number of vertices to use hill-climbing in mesh support
#define mjMESH_HILLCLIMB_MIN 10 #define mjMESH_HILLCLIMB_MIN 10
src/engine/engine_collision_driver.h
+1 -1
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@@ -18,7 +18,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjexport.h> #include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
src/engine/engine_collision_gjk.c
+1 -1
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@@ -19,7 +19,7 @@
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include "engine/engine_collision_convex.h" #include "engine/engine_collision_convex.h"
#include "engine/engine_util_blas.h" #include "engine/engine_util_blas.h"
src/engine/engine_collision_gjk.h
+1 -1
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@@ -20,7 +20,7 @@
#include <mujoco/mjexport.h> #include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include "engine/engine_collision_convex.h" #include "engine/engine_collision_convex.h"
src/engine/engine_collision_primitive.h
+1 -1
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@@ -18,7 +18,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjexport.h> #include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
src/engine/engine_collision_sdf.c
+1 -1
View File
@@ -20,7 +20,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjsan.h> // IWYU pragma: keep #include <mujoco/mjsan.h> // IWYU pragma: keep
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include "engine/engine_plugin.h" #include "engine/engine_plugin.h"
#include "engine/engine_util_blas.h" #include "engine/engine_util_blas.h"
#include "engine/engine_util_errmem.h" #include "engine/engine_util_errmem.h"
src/engine/engine_collision_sdf.h
+1 -1
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@@ -19,7 +19,7 @@
#include <mujoco/mjexport.h> #include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjplugin.h> #include <mujoco/mjplugin.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
src/engine/engine_core_constraint.h
+1 -1
View File
@@ -18,7 +18,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjexport.h> #include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
src/engine/engine_core_smooth.h
+1 -1
View File
@@ -18,7 +18,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjexport.h> #include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
src/engine/engine_core_util.h
+1 -1
View File
@@ -18,7 +18,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjexport.h> #include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
src/engine/engine_forward.h
+1 -1
View File
@@ -18,7 +18,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjexport.h> #include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
src/engine/engine_init.c
+1 -1
View File
@@ -17,7 +17,7 @@
#include <string.h> #include <string.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include "engine/engine_util_blas.h" #include "engine/engine_util_blas.h"
#ifdef _MSC_VER #ifdef _MSC_VER
src/engine/engine_inline.h
+1 -1
View File
@@ -15,7 +15,7 @@
#ifndef MUJOCO_SRC_ENGINE_ENGINE_INLINE_H_ #ifndef MUJOCO_SRC_ENGINE_ENGINE_INLINE_H_
#define 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> #include <mujoco/mujoco.h>
#ifdef __cplusplus #ifdef __cplusplus
src/engine/engine_memory.h
+1 -1
View File
@@ -17,8 +17,8 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjexport.h> #include <mujoco/mjexport.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mjsan.h> // IWYU pragma: keep #include <mujoco/mjsan.h> // IWYU pragma: keep
#include <mujoco/mjtype.h>
#include <mujoco/mjxmacro.h> #include <mujoco/mjxmacro.h>
#ifdef __cplusplus #ifdef __cplusplus
src/engine/engine_print.c
+1 -1
View File
@@ -24,7 +24,7 @@
#include <mujoco/mjmacro.h> #include <mujoco/mjmacro.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjsan.h> // IWYU pragma: keep #include <mujoco/mjsan.h> // IWYU pragma: keep
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mjxmacro.h> #include <mujoco/mjxmacro.h>
#include "engine/engine_core_constraint.h" #include "engine/engine_core_constraint.h"
#include "engine/engine_core_util.h" #include "engine/engine_core_util.h"
src/engine/engine_support.h
+1 -1
View File
@@ -18,7 +18,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjexport.h> #include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
src/engine/engine_util_blas.c
+1 -1
View File
@@ -16,7 +16,7 @@
#include <string.h> #include <string.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include "engine/engine_util_blas_avx.h" // IWYU pragma: keep #include "engine/engine_util_blas_avx.h" // IWYU pragma: keep
src/engine/engine_util_blas.h
+1 -1
View File
@@ -18,7 +18,7 @@
#include <math.h> #include <math.h>
#include <mujoco/mjexport.h> #include <mujoco/mjexport.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
src/engine/engine_util_blas_avx.h
+1 -1
View File
@@ -22,7 +22,7 @@
#include <immintrin.h> #include <immintrin.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
// res = vec*scl // res = vec*scl
static inline static inline
src/engine/engine_util_misc.h
+1 -1
View File
@@ -17,7 +17,7 @@
#include <mujoco/mjexport.h> #include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
src/engine/engine_util_solve.h
+1 -1
View File
@@ -17,7 +17,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjexport.h> #include <mujoco/mjexport.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
src/engine/engine_util_sparse.c
+1 -1
View File
@@ -17,7 +17,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjmacro.h> #include <mujoco/mjmacro.h>
#include <mujoco/mjsan.h> // IWYU pragma: keep #include <mujoco/mjsan.h> // IWYU pragma: keep
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include "engine/engine_memory.h" #include "engine/engine_memory.h"
#include "engine/engine_util_blas.h" #include "engine/engine_util_blas.h"
#include "engine/engine_util_misc.h" #include "engine/engine_util_misc.h"
src/engine/engine_util_sparse.h
+1 -1
View File
@@ -19,7 +19,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjexport.h> #include <mujoco/mjexport.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include "engine/engine_util_sparse_avx.h" #include "engine/engine_util_sparse_avx.h"
#ifdef __cplusplus #ifdef __cplusplus
src/engine/engine_util_sparse_avx.h
+1 -1
View File
@@ -23,7 +23,7 @@
#include <immintrin.h> #include <immintrin.h>
#include <string.h> #include <string.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
//------------------------------ sparse operations using avx --------------------------------------- //------------------------------ sparse operations using avx ---------------------------------------
src/engine/engine_util_spatial.h
+1 -1
View File
@@ -16,7 +16,7 @@
#define MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPATIAL_H_ #define MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPATIAL_H_
#include <mujoco/mjexport.h> #include <mujoco/mjexport.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
src/user/user_api.h
+1 -1
View File
@@ -21,7 +21,7 @@
#include <mujoco/mjexport.h> #include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjspec.h> #include <mujoco/mjspec.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
// this is a C-API // this is a C-API
src/user/user_composite.cc
+1 -1
View File
@@ -21,7 +21,7 @@
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjspec.h> #include <mujoco/mjspec.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include "cc/array_safety.h" #include "cc/array_safety.h"
#include "engine/engine_util_blas.h" #include "engine/engine_util_blas.h"
#include "engine/engine_util_errmem.h" #include "engine/engine_util_errmem.h"
src/user/user_flexcomp.cc
+1 -1
View File
@@ -26,7 +26,7 @@
#include <mujoco/mjmacro.h> #include <mujoco/mjmacro.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mjplugin.h> #include <mujoco/mjplugin.h>
#include "cc/array_safety.h" #include "cc/array_safety.h"
#include "engine/engine_crossplatform.h" #include "engine/engine_crossplatform.h"
src/user/user_mesh.cc
+1 -1
View File
@@ -57,7 +57,7 @@
#include <mujoco/mjmacro.h> #include <mujoco/mjmacro.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjplugin.h> #include <mujoco/mjplugin.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include "engine/engine_crossplatform.h" // IWYU pragma: keep #include "engine/engine_crossplatform.h" // IWYU pragma: keep
#include "engine/engine_plugin.h" #include "engine/engine_plugin.h"
#include "engine/engine_util_errmem.h" #include "engine/engine_util_errmem.h"
src/user/user_model.cc
+1 -1
View File
@@ -41,7 +41,7 @@
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjplugin.h> #include <mujoco/mjplugin.h>
#include <mujoco/mjspec.h> #include <mujoco/mjspec.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "cc/array_safety.h" #include "cc/array_safety.h"
#include "engine/engine_core_util.h" #include "engine/engine_core_util.h"
src/user/user_model.h
+1 -1
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@@ -30,7 +30,7 @@
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjplugin.h> #include <mujoco/mjplugin.h>
#include <mujoco/mjspec.h> #include <mujoco/mjspec.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include "user/user_objects.h" #include "user/user_objects.h"
typedef std::map<std::string, int, std::less<> > mjKeyMap; typedef std::map<std::string, int, std::less<> > mjKeyMap;
src/user/user_objects.h
+1 -1
View File
@@ -32,7 +32,7 @@
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjplugin.h> #include <mujoco/mjplugin.h>
#include <mujoco/mjspec.h> #include <mujoco/mjspec.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include "user/user_cache.h" #include "user/user_cache.h"
#include "user/user_util.h" #include "user/user_util.h"
src/xml/xml_native_reader.cc
+1 -1
View File
@@ -31,7 +31,7 @@
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjplugin.h> #include <mujoco/mjplugin.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mjvisualize.h> #include <mujoco/mjvisualize.h>
#include "engine/engine_plugin.h" #include "engine/engine_plugin.h"
#include "engine/engine_support.h" #include "engine/engine_support.h"
test/engine/engine_collision_gjk_test.cc
+1 -1
View File
@@ -24,7 +24,7 @@
#include "src/engine/engine_collision_convex.h" #include "src/engine/engine_collision_convex.h"
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include "test/fixture.h" #include "test/fixture.h"
#include <gmock/gmock.h> #include <gmock/gmock.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>
test/engine/engine_collision_sdf_test.cc
+1 -1
View File
@@ -19,7 +19,7 @@
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "src/engine/engine_collision_sdf.h" #include "src/engine/engine_collision_sdf.h"
#include "test/fixture.h" #include "test/fixture.h"
test/engine/engine_forward_test.cc
+1 -1
View File
@@ -28,7 +28,7 @@
#include <gmock/gmock.h> #include <gmock/gmock.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include <mujoco/mjxmacro.h> #include <mujoco/mjxmacro.h>
#include "src/cc/array_safety.h" #include "src/cc/array_safety.h"
test/engine/engine_ray_test.cc
+1 -1
View File
@@ -21,7 +21,7 @@
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "src/engine/engine_ray.h" #include "src/engine/engine_ray.h"
#include "test/fixture.h" #include "test/fixture.h"
test/engine/engine_sensor_test.cc
+1 -1
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@@ -22,7 +22,7 @@
#include <gmock/gmock.h> #include <gmock/gmock.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "src/engine/engine_support.h" #include "src/engine/engine_support.h"
#include "src/engine/engine_util_blas.h" #include "src/engine/engine_util_blas.h"
test/engine/engine_util_blas_test.cc
+1 -1
View File
@@ -20,7 +20,7 @@
#include <gmock/gmock.h> #include <gmock/gmock.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include "test/fixture.h" #include "test/fixture.h"
namespace mujoco { namespace mujoco {
test/engine/engine_util_spatial_test.cc
+1 -1
View File
@@ -21,7 +21,7 @@
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <gtest/gtest-spi.h> #include <gtest/gtest-spi.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "src/engine/engine_util_blas.h" #include "src/engine/engine_util_blas.h"
#include "src/engine/engine_util_spatial.h" #include "src/engine/engine_util_spatial.h"
test/header_test.cc
+1 -1
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@@ -24,7 +24,7 @@
#include <mujoco/mjdata.h> #include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjrender.h> #include <mujoco/mjrender.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mjui.h> #include <mujoco/mjui.h>
#include <mujoco/mjvisualize.h> #include <mujoco/mjvisualize.h>
#include <mujoco/mjxmacro.h> #include <mujoco/mjxmacro.h>
test/user/user_mesh_test.cc
+1 -1
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@@ -28,7 +28,7 @@
#include <absl/strings/str_format.h> #include <absl/strings/str_format.h>
#include <absl/strings/str_replace.h> #include <absl/strings/str_replace.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "src/cc/array_safety.h" #include "src/cc/array_safety.h"
#include "test/fixture.h" #include "test/fixture.h"
test/user/user_objects_test.cc
+1 -1
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@@ -24,7 +24,7 @@
#include <gmock/gmock.h> #include <gmock/gmock.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "test/fixture.h" #include "test/fixture.h"
test/xml/xml_native_writer_test.cc
+1 -1
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@@ -31,7 +31,7 @@
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <absl/strings/match.h> #include <absl/strings/match.h>
#include <mujoco/mjmodel.h> #include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h> #include <mujoco/mjtype.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "src/xml/xml_numeric_format.h" #include "src/xml/xml_numeric_format.h"
#include "test/fixture.h" #include "test/fixture.h"
unity/Runtime/Bindings/MjBindings.cs
+6 -6
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@@ -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_MJSPEC_H_ = true;
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTHREAD_H_ = true; public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTHREAD_H_ = true;
public const int mjMAXTHREAD = 128; 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 double mjMINVAL = 1e-15;
public const bool THIRD_PARTY_MUJOCO_MJUI_H_ = true; public const bool THIRD_PARTY_MUJOCO_MJUI_H_ = true;
public const int mjMAXUISECT = 10; public const int mjMAXUISECT = 10;
@@ -443,11 +443,6 @@ public enum mjtSDFType : int{
mjSDFTYPE_MIDSURFACE = 2, mjSDFTYPE_MIDSURFACE = 2,
mjSDFTYPE_COLLISION = 3, mjSDFTYPE_COLLISION = 3,
} }
public enum mjtTaskStatus : int{
mjTASK_NEW = 0,
mjTASK_QUEUED = 1,
mjTASK_COMPLETED = 2,
}
public enum mjtState : int{ public enum mjtState : int{
mjSTATE_TIME = 1, mjSTATE_TIME = 1,
mjSTATE_QPOS = 2, mjSTATE_QPOS = 2,
@@ -519,6 +514,11 @@ public enum mjtSleepState : int{
mjS_ASLEEP = 0, mjS_ASLEEP = 0,
mjS_AWAKE = 1, mjS_AWAKE = 1,
} }
public enum mjtTaskStatus : int{
mjTASK_NEW = 0,
mjTASK_QUEUED = 1,
mjTASK_COMPLETED = 2,
}
public enum mjtGeomInertia : int{ public enum mjtGeomInertia : int{
mjINERTIA_VOLUME = 0, mjINERTIA_VOLUME = 0,
mjINERTIA_SHELL = 1, mjINERTIA_SHELL = 1,