chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Clean-up user_api.h and user_init.cc

Browse Source 
PiperOrigin-RevId: 605967516
Change-Id: Ieaf75d764778d81932b860ca9f16007adc0037a1
This commit is contained in:
Yuval Tassa
2024-02-10 21:20:15 -08:00
committed by Copybara-Service
parent 230f8c7b63
commit cebd2a657e
2 changed files with 364 additions and 280 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_api.h
+294 -223
View File
@@ -19,299 +19,370 @@
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
typedef struct _mjString* mjString;
typedef struct _mjDouble* mjDouble;
typedef struct _mjElement* mjElement;
// this is a C-API
#ifdef __cplusplus
extern "C" {
#endif
//---------------------------------- Public structs ------------------------------------------------
// type of mesh
typedef enum _mjtGeomInertia {
mjINERTIA_VOLUME,
mjINERTIA_SHELL,
//---------------------------------- handles to internal objects -----------------------------------
typedef struct _mjElement* mjElement;
typedef struct _mjString* mjString;
typedef struct _mjDouble* mjDouble;
//---------------------------------- enum types (mjt) ----------------------------------------------
typedef enum _mjtGeomInertia { // type of inertia inference
mjINERTIA_VOLUME, // mass distributed in the volume
mjINERTIA_SHELL, // mass distributed on the surface
} mjtGeomInertia;
typedef struct _mjmOrientation {
//---------------------------------- attribute structs (mjm) ---------------------------------------
typedef struct _mjmOrientation { // alternative orientation specifiers
double axisangle[4]; // rotation axis and angle
double xyaxes[6]; // x and y axes
double zaxis[3]; // z axis (use minimal rotation)
double euler[3]; // euler rotations
double euler[3]; // euler angles
} mjmOrientation;
typedef struct _mjmPlugin {
bool active;
mjString name;
mjString instance_name;
mjElement instance;
typedef struct _mjmPlugin { // plugin specification
mjElement instance; // internal, do not modify
mjString name; // name
mjString instance_name; // instance name
bool active; // is the plugin active
} mjmPlugin;
typedef struct _mjmBody {
mjElement element; // compiler only, do not modify
mjString name; // name
mjString classname; // class name
double pos[3]; // frame position
double quat[4]; // frame orientation
mjtByte mocap; // is this a mocap body
mjmOrientation alt; // frame alternative orientation
double gravcomp; // gravity compensation
mjDouble userdata; // user data
double ipos[3]; // inertial frame position
double iquat[4]; // inertial frame orientation
double mass; // mass
double inertia[3]; // diagonal inertia (in i-frame)
mjmOrientation ialt; // inertial frame alternative orientation
double fullinertia[6]; // non-axis-aligned inertia matrix
mjtByte explicitinertial; // whether to save the body with an explicit inertial clause
mjmPlugin plugin; // passive force plugin
mjString info; // message appended to errors
typedef struct _mjmBody { // body specification
mjElement element; // internal, do not modify
mjString name; // name
mjString classname; // childclass name
// body frame
double pos[3]; // frame position
double quat[4]; // frame orientation
mjmOrientation alt; // frame alternative orientation
// inertial frame
double mass; // mass
double ipos[3]; // inertial frame position
double iquat[4]; // inertial frame orientation
double inertia[3]; // diagonal inertia (in i-frame)
mjmOrientation ialt; // inertial frame alternative orientation
double fullinertia[6]; // non-axis-aligned inertia matrix
// other
mjtByte mocap; // is this a mocap body
double gravcomp; // gravity compensation
mjDouble userdata; // user data
mjtByte explicitinertial; // whether to save the body with explicit inertial clause
mjmPlugin plugin; // passive force plugin
mjString info; // message appended to compiler errors
} mjmBody;
typedef struct _mjmJoint {
mjElement element; // compiler only, do not modify
mjString name; // name
mjString classname; // class name
typedef struct _mjmJoint { // joint specification
mjElement element; // internal, do not modify
mjString name; // name
mjString classname; // class name
mjtJoint type; // joint type
// joint properties
mjtJoint type; // type of Joint
int group; // used for rendering
int limited; // does joint have limits: 0 false, 1 true, 2 auto
int actfrclimited; // are actuator forces on joints limited: 0 false, 1 true, 2 auto
// kinematics
double pos[3]; // anchor position
double axis[3]; // joint axis
double ref; // value at reference configuration: qpos0
// stiffness
double stiffness; // stiffness coefficient
double springref; // spring reference value: qpos_spring
double springdamper[2]; // timeconst, dampratio
// limits
int limited; // does joint have limits
double range[2]; // joint limits
double actfrcrange[2]; // actuator force limits
double margin; // margin value for joint limit detection
mjtNum solref_limit[mjNREF]; // solver reference: joint limits
mjtNum solimp_limit[mjNIMP]; // solver impedance: joint limits
mjtNum solref_friction[mjNREF]; // solver reference: dof friction
mjtNum solimp_friction[mjNIMP]; // solver impedance: dof friction
double margin; // margin value for joint limit detection
double ref; // value at reference configuration: qpos0
double springref; // spring reference value: qpos_spring
mjDouble userdata; // user data
int actfrclimited; // are actuator forces on joint limited
double actfrcrange[2]; // actuator force limits
// dof properties
double armature; // armature inertia (mass for slider)
double damping; // damping coefficient
double frictionloss; // friction loss
mjtNum solref_friction[mjNREF]; // solver reference: dof friction
mjtNum solimp_friction[mjNIMP]; // solver impedance: dof friction
// other attributes
mjString info; // message appended to errors
double urdfeffort; // store effort field from urdf
// other
int group; // group
double urdfeffort; // effort (urdf)
mjDouble userdata; // user data
mjString info; // message appended to compiler errors
} mjmJoint;
typedef struct _mjmGeom {
mjElement element; // compiler only, do not modify
mjString name; // name
mjString classname; // classname
mjtGeom type; // geom type
double pos[3]; // position
double quat[4]; // orientation
mjmOrientation alt; // alternative orientation specifications
int contype; // contact type
int conaffinity; // contact affinity
int condim; // contact dimensionality
int group; // used for rendering
int priority; // contact priority
double size[3]; // geom-specific size parameters
double friction[3]; // one-sided friction coefficients: slide, roll, spin
double solmix; // solver mixing for contact pairs
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
double mass; // used to compute density
double density; // used to compute mass and inertia (from volume)
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
double margin; // margin for contact detection
double gap; // include in solver if dist<margin-gap
mjtNum fluid_ellipsoid; // whether ellipsoid-fluid model is active
mjtNum fluid_coefs[5]; // ellipsoid-fluid interaction coefs
mjString material; // name of material used for rendering
mjString hfieldname; // hfield attached to geom
mjString meshname; // mesh attached to geom
double fitscale; // scale mesh uniformly
mjDouble userdata; // user data
float rgba[4]; // rgba when material is omitted
mjtGeomInertia typeinertia; // selects between surface and volume inertia
mjmPlugin plugin; // sdf plugin
mjString info;
typedef struct _mjmGeom { // geom specification
mjElement element; // internal, do not modify
mjString name; // name
mjString classname; // classname
mjtGeom type; // geom type
// frame, size
double pos[3]; // position
double quat[4]; // orientation
mjmOrientation alt; // alternative orientation
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
double size[3]; // type-specific size
// contact related
int contype; // contact type
int conaffinity; // contact affinity
int condim; // contact dimensionality
int priority; // contact priority
double friction[3]; // one-sided friction coefficients: slide, roll, spin
double solmix; // solver mixing for contact pairs
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection
double gap; // include in solver if dist < margin-gap
// inertia inference
double mass; // used to compute density
double density; // used to compute mass and inertia from volume or surface
mjtGeomInertia typeinertia; // selects between surface and volume inertia
// fluid forces
mjtNum fluid_ellipsoid; // whether ellipsoid-fluid model is active
mjtNum fluid_coefs[5]; // ellipsoid-fluid interaction coefs
// visual
mjString material; // name of material
float rgba[4]; // rgba when material is omitted
int group; // group
// other
mjString hfieldname; // heightfield attached to geom
mjString meshname; // mesh attached to geom
double fitscale; // scale mesh uniformly
mjDouble userdata; // user data
mjmPlugin plugin; // sdf plugin
mjString info; // message appended to compiler errors
} mjmGeom;
typedef struct _mjmSite {
mjElement element; // compiler only, do not modify
mjString name; // name
mjString classname; // class name
mjtGeom type; // geom type for rendering
int group; // group id, used for visualization
double pos[3]; // position
double quat[4]; // orientation
mjString material; // name of material for rendering
double size[3]; // geom size for rendering
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
mjmOrientation alt; // alternative orientation specification
float rgba[4]; // rgba when material is omitted
mjDouble userdata; // user data
mjString info; // message appended to errors
typedef struct _mjmSite { // site specification
mjElement element; // internal, do not modify
mjString name; // name
mjString classname; // class name
// frame, size
double pos[3]; // position
double quat[4]; // orientation
mjmOrientation alt; // alternative orientation
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
double size[3]; // geom size
// visual
mjtGeom type; // geom type
mjString material; // name of material
int group; // group
float rgba[4]; // rgba when material is omitted
// other
mjDouble userdata; // user data
mjString info; // message appended to compiler errors
} mjmSite;
typedef struct _mjmCamera {
mjElement element; // compiler only, do not modify
mjString name; // name
mjString classname; // class name
mjString info; // message appended to errors
mjtCamLight mode; // tracking mode
mjString targetbody; // target body for orientation
double fovy; // y-field of view
double ipd; // inter-pupilary distance
double pos[3]; // position
double quat[4]; // orientation
float intrinsic[4]; // camera intrinsics [length]
float sensor_size[2]; // sensor size [length]
float resolution[2]; // resolution [pixel]
float focal_length[2]; // focal length [length]
float focal_pixel[2]; // focal length [pixel]
float principal_length[2]; // principal point [length]
float principal_pixel[2]; // principal point [pixel]
mjDouble userdata; // user data
mjmOrientation alt; // alternative orientation specification
typedef struct _mjmCamera { // camera specification
mjElement element; // internal, do not modify
mjString name; // name
mjString classname; // class name
// extrinsics
double pos[3]; // position
double quat[4]; // orientation
mjmOrientation alt; // alternative orientation
mjtCamLight mode; // tracking mode
mjString targetbody; // target body for tracking/targeting
// intrinsics
double fovy; // y-field of view
double ipd; // inter-pupilary distance
float intrinsic[4]; // camera intrinsics (length)
float sensor_size[2]; // sensor size (length)
float resolution[2]; // resolution (pixel)
float focal_length[2]; // focal length (length)
float focal_pixel[2]; // focal length (pixel)
float principal_length[2]; // principal point (length)
float principal_pixel[2]; // principal point (pixel)
// other
mjDouble userdata; // user data
mjString info; // message appended to compiler errors
} mjmCamera;
typedef struct _mjmLight {
mjElement element; // compiler only, do not modify
mjString name; // name
mjString classname; // class name
mjString info; // message appended to errors
mjtCamLight mode; // tracking mode
mjString targetbody; // target body for orientation
mjtByte directional; // directional light
mjtByte castshadow; // does light cast shadows
mjtByte active; // is light active
double pos[3]; // position
double dir[3]; // direction
float attenuation[3]; // OpenGL attenuation (quadratic model)
float cutoff; // OpenGL cutoff
float exponent; // OpenGL exponent
float ambient[3]; // ambient color
float diffuse[3]; // diffuse color
float specular[3]; // specular color
typedef struct _mjmLight { // light specification
mjElement element; // internal, do not modify
mjString name; // name
mjString classname; // class name
// frame
double pos[3]; // position
double dir[3]; // direction
mjtCamLight mode; // tracking mode
mjString targetbody; // target body for targeting
// intrinsics
mjtByte active; // is light active
mjtByte directional; // is light directional or spot
mjtByte castshadow; // does light cast shadows
float attenuation[3]; // OpenGL attenuation (quadratic model)
float cutoff; // OpenGL cutoff
float exponent; // OpenGL exponent
float ambient[3]; // ambient color
float diffuse[3]; // diffuse color
float specular[3]; // specular color
// other
mjString info; // message appended to compiler errors
} mjmLight;
typedef struct _mjmEquality {
mjElement element; // compiler only, do not modify
mjString name; // name
mjString classname; // class name
mjtEq type; // constraint type
mjString name1; // name of object 1
mjString name2; // name of object 2
mjtByte active; // initial activation state
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
double data[mjNEQDATA]; // type-dependent data
mjString info; // message appended to errors
typedef struct _mjmEquality { // equality specification
mjElement element; // internal, do not modify
mjString name; // name
mjString classname; // class name
mjtEq type; // constraint type
double data[mjNEQDATA]; // type-dependent data
mjtByte active; // is equality initially active
mjString name1; // name of object 1
mjString name2; // name of object 2
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
mjString info; // message appended to errors
} mjmEquality;
typedef struct _mjmTendon {
mjElement element; // compiler only, do not modify
typedef struct _mjmTendon { // tendon specification
mjElement element; // internal, do not modify
mjString name; // name
mjString classname; // class name
int group; // group for visualization
int limited; // does tendon have limits: 0 false, 1 true, 2 auto
double width; // width for rendering
mjtNum solref_limit[mjNREF]; // solver reference: tendon limits
mjtNum solimp_limit[mjNIMP]; // solver impedance: tendon limits
mjtNum solref_friction[mjNREF]; // solver reference: tendon friction
mjtNum solimp_friction[mjNIMP]; // solver impedance: tendon friction
double range[2]; // length limits
double margin; // margin value for tendon limit detection
// stiffness, damping, friction
double stiffness; // stiffness coefficient
double springlength[2]; // spring resting length; {-1, -1}: use qpos_spring
double damping; // damping coefficient
double frictionloss; // friction loss
double springlength[2]; // spring resting length; {-1, -1}: use qpos_spring
mjtNum solref_friction[mjNREF]; // solver reference: tendon friction
mjtNum solimp_friction[mjNIMP]; // solver impedance: tendon friction
// length range
int limited; // does tendon have limits: 0 false, 1 true, 2 auto
double range[2]; // length limits
double margin; // margin value for tendon limit detection
mjtNum solref_limit[mjNREF]; // solver reference: tendon limits
mjtNum solimp_limit[mjNIMP]; // solver impedance: tendon limits
// visual
mjString material; // name of material for rendering
mjDouble userdata; // user data
double width; // width for rendering
float rgba[4]; // rgba when material is omitted
int group; // group
// other
mjDouble userdata; // user data
mjString info; // message appended to errors
} mjmTendon;
typedef struct _mjmWrap {
mjElement element; // compiler only, do not modify
mjString name; // name
mjString classname; // class name
mjString info; // message appended to errors
typedef struct _mjmWrap { // wrapping object specification
mjElement element; // internal, do not modify
mjString name; // name
mjString classname; // class name
mjString info; // message appended to errors
} mjmWrap;
typedef struct _mjmActuator {
mjElement element; // compiler only, do not modify
mjString name; // name
mjString classname; // class name
mjString info; // message appended to errors
int group; // group for visualization
int ctrllimited; // are control limits defined: 0 false, 1 true, 2 auto
int forcelimited; // are force limits defined: 0 false, 1 true, 2 auto
int actlimited; // are activation limits defined: 0 false, 1 true, 2 auto
int actdim; // dimension of associated activations
int plugin_actdim; // actuator state size for plugins
mjtDyn dyntype; // dynamics type
mjtTrn trntype; // transmission type
mjtGain gaintype; // gain type
mjtBias biastype; // bias type
double dynprm[mjNDYN]; // dynamics parameters
double gainprm[mjNGAIN]; // gain parameters
double biasprm[mjNGAIN]; // bias parameters
mjtByte actearly; // apply activations to qfrc instantly
double ctrlrange[2]; // control range
double forcerange[2]; // force range
double actrange[2]; // activation range
double lengthrange[2]; // length range
double gear[6]; // length and transmitted force scaling
double cranklength; // crank length, for slider-crank only
mjDouble userdata; // user data
mjString target; // transmission target name
mjString slidersite; // site defining cylinder, for slider-crank only
mjString refsite; // reference site, for site transmission only
mjmPlugin plugin; // actuator plugin
typedef struct _mjmActuator { // actuator specification
mjElement element; // internal, do not modify
mjString name; // name
mjString classname; // class name
// gain, bias
mjtGain gaintype; // gain type
double gainprm[mjNGAIN]; // gain parameters
mjtBias biastype; // bias type
double biasprm[mjNGAIN]; // bias parameters
// activation state
mjtDyn dyntype; // dynamics type
double dynprm[mjNDYN]; // dynamics parameters
int actdim; // number of activation variables
int plugin_actdim; // actuator state size for plugins
mjtByte actearly; // apply next activations to qfrc
// transmission
mjtTrn trntype; // transmission type
double gear[6]; // length and transmitted force scaling
mjString target; // name of transmission target
mjString refsite; // reference site, for site transmission
mjString slidersite; // site defining cylinder, for slider-crank
double cranklength; // crank length, for slider-crank
double lengthrange[2]; // transmission length range
// input/output clamping
int ctrllimited; // are control limits defined: 0 false, 1 true, 2 auto
double ctrlrange[2]; // control range
int forcelimited; // are force limits defined: 0 false, 1 true, 2 auto
double forcerange[2]; // force range
int actlimited; // are activation limits defined: 0 false, 1 true, 2 auto
double actrange[2]; // activation range
// other
int group; // group
mjDouble userdata; // user data
mjmPlugin plugin; // actuator plugin
mjString info; // message appended to compiler errors
} mjmActuator;
typedef struct _mjmSensor {
mjElement element; // compiler only, do not modify
mjString name; // name
mjString classname; // class name
mjString info; // message appended to errors
mjtSensor type; // type of sensor
mjtDataType datatype; // data type for sensor measurement
mjtStage needstage; // compute stage needed to simulate sensor
mjtObj objtype; // type of sensorized object
mjString objname; // name of sensorized object
mjtObj reftype; // type of referenced object
mjString refname; // name of referenced object
int dim; // number of scalar outputs
double cutoff; // cutoff for real and positive datatypes
double noise; // noise stdev
mjDouble userdata; // user data
mjmPlugin plugin; // sensor plugin
typedef struct _mjmSensor { // sensor specfication
mjElement element; // internal, do not modify
mjString name; // name
mjString classname; // class name
// sensor defintion
mjtSensor type; // type of sensor
mjtObj objtype; // type of sensorized object
mjString objname; // name of sensorized object
mjtObj reftype; // type of referenced object
mjString refname; // name of referenced object
// user-defined sensors
mjtDataType datatype; // data type for sensor measurement
mjtStage needstage; // compute stage needed to simulate sensor
int dim; // number of scalar outputs
// output post-processing
double cutoff; // cutoff for real and positive datatypes
double noise; // noise stdev
// other
mjDouble userdata; // user data
mjmPlugin plugin; // sensor plugin
mjString info; // message appended to compiler errors
} mjmSensor;
//---------------------------------- Public API ----------------------------------------------------
//---------------------------------- API functions -------------------------------------------------
// Create model.
MJAPI void* mjm_createModel();
@@ -379,19 +450,19 @@ MJAPI void* mjm_getModel(mjmBody* body);
// Get default corresponding to an mjElement.
MJAPI void* mjm_getDefault(mjElement element);
// Finding body with given name in model.
// Find body in model by name.
MJAPI mjmBody* mjm_findBody(void* modelspec, const char* name);
// Finding body with given name in body.
// Find child body by name.
MJAPI mjmBody* mjm_findChild(mjmBody* body, const char* name);
// Get element id.
MJAPI int mjm_getId(mjElement element);
// Copy input text to destination string.
// Copy text to destination string.
MJAPI void mjm_setString(mjString dest, const char* text);
// Copy input array to destination vector.
// Copy double array to destination vector.
MJAPI void mjm_setDouble(mjDouble dest, const double* array, int size);
// Get string contents.