Improved numeric constants docs section.
PiperOrigin-RevId: 524799733 Change-Id: Ibb941d5bbb57f884ec31e1f00ae0e99cedac2980
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Yuval Tassa
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@@ -368,114 +368,150 @@ Numeric constants
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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. Note that some extended key codes are defined in mjui.h which are not shown in the table below. Their names
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are in the format mjKEY_XXX. They correspond to GLFW key codes.
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+------------------+--------+----------------------------------------------------------------------------------------+
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| symbol | value | description |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMINVAL | 1E-15 | The minimal value allowed in any denominator, and in general any mathematical |
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| | | operation where 0 is not allowed. In almost all cases, MuJoCo silently clamps smaller |
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| | | values to mjMINVAL. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjPI | pi | The value of pi. This is used in various trigonometric functions, and also for |
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| | | conversion from degrees to radians in the compiler. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMAXVAL | 1E+10 | The maximal absolute value allowed in mjData.qpos, mjData.qvel, mjData.qacc. The API |
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| | | functions :ref:`mj_checkPos`, :ref:`mj_checkVel`, :ref:`mj_checkAcc` use this constant |
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| | | to detect instability. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMINMU | 1E-5 | The minimal value allowed in any friction coefficient. Recall that MuJoCo's contact |
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| | | model allows different number of friction dimensions to be included, as specified by |
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| | | the :at:`condim` attribute. If however a given friction dimension is included, its |
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| | | friction is not allowed to be smaller than this constant. Smaller values are |
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| | | automatically clamped to this constant. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMINIMP | 0.0001 | The minimal value allowed in any constraint impedance. Smaller values are |
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| | | automatically clamped to this constant. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMAXIMP | 0.9999 | The maximal value allowed in any constraint impedance. Larger values are automatically |
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| | | clamped to this constant. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMAXCONPAIR | 50 | The maximal number of contacts points that can be generated per geom pair. MuJoCo's |
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| | | built-in collision functions respect this limit, and user-defined functions should |
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| | | also respect it. Such functions are called with a return buffer of size mjMAXCONPAIR; |
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| | | attempting to write more contacts in the buffer can cause unpredictable behavior. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMAXVFS | 200 | The maximal number of files in the virtual file system. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMAXVFSNAME | 100 | The maximal number of characters in the name of each file in the virtual file system. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjNEQDATA | 11 | The maximal number of real-valued parameters used to define each equality constraint. |
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| | | Determines the size of mjModel.eq_data. This and the next five constants correspond to |
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| | | array sizes which we have not fully settled. There may be reasons to increase them in |
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| | | the future, so as to accommodate extra parameters needed for more elaborate |
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| | | computations. This is why we maintain them as symbolic constants that can be easily |
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| | | changed, as opposed to the array size for representing quaternions for example - which |
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| | | has no reason to change. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjNDYN | 10 | The maximal number of real-valued parameters used to define the activation dynamics of |
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| | | each actuator. Determines the size of mjModel.actuator_dynprm. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjNGAIN | 10 | The maximal number of real-valued parameters used to define the gain of each actuator. |
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| | | Determines the size of mjModel.actuator_gainprm. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjNBIAS | 10 | The maximal number of real-valued parameters used to define the bias of each actuator. |
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| | | Determines the size of mjModel.actuator_biasprm. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjNFLUID | 12 | The number of per-geom fluid interaction parameters required by the ellipsoidal model. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjNREF | 2 | The maximal number of real-valued parameters used to define the reference acceleration |
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| | | of each scalar constraint. Determines the size of all mjModel.XXX_solref fields. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjNIMP | 5 | The maximal number of real-valued parameters used to define the impedance of each |
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| | | scalar constraint. Determines the size of all mjModel.XXX_solimp fields. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjNSOLVER | 1000 | The size of the preallocated array ``mjData.solver``. This is used to store diagnostic |
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| | | information about each iteration of the constraint solver. The actual number of |
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| | | iterations is given by ``mjData.solver_iter``. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjNGROUP | 6 | The number of geom, site, joint, tendon and actuator groups whose rendering can be |
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| | | enabled and disabled via mjvOption. Defined in mjvisualize.h. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMAXOVERLAY | 500 | The maximal number of characters in overlay text for rendering. Defined in |
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| | | mjvisualize.h. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMAXLINE | 100 | The maximal number of lines per 2D figure (mjvFigure). Defined in mjvisualize.h. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMAXLINEPNT | 1000 | The maximal number of points in each line in a 2D figure. Note that the buffer |
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| | | mjvFigure.linepnt has length 2*mjMAXLINEPNT because each point has X and Y |
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| | | coordinates. Defined in mjvisualize.h. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMAXPLANEGRID | 200 | The maximal number of grid lines in each dimension for rendering planes. Defined in |
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| | | mjvisualize.h. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjNAUX | 10 | Number of auxiliary buffers that can be allocated in mjrContext. Defined in |
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| | | mjrender.h. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMAXTEXTURE | 1000 | Maximum number of textures allowed. Defined in mjrender.h. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMAXUISECT | 10 | Maximum number of UI sections. Defined in mjui.h. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMAXUIITEM | 80 | Maximum number of items per UI section. Defined in mjui.h. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMAXUITEXT | 500 | Maximum number of characters in UI fields 'edittext' and 'other'. Defined in mjui.h. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMAXUINAME | 40 | Maximum number of characters in any UI name. Defined in mjui.h. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMAXUIMULTI | 20 | Maximum number of radio and select items in UI group. Defined in mjui.h. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMAXUIEDIT | 5 | Maximum number of elements in UI edit list. Defined in mjui.h. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjMAXUIRECT | 15 | Maximum number of UI rectangles. Defined in mjui.h. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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| mjVERSION_HEADER | 211 | The version of the MuJoCo headers; changes with every release. This is an integer |
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| | | equal to 100x the software version, so 210 corresponds to version 2.1. Defined in |
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| | | mujoco.h. The API function :ref:`mj_version` returns a number with the same meaning |
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| | | but for the compiled library. |
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+------------------+--------+----------------------------------------------------------------------------------------+
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`mjmodel.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`_. Note that some extended key codes
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are defined in `mjui.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_ which are not shown in the
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table below. Their names are in the format ``mjKEY_XXX``. They correspond to GLFW key codes.
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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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* - ``mjMINVAL``
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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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* - ``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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to radians in the compiler.
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* - ``mjMAXVAL``
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- 1E+10
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- The maximal absolute value allowed in mjData.qpos, mjData.qvel, mjData.qacc. The API functions
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:ref:`mj_checkPos`, :ref:`mj_checkVel`, :ref:`mj_checkAcc` use this constant to detect instability.
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* - ``mjMINMU``
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- 1E-5
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- The minimal value allowed in any friction coefficient. Recall that MuJoCo's contact model allows different number
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of friction dimensions to be included, as specified by the :at:`condim` attribute. If however a given friction
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dimension is included, its friction is not allowed to be smaller than this constant. Smaller values are
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automatically clamped to this constant.
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* - ``mjMINIMP``
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- 0.0001
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- The minimal value allowed in any constraint impedance. Smaller values are automatically clamped to this constant.
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* - ``mjMAXIMP``
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- 0.9999
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- The maximal value allowed in any constraint impedance. Larger values are automatically clamped to this constant.
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* - ``mjMAXCONPAIR``
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- 50
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- The maximal number of contacts points that can be generated per geom pair. MuJoCo's built-in collision functions
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respect this limit, and user-defined functions should also respect it. Such functions are called with a return
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buffer of size ``mjMAXCONPAIR``; attempting to write more contacts in the buffer can cause unpredictable
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behavior.
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* - ``mjMAXVFS``
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- 200
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- The maximal number of characters in the name of each file in the virtual file system.
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* - ``mjMAXVFSNAME``
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- 100
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- The maximal number of characters in the name of each file in the virtual file system.
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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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* - ``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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Determines the size of ``mjModel.actuator_dynprm``.
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* - ``mjNGAIN``
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- 10
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- The maximal number of real-valued parameters used to define the gain of each actuator.
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Determines the size of ``mjModel.actuator_gainprm``.
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* - ``mjNBIAS``
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- 10
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- The maximal number of real-valued parameters used to define the bias of each actuator.
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Determines the size of ``mjModel.actuator_biasprm``.
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* - ``mjNFLUID``
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- 12
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- The number of per-geom fluid interaction parameters required by the ellipsoidal model.
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* - ``mjNREF``
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- 2
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- The maximal number of real-valued parameters used to define the reference acceleration of each scalar constraint.
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Determines the size of all ``mjModel.XXX_solref`` fields.
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* - ``mjNIMP``
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- 5
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- The maximal number of real-valued parameters used to define the impedance of each scalar constraint.
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Determines the size of all ``mjModel.XXX_solimp`` fields.
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* - ``mjNSOLVER``
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- 1000
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- The size of the preallocated array ``mjData.solver``. This is used to store diagnostic information about each
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iteration of the constraint solver. The actual number of iterations is given by ``mjData.solver_iter``.
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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/deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
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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/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/deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
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* - ``mjMAXLINEPNT``
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- 1000
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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/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/deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
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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/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/deepmind/mujoco/blob/main/include/mujoco/mjrender.h>`_.
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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/deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
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* - ``mjMAXUIITEM``
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- 80
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- Maximum number of items per UI section.
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Defined in `mjui.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
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* - ``mjMAXUITEXT``
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- 500
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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/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/deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
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* - ``mjMAXUIMULTI``
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- 20
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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/deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
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* - ``mjMAXUIEDIT``
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- 5
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- Maximum number of elements in UI edit list.
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Defined in `mjui.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
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* - ``mjMAXUIRECT``
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- 15
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- Maximum number of UI rectangles.
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Defined in `mjui.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
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* - ``mjVERSION_HEADER``
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- 233
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- The version of the MuJoCo headers; changes with every release. This is an integer equal to 100x the software
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version, so 210 corresponds to version 2.1. Defined in mujoco.h. The API function :ref:`mj_version` returns a
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number with the same meaning but for the compiled library.
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.. _tyXMacro:
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