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Make model editing API public, fixes #364

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Still missing:

- Detailed documentation.
- Python bindings.

PiperOrigin-RevId: 641445626
Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
This commit is contained in:
Alessio Quaglino
2024-06-07 22:27:10 -07:00
committed by Copybara-Service
parent 4c3d9461ae
commit 7a06bcfdaf
46 changed files with 8508 additions and 980 deletions
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doc/APIreference/APItypes.rst
+418 -11
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@@ -9,9 +9,11 @@ MuJoCo defines a large number of types:
- Enums used in :ref:`mjModel<tyModelEnums>`.
- Enums used in :ref:`mjData<tyDataEnums>`.
- Abstract :ref:`visualization enums<tyVisEnums>`.
- Enums for abstract :ref:`visualization<tyVisEnums>`.
- Enums used by the :ref:`openGL renderer<tyRenderEnums>`.
- Enums used by the :ref:`mjUI<tyUIEnums>` user interface package.
- Enums used by :ref:`engine plugins<tyPluginEnums>`.
- Enums used for :ref:`procedural model manipulation<tySpecEnums>`.
Note that the API does not use these enum types directly. Instead it uses ints, and the documentation/comments state
that certain ints correspond to certain enum types. This is because we want the API to be compiler-independent, and
@@ -31,9 +33,10 @@ MuJoCo defines a large number of types:
- Structs for :ref:`abstract visualization<tyVisStructure>`.
- Structs used by the :ref:`openGL renderer<tyRenderStructure>`.
- Structs used by the :ref:`UI framework<tyUIStructure>`.
- Structs used for :ref:`procedural model manipulation<tySpecStructure>`.
- Structs used by :ref:`engine plugins<tyPluginStructure>`.
- Several :ref:`tyFunction` for user-defined callbacks.
- Several :ref:`function types<tyFunction>` for user-defined callbacks.
- :ref:`tyNotes` regarding specific data structures that require detailed description.
@@ -43,7 +46,7 @@ MuJoCo defines a large number of 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 two types below are defined in `mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`__.
.. _mjtNum:
@@ -89,13 +92,14 @@ Byte type used to represent boolean variables.
Enum types
----------
All enum types use the ``mjt`` prefix.
.. _tyModelEnums:
Model
^^^^^
The enums below are defined in `mjmodel.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`_.
The enums below are defined in `mjmodel.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`__.
.. _mjtDisableBit:
@@ -333,7 +337,7 @@ These are the possible sensor data types, used in ``mjData.sensor_datatype``.
Data
^^^^
The enums below are defined in `mjdata.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjdata.h>`_.
The enums below are defined in `mjdata.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjdata.h>`__.
@@ -376,7 +380,7 @@ Timer types. The number of timer types is given by ``mjNTIMER`` which is also th
Visualization
^^^^^^^^^^^^^
The enums below are defined in `mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
The enums below are defined in `mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`__.
.. _mjtCatBit:
@@ -480,7 +484,7 @@ These are the possible stereo rendering types. They are used in ``mjvScene.stere
Rendering
^^^^^^^^^
The enums below are defined in `mjrender.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjrender.h>`_.
The enums below are defined in `mjrender.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjrender.h>`__.
.. _mjtGridPos:
@@ -542,7 +546,7 @@ These are the possible font types.
User Interface
^^^^^^^^^^^^^^
The enums below are defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
The enums below are defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`__.
.. _mjtButton:
@@ -574,13 +578,74 @@ Item types used in the UI framework.
.. mujoco-include:: mjtItem
.. _tySpecEnums:
Spec
^^^^
The enums below are defined in `mjspec.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjspec.h>`__.
.. _mjtGeomInertia:
mjtGeomInertia
~~~~~~~~~~~~~~
Type of inertia inference.
.. mujoco-include:: mjtGeomInertia
.. _mjtBuiltin:
mjtBuiltin
~~~~~~~~~~
Type of built-in procedural texture.
.. mujoco-include:: mjtBuiltin
.. _mjtMark:
mjtMark
~~~~~~~
Mark type for procedural textures.
.. mujoco-include:: mjtMark
.. _mjtLimited:
mjtLimited
~~~~~~~~~~
Type of limit specification.
.. mujoco-include:: mjtLimited
.. _mjtInertiaFromGeom:
mjtInertiaFromGeom
~~~~~~~~~~~~~~~~~~
Whether to infer body inertias from child geoms.
.. mujoco-include:: mjtInertiaFromGeom
.. _mjtOrientation:
mjtOrientation
~~~~~~~~~~~~~~
Type of orientation specifier.
.. mujoco-include:: mjtOrientation
.. _tyPluginEnums:
Plugins
^^^^^^^
The enums below are defined in `mjplugin.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjplugin.h>`_.
The enums below are defined in `mjplugin.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjplugin.h>`__.
See :ref:`exPlugin` for details.
@@ -994,6 +1059,348 @@ is initialized, others change at runtime.
.. mujoco-include:: mjUI
.. _tySpecStructure:
mjSpec
^^^^^^
The strucs below are defined in `mjspec.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjspec.h>`__
and, with the exception of the top level :ref:`mjSpec` struct, begin with the ``mjs`` prefix.
For more details, see the :doc:`Model Editing <../programming/modeledit>` chapter.
.. _mjSpec:
mjSpec
~~~~~~
Model specification.
.. mujoco-include:: mjSpec
.. _mjsElement:
mjsElement
~~~~~~~~~~
Special type corresponding to any element.
.. mujoco-include:: mjsElement
.. _mjsOrientation:
mjsOrientation
~~~~~~~~~~~~~~
Alternative orientation specifiers.
.. mujoco-include:: mjsOrientation
.. _mjsBody:
mjsBody
~~~~~~~
Body specification.
.. mujoco-include:: mjsBody
.. _mjsFrame:
mjsFrame
~~~~~~~~
Frame specification.
.. mujoco-include:: mjsFrame
.. _mjsJoint:
mjsJoint
~~~~~~~~
Joint specification.
.. mujoco-include:: mjsJoint
.. _mjsGeom:
mjsGeom
~~~~~~~
Geom specification.
.. mujoco-include:: mjsGeom
.. _mjsSite:
mjsSite
~~~~~~~
Site specification.
.. mujoco-include:: mjsSite
.. _mjsCamera:
mjsCamera
~~~~~~~~~
Camera specification.
.. mujoco-include:: mjsCamera
.. _mjsLight:
mjsLight
~~~~~~~~
Light specification.
.. mujoco-include:: mjsLight
.. _mjsFlex:
mjsFlex
~~~~~~~
Flex specification.
.. mujoco-include:: mjsFlex
.. _mjsMesh:
mjsMesh
~~~~~~~
Mesh specification.
.. mujoco-include:: mjsMesh
.. _mjsHField:
mjsHField
~~~~~~~~~
Height field specification.
.. mujoco-include:: mjsHField
.. _mjsSkin:
mjsSkin
~~~~~~~
Skin specification.
.. mujoco-include:: mjsSkin
.. _mjsTexture:
mjsTexture
~~~~~~~~~~
Texture specification.
.. mujoco-include:: mjsTexture
.. _mjsMaterial:
mjsMaterial
~~~~~~~~~~~
Material specification.
.. mujoco-include:: mjsMaterial
.. _mjsPair:
mjsPair
~~~~~~~
Pair specification.
.. mujoco-include:: mjsPair
.. _mjsExclude:
mjsExclude
~~~~~~~~~~
Exclude specification.
.. mujoco-include:: mjsExclude
.. _mjsEquality:
mjsEquality
~~~~~~~~~~~
Equality specification.
.. mujoco-include:: mjsEquality
.. _mjsTendon:
mjsTendon
~~~~~~~~~
Tendon specification.
.. mujoco-include:: mjsTendon
.. _mjsWrap:
mjsWrap
~~~~~~~
Wrapping object specification.
.. mujoco-include:: mjsWrap
.. _mjsActuator:
mjsActuator
~~~~~~~~~~~
Actuator specification.
.. mujoco-include:: mjsActuator
.. _mjsSensor:
mjsSensor
~~~~~~~~~
Sensor specification.
.. mujoco-include:: mjsSensor
.. _mjsNumeric:
mjsNumeric
~~~~~~~~~~
Custom numeric field specification.
.. mujoco-include:: mjsNumeric
.. _mjsText:
mjsText
~~~~~~~
Custom text specification.
.. mujoco-include:: mjsText
.. _mjsTuple:
mjsTuple
~~~~~~~~
Tuple specification.
.. mujoco-include:: mjsTuple
.. _mjsKey:
mjsKey
~~~~~~
Keyframe specification.
.. mujoco-include:: mjsKey
.. _mjsDefault:
mjsDefault
~~~~~~~~~~
Default specification.
.. mujoco-include:: mjsDefault
.. _mjsPlugin:
mjsPlugin
~~~~~~~~~
Plugin specification.
.. mujoco-include:: mjsPlugin
.. _mjString:
.. _mjStringVec:
.. _mjIntVec:
.. _mjIntVecVec:
.. _mjFloatVec:
.. _mjFloatVecVec:
.. _mjDoubleVec:
Array handles
~~~~~~~~~~~~~
Explain how handles work.
.. code-block:: C++
#ifdef __cplusplus
// C++: defined to be compatible with corresponding std types
using mjString = std::string;
using mjStringVec = std::vector<std::string>;
using mjIntVec = std::vector<int>;
using mjIntVecVec = std::vector<std::vector<int>>;
using mjFloatVec = std::vector<float>;
using mjFloatVecVec = std::vector<std::vector<float>>;
using mjDoubleVec = std::vector<double>;
#else
// C: opaque types
typedef void mjString;
typedef void mjStringVec;
typedef void mjIntVec;
typedef void mjIntVecVec;
typedef void mjFloatVec;
typedef void mjFloatVecVec;
typedef void mjDoubleVec;
#endif
.. _tyPluginStructure:
Plugins
@@ -1028,8 +1435,8 @@ Function types
--------------
MuJoCo callbacks have corresponding function types. They are defined in `mjdata.h
<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjdata.h>`_ and in `mjui.h
<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_. The actual callback functions are documented
<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjdata.h>`__ and in `mjui.h
<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`__. The actual callback functions are documented
in the :doc:`globals<APIglobals>` page.
doc/APIreference/functions.rst
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doc/APIreference/functions_override.rst
+7 -2
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@@ -312,7 +312,7 @@ depending on which UI item was modified and what the state of that item is after
This function is called in the screen refresh loop. It copies the offscreen OpenGL buffer to the window framebuffer. If
there are multiple UIs in the application, it should be called once for each UI. Thus ``mjui_render`` is called all the
time, while :ref:`mjui_update` is called only when changes in the UI take place.
time, while :ref:`mjui_update` is called only when changes in the UI take place. dsffsdg
@@ -545,7 +545,7 @@ Finite-differenced discrete-time transition matrices.
Letting :math:`x, u` denote the current :ref:`state<gePhysicsState>` and :ref:`control<geInput>`
vector in an mjData instance, and letting :math:`y, s` denote the next state and sensor
values, the top-level :ref:`mj_step` function computes :math:`(x,u) \rightarrow (y,s)`.
values, the top-level :ref:`mj_step` function computes :math:`(x,u) \rightarrow (y,s)`
:ref:`mjd_transitionFD` computes the four associated Jacobians using finite-differencing.
These matrices and their dimensions are:
@@ -623,3 +623,8 @@ to the inputs. Below, :math:`\bar q` denotes the pre-modified quaternion:
Note that derivatives depend only on :math:`h` and :math:`v` (in fact, on :math:`s = h v`).
All outputs are optional.
.. _SpecManip:
These functions provide high level manipulation for :ref:`mjSpec` structs, which represent an uncompiled :ref:`mjModel`.