Restructure numeric constants table in API docs
Break the monolithic numeric constants table into 6 sub-grouped tables: Version, Engine constants, Array sizes, Visualization, Rendering, UI constants. Fix stale values: mjMAXUITEXT (500->300), mjMAXUIMULTI (20->35), mjMAXUIEDIT (5->7), mjMAXUIRECT (15->25). Add missing constants: mjMAXLIGHT, mjMAXMATERIAL. Fix placeholder description for mjMAXFLEXNODES. PiperOrigin-RevId: 875010581 Change-Id: Id47846de4d98b62cb96087b72ecd28358d5db9c7
This commit is contained in:
Yuval Tassa
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Copybara-Service
Copybara-Service
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-38
@@ -368,10 +368,41 @@ Numeric constants
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^^^^^^^^^^^^^^^^^
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Many integer constants were already documented in the primitive types above. In addition, the header files define
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several other constants documented here. Unless indicated otherwise, each entry in the table below is defined in
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`mjmodel.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`_. Note that some extended key
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codes are defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_ which are not
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shown in the table below. Their names are in the format ``mjKEY_XXX``. They correspond to GLFW key codes.
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several other constants documented here. Note that some extended key codes are defined in
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`mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_ which are not shown below. Their
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names are in the format ``mjKEY_XXX``. They correspond to GLFW key codes.
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.. _glNumericVersion:
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Version
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~~~~~~~
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Defined in `mujoco.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mujoco.h>`_.
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.. list-table::
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:widths: 2 1 8
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:header-rows: 1
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* - symbol
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- value
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- description
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* - ``mjVERSION_HEADER``
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- 3005001
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- The version of the MuJoCo headers. This is an integer calculated from the version string "S.M.P"
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using the formula ``(S * 1e6) + (M * 1e3) + P``. For example, version 4.2.1 is represented as 4002001.
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The API function :ref:`mj_version` returns a number with the same meaning
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but for the compiled library. See
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`VERSIONING.md <https://github.com/google-deepmind/mujoco/blob/main/VERSIONING.md>`__ for details.
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.. _glNumericEngine:
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Engine constants
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~~~~~~~~~~~~~~~~
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Defined in `mjmodel.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`_ unless
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indicated otherwise.
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.. list-table::
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:widths: 2 1 8
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@@ -384,6 +415,7 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
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- 1E-15
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- The minimal value allowed in any denominator, and in general any mathematical operation where 0 is not allowed.
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In almost all cases, MuJoCo silently clamps smaller values to mjMINVAL.
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Defined in `mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`_.
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* - ``mjPI``
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- :math:`\pi`
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- The value of :math:`\pi`. This is used in various trigonometric functions, and also for conversion from degrees
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@@ -416,17 +448,38 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
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is raised and ray casting may not be possible. For a balanced hierarchy, this implies 1E15 bounding volumes.
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* - ``mjMAXFLEXNODES``
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- 27
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- Some number by Alessio that needs documentation. I guess it's related to trilinear flexes?
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- The maximum number of nodes in a trilinear flex element.
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* - ``mjMINAWAKE``
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- 10
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- The minimum number of timesteps that must pass after a tree is awoken, before it is allowed to go back to sleep.
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* - ``mjMAXTHREAD``
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- 128
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- Maximum number of OS threads that can be used in a thread pool.
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Defined in `mjthread.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjthread.h>`_.
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.. _glNumericSizes:
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Array sizes
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~~~~~~~~~~~
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Defined in `mjmodel.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`_. These constants
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correspond to array sizes which we have not fully settled. There may be reasons to increase them in the future, so as to
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accommodate extra parameters needed for more elaborate computations. This is why we maintain them as symbolic constants
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that can be easily changed, as opposed to the array size for representing quaternions for example -- which has no reason
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to change.
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.. list-table::
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:widths: 2 1 8
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:header-rows: 1
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* - symbol
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- value
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- description
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* - ``mjNEQDATA``
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- 11
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- The maximal number of real-valued parameters used to define each equality constraint. Determines the size of
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``mjModel.eq_data``. This and the next five constants correspond to array sizes which we have not fully settled.
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There may be reasons to increase them in the future, so as to accommodate extra parameters needed for more
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elaborate computations. This is why we maintain them as symbolic constants that can be easily changed, as opposed
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to the array size for representing quaternions for example -- which has no reason to change.
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``mjModel.eq_data``.
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* - ``mjNDYN``
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- 10
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- The maximal number of real-valued parameters used to define the activation dynamics of each actuator.
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@@ -464,75 +517,104 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
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- The number of islands for which solver statistics can be stored in ``mjData.solver``. This array is
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used to store diagnostic information about each iteration of the constraint solver.
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The actual number of islands for which the solver was run is given by ``mjData.nsolver_island``.
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.. _glNumericVisualization:
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Visualization
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~~~~~~~~~~~~~
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Defined in `mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
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.. list-table::
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:widths: 2 1 8
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:header-rows: 1
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* - symbol
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- value
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- description
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* - ``mjNGROUP``
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- 6
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- The number of geom, site, joint, tendon and actuator groups whose rendering can be enabled and disabled via
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:ref:`mjvOption`.
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Defined in `mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
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* - ``mjMAXLIGHT``
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- 100
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- The maximum number of lights in a scene.
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* - ``mjMAXOVERLAY``
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- 500
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- The maximal number of characters in overlay text for rendering.
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Defined in `mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
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* - ``mjMAXLINE``
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- 100
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- The maximal number of lines per 2D figure (:ref:`mjvFigure`).
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Defined in `mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
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* - ``mjMAXLINEPNT``
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- 1001
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- The maximal number of points in each line in a 2D figure. Note that the buffer ``mjvFigure.linepnt`` has length
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``2*mjMAXLINEPNT`` because each point has X and Y coordinates.
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Defined in `mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
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* - ``mjMAXPLANEGRID``
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- 200
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- The maximal number of grid lines in each dimension for rendering planes.
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Defined in `mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
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.. _glNumericRendering:
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Rendering
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~~~~~~~~~
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Defined in `mjrender.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjrender.h>`_.
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.. list-table::
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:widths: 2 1 8
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:header-rows: 1
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* - symbol
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- value
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- description
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* - ``mjNAUX``
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- 10
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- Number of auxiliary buffers that can be allocated in mjrContext.
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Defined in `mjrender.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjrender.h>`_.
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* - ``mjMAXTEXTURE``
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- 1000
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- Maximum number of textures allowed.
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Defined in `mjrender.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjrender.h>`_.
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* - ``mjMAXTHREAD``
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- 128
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- Maximum number OS threads that can be used in a thread pool.
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Defined in `mjthread.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjthread.h>`_.
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* - ``mjMAXMATERIAL``
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- 1000
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- Maximum number of materials with textures.
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.. _glNumericUI:
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UI constants
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~~~~~~~~~~~~
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Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
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.. list-table::
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:widths: 2 1 8
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:header-rows: 1
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* - symbol
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- value
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- description
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* - ``mjMAXUISECT``
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- 10
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- Maximum number of UI sections.
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Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
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* - ``mjMAXUIITEM``
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- 200
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- Maximum number of items per UI section.
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Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
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* - ``mjMAXUITEXT``
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- 500
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- 300
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- Maximum number of characters in UI fields 'edittext' and 'other'.
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Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
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* - ``mjMAXUINAME``
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- 40
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- Maximum number of characters in any UI name.
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Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
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* - ``mjMAXUIMULTI``
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- 20
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- 35
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- Maximum number of radio and select items in UI group.
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Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
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* - ``mjMAXUIEDIT``
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- 5
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- 7
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- Maximum number of elements in UI edit list.
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Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
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* - ``mjMAXUIRECT``
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- 15
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- 25
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- Maximum number of UI rectangles.
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Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
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* - ``mjVERSION_HEADER``
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- 3005001
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- The version of the MuJoCo headers. This is an integer calculated from the version string "S.M.P"
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using the formula ``(S * 1e6) + (M * 1e3) + P``. For example, version 4.2.1 is represented as 4002001.
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Defined in mujoco.h. The API function :ref:`mj_version` returns a number with the same meaning
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but for the compiled library. See
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`VERSIONING.md <https://github.com/google-deepmind/mujoco/blob/main/VERSIONING.md>`__ for details.
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.. _Macros:
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@@ -1252,7 +1252,7 @@ Intersect ray ``pnt+x*vec, x >= 0`` with geoms.
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- If ``normal`` is not NULL, write the surface normal at the intersection point. The normal always points **out of the
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geometry**, regardless of the ray's direction (i.e., including rays hitting the surface from the inside).
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- Exclude geoms in body with id ``bodyexclude``, use -1 to include all bodies.
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- ``geomgroup`` is an array of length :ref:`mjNGROUP<glNumeric>`, where 1 means the group should be included. Pass
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- ``geomgroup`` is an array of length :ref:`mjNGROUP<glNumericVisualization>`, where 1 means the group should be included. Pass
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NULL to skip geom group exclusion.
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- If ``flg_static`` is 0, static geoms will be excluded.
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@@ -2911,7 +2911,7 @@ each corresponding to one item. The last (unused) item has its type set to -1, t
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after the end of the last used section. There is also another version of this function
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(:ref:`mjui_addToSection<mjui_addToSection>`) which adds items to a specified section instead of adding them at the end
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of the UI. Keep in mind that there is a maximum preallocated number of sections and items per section, given by
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:ref:`mjMAXUISECT<glNumeric>` and :ref:`mjMAXUIITEM<glNumeric>`. Exceeding these maxima results in low-level errors.
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:ref:`mjMAXUISECT<glNumericUI>` and :ref:`mjMAXUIITEM<glNumericUI>`. Exceeding these maxima results in low-level errors.
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.. _mjui_addToSection:
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@@ -403,7 +403,7 @@ Intersect ray ``pnt+x*vec, x >= 0`` with geoms.
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- If ``normal`` is not NULL, write the surface normal at the intersection point. The normal always points **out of the
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geometry**, regardless of the ray's direction (i.e., including rays hitting the surface from the inside).
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- Exclude geoms in body with id ``bodyexclude``, use -1 to include all bodies.
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- ``geomgroup`` is an array of length :ref:`mjNGROUP<glNumeric>`, where 1 means the group should be included. Pass
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- ``geomgroup`` is an array of length :ref:`mjNGROUP<glNumericVisualization>`, where 1 means the group should be included. Pass
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NULL to skip geom group exclusion.
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- If ``flg_static`` is 0, static geoms will be excluded.
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@@ -444,7 +444,7 @@ each corresponding to one item. The last (unused) item has its type set to -1, t
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after the end of the last used section. There is also another version of this function
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(:ref:`mjui_addToSection<mjui_addToSection>`) which adds items to a specified section instead of adding them at the end
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of the UI. Keep in mind that there is a maximum preallocated number of sections and items per section, given by
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:ref:`mjMAXUISECT<glNumeric>` and :ref:`mjMAXUIITEM<glNumeric>`. Exceeding these maxima results in low-level errors.
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:ref:`mjMAXUISECT<glNumericUI>` and :ref:`mjMAXUIITEM<glNumericUI>`. Exceeding these maxima results in low-level errors.
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.. _mjui_update:
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@@ -1249,7 +1249,7 @@ The full list of processing steps applied by the compiler to each mesh is as fol
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transformations in ``mjModel.mesh_{pos, quat, scale}``.
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#. Construct the convex hull if specified;
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#. Find the centroid of all triangle faces, and construct the union-of-pyramids representation. Triangles whose area is
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too small (below the :ref:`mjMINVAL <glNumeric>` value of 1E-14) result in compile error;
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too small (below the :ref:`mjMINVAL <glNumericEngine>` value of 1E-14) result in compile error;
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#. Compute the center of mass and inertia matrix of the union-of-pyramids. Use eigenvalue decomposition to find the
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principal axes of inertia. Center and align the mesh, saving the translational and rotational offsets for subsequent
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geom-related computations.
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@@ -1518,7 +1518,7 @@ also known as terrain map, is a 2D matrix of elevation data. The data can be spe
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and other geoms (except for planes and other height fields which are not supported) are computed by first selecting
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the sub-grid of prisms that could collide with the geom based on its bounding box, and then using the general convex
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collider. The number of possible contacts between a height field and a geom is limited to 50
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(:ref:`mjMAXCONPAIR <glNumeric>`); any contacts beyond that are discarded. To avoid penetration due to discarded
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(:ref:`mjMAXCONPAIR <glNumericEngine>`); any contacts beyond that are discarded. To avoid penetration due to discarded
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contacts, the spatial features of the height field should be large compared to the geoms it collides with.
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.. _asset-hfield-name:
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+2
-2
@@ -1463,8 +1463,8 @@ General
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Each row of length ``mjNSOLVER`` contains separate solver statistics for each constraint island.
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If the solver does not use islands, only row 0 is filled.
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- The new constant :ref:`mjNISLAND<glNumeric>` was set to 20.
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- :ref:`mjNSOLVER<glNumeric>` was reduced from 1000 to 200.
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- The new constant :ref:`mjNISLAND<glNumericSizes>` was set to 20.
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- :ref:`mjNSOLVER<glNumericSizes>` was reduced from 1000 to 200.
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- Added :ref:`mjData.solver_nisland<mjData>`: the number of islands for which the solver ran.
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- Renamed ``mjData.solver_iter`` to ``solver_niter``. Both this member and ``mjData.solver_nnz`` are now integer
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vectors of length ``mjNISLAND``.
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@@ -1621,17 +1621,17 @@ will generate up to 1 contact or with ``multiccd`` up to 4 contacts.
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| **1**
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* - HField
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- | HFieldCCD
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| :ref:`mjMAXCONPAIR <glNumeric>`
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| :ref:`mjMAXCONPAIR <glNumericEngine>`
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- | HFieldCCD
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| :ref:`mjMAXCONPAIR <glNumeric>`
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| :ref:`mjMAXCONPAIR <glNumericEngine>`
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- | HFieldCCD
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| :ref:`mjMAXCONPAIR <glNumeric>`
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| :ref:`mjMAXCONPAIR <glNumericEngine>`
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- | HFieldCCD
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| :ref:`mjMAXCONPAIR <glNumeric>`
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| :ref:`mjMAXCONPAIR <glNumericEngine>`
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- | HFieldCCD
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| :ref:`mjMAXCONPAIR <glNumeric>`
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| :ref:`mjMAXCONPAIR <glNumericEngine>`
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- | HFieldCCD
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| :ref:`mjMAXCONPAIR <glNumeric>`
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| :ref:`mjMAXCONPAIR <glNumericEngine>`
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- | HFieldSDF
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| :ref:`sdf_initpoints <option-sdf_initpoints>`
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* - Sphere
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@@ -1762,7 +1762,7 @@ sleeping mechanism is provided in the :ref:`Simulation chapter<siSleep>` but her
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Sleeping can occur in one of two ways:
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- **Automatic:** A tree whose maximum velocity in absolute value is less than the
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:ref:`tolerance <option-sleep_tolerance>` for :ref:`mjMINAWAKE <glNumeric>` time steps is marked as "ready to sleep".
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:ref:`tolerance <option-sleep_tolerance>` for :ref:`mjMINAWAKE <glNumericEngine>` time steps is marked as "ready to sleep".
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If all trees in an island are ready to sleep, they are put to sleep during state advancement.
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- **Initialized asleep:** By setting the :ref:`body/sleep<body-sleep>` attribute of a tree root to "init", it is
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marked as "initialized-asleep" and put to sleep during :ref:`mjData` initialization.
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@@ -724,7 +724,7 @@ Warnings are provided when memory requirements exceed existing allocations durin
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setting `m.opt.contact_sensor_maxmatch`. Alternatively, refactor the contact sensor matching criteria, for example if
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the 2 geoms of interest are known, specify ``geom1`` and ``geom2``.
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- ``height field collision overflow``: The number of potential contacts generated by a height field exceeds
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:ref:`mjMAXCONPAIR <glNumeric>` and some contacts are ignored. To resolve this warning, reduce the height field
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:ref:`mjMAXCONPAIR <glNumericEngine>` and some contacts are ignored. To resolve this warning, reduce the height field
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resolution or reduce the size of the geom interacting with the height field.
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Compilation
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+1
-1
@@ -301,7 +301,7 @@ We begin by explaining the constraint impedance :math:`d`.
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at rest. Impedance is set using the :at:`solimp` attribute.
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Recall that :math:`d` must lie between 0 and 1; internally MuJoCo clamps it to the range [:ref:`mjMINIMP mjMAXIMP
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<glNumeric>`] which is currently set to [0.0001 0.9999]. It causes the solver to interpolate between the unforced
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<glNumericEngine>`] which is currently set to [0.0001 0.9999]. It causes the solver to interpolate between the unforced
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acceleration :math:`\au` and reference acceleration :math:`\ar`. The user can set :math:`d` to a constant, or
|
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take advantage of its interpolating property and make it position-dependent, i.e., a function of the constraint
|
||||
violation :math:`r`. Position-dependent impedance can be used to model soft contact layers around objects, or define
|
||||
|
||||
@@ -200,7 +200,7 @@ The situation is more subtle if existing code was developed with a certain versi
|
||||
compiled and linked with a different version. If the definitions of the API functions used in that code have changed,
|
||||
either the compiler or the linker will generate errors. But even if the function definitions have not changed, it may
|
||||
still be a good idea to assert that the software version is the same. To this end, the main header (mujoco.h) defines
|
||||
the symbol :ref:`mjVERSION_HEADER <glNumeric>` and the library provides the function
|
||||
the symbol :ref:`mjVERSION_HEADER <glNumericVersion>` and the library provides the function
|
||||
:ref:`mj_version`. Thus the header and library versions can be compared with:
|
||||
|
||||
.. code-block:: C
|
||||
|
||||
@@ -1098,7 +1098,7 @@ implementation details.
|
||||
|
||||
The high level sleep state of :ref:`trees<ElemTree>` is described by ``mjData.tree_asleep`` (though see caveat below). A
|
||||
negative value means a tree is awake, non-negative means asleep. Maximally awake trees are given the value - |-| (1 |-|
|
||||
+ |-| :ref:`mjMINAWAKE<glNumeric>`), and for every timestep where their velocity falls below the sleep :ref:`tolerance
|
||||
+ |-| :ref:`mjMINAWAKE<glNumericEngine>`), and for every timestep where their velocity falls below the sleep :ref:`tolerance
|
||||
<option-sleep_tolerance>`, this integer is incremented, up to -1, which means "ready to sleep". If all trees in an
|
||||
island are ready to sleep, they are put to sleep during state advancement and their associated values in ``tree_asleep``
|
||||
are set to a (non-negative) index cycle: the "sleeping island". If any tree in the island is woken, all are woken.
|
||||
@@ -1213,7 +1213,7 @@ Notes
|
||||
**Provisional choices**
|
||||
Some implementation choices are provisional and subject to change.
|
||||
|
||||
A concrete example is the decision to hard-code the value of :ref:`mjMINAWAKE<glNumeric>` instead of exposing it to
|
||||
A concrete example is the decision to hard-code the value of :ref:`mjMINAWAKE<glNumericEngine>` instead of exposing it to
|
||||
the user as a runtime option. This was done for two reasons. First, in our experiments, we've found that changing this
|
||||
value is equivalent to changing the :ref:`sleep_tolerance<option-sleep_tolerance>`, which is the more useful knob.
|
||||
Second, one could argue for a time-to-sleep semantic that is in units of time rather than an integer number of
|
||||
|
||||
Reference in New Issue
Block a user