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Move mjtConstraintState from mjmodel.h to mjdata.h.

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This is the correct location, this enum is only used in `mjData`, not `mjModel`.

PiperOrigin-RevId: 798860951
Change-Id: I48b9a2afc831bd9a6966cc9586429fd03605bdd2
This commit is contained in:
Yuval Tassa
2025-08-24 12:37:02 -07:00
committed by Copybara-Service
parent 1c1bb14e1c
commit d77ecb3f06
6 changed files with 45 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/APIreference/APItypes.rst
+10 -9
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@@ -338,15 +338,6 @@ of active constraints is constructed at each simulation time step.
.. mujoco-include:: mjtConstraint
.. _mjtConstraintState:
mjtConstraintState
~~~~~~~~~~~~~~~~~~
These values are used by the solver internally to keep track of the constraint states.
.. mujoco-include:: mjtConstraintState
.. _mjtSensor:
@@ -440,6 +431,16 @@ State component elements as integer bitflags and several convenient combinations
.. mujoco-include:: mjtState
.. _mjtConstraintState:
mjtConstraintState
~~~~~~~~~~~~~~~~~~
These values are used by the solver internally to keep track of the constraint states.
.. mujoco-include:: mjtConstraintState
.. _mjtWarning:
mjtWarning
doc/includes/references.h
+7 -7
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@@ -41,6 +41,13 @@ typedef enum mjtState_ { // state elements
mjSTATE_USERDATA,
mjSTATE_INTEGRATION = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
} mjtState;
typedef enum mjtConstraintState_ { // constraint state
mjCNSTRSTATE_SATISFIED = 0, // constraint satisfied, zero cost (limit, contact)
mjCNSTRSTATE_QUADRATIC, // quadratic cost (equality, friction, limit, contact)
mjCNSTRSTATE_LINEARNEG, // linear cost, negative side (friction)
mjCNSTRSTATE_LINEARPOS, // linear cost, positive side (friction)
mjCNSTRSTATE_CONE // squared distance to cone cost (elliptic contact)
} mjtConstraintState;
typedef enum mjtWarning_ { // warning types
mjWARN_INERTIA = 0, // (near) singular inertia matrix
mjWARN_CONTACTFULL, // too many contacts in contact list
@@ -642,13 +649,6 @@ typedef enum mjtConstraint_ { // type of constraint
mjCNSTR_CONTACT_PYRAMIDAL, // frictional contact, pyramidal friction cone
mjCNSTR_CONTACT_ELLIPTIC // frictional contact, elliptic friction cone
} mjtConstraint;
typedef enum mjtConstraintState_ { // constraint state
mjCNSTRSTATE_SATISFIED = 0, // constraint satisfied, zero cost (limit, contact)
mjCNSTRSTATE_QUADRATIC, // quadratic cost (equality, friction, limit, contact)
mjCNSTRSTATE_LINEARNEG, // linear cost, negative side (friction)
mjCNSTRSTATE_LINEARPOS, // linear cost, positive side (friction)
mjCNSTRSTATE_CONE // squared distance to cone cost (elliptic contact)
} mjtConstraintState;
typedef enum mjtSensor_ { // type of sensor
// common robotic sensors, attached to a site
mjSENS_TOUCH = 0, // scalar contact normal forces summed over sensor zone
include/mujoco/mjdata.h
+9
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@@ -51,6 +51,15 @@ typedef enum mjtState_ { // state elements
} mjtState;
typedef enum mjtConstraintState_ { // constraint state
mjCNSTRSTATE_SATISFIED = 0, // constraint satisfied, zero cost (limit, contact)
mjCNSTRSTATE_QUADRATIC, // quadratic cost (equality, friction, limit, contact)
mjCNSTRSTATE_LINEARNEG, // linear cost, negative side (friction)
mjCNSTRSTATE_LINEARPOS, // linear cost, positive side (friction)
mjCNSTRSTATE_CONE // squared distance to cone cost (elliptic contact)
} mjtConstraintState;
typedef enum mjtWarning_ { // warning types
mjWARN_INERTIA = 0, // (near) singular inertia matrix
mjWARN_CONTACTFULL, // too many contacts in contact list
include/mujoco/mjmodel.h
-9
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@@ -303,15 +303,6 @@ typedef enum mjtConstraint_ { // type of constraint
} mjtConstraint;
typedef enum mjtConstraintState_ { // constraint state
mjCNSTRSTATE_SATISFIED = 0, // constraint satisfied, zero cost (limit, contact)
mjCNSTRSTATE_QUADRATIC, // quadratic cost (equality, friction, limit, contact)
mjCNSTRSTATE_LINEARNEG, // linear cost, negative side (friction)
mjCNSTRSTATE_LINEARPOS, // linear cost, positive side (friction)
mjCNSTRSTATE_CONE // squared distance to cone cost (elliptic contact)
} mjtConstraintState;
typedef enum mjtSensor_ { // type of sensor
// common robotic sensors, attached to a site
mjSENS_TOUCH = 0, // scalar contact normal forces summed over sensor zone
python/mujoco/introspect/enums.py
+12 -12
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@@ -327,18 +327,6 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjCNSTR_CONTACT_ELLIPTIC', 7),
]),
)),
('mjtConstraintState',
EnumDecl(
name='mjtConstraintState',
declname='enum mjtConstraintState_',
values=dict([
('mjCNSTRSTATE_SATISFIED', 0),
('mjCNSTRSTATE_QUADRATIC', 1),
('mjCNSTRSTATE_LINEARNEG', 2),
('mjCNSTRSTATE_LINEARPOS', 3),
('mjCNSTRSTATE_CONE', 4),
]),
)),
('mjtSensor',
EnumDecl(
name='mjtSensor',
@@ -513,6 +501,18 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjSTATE_INTEGRATION', 8191),
]),
)),
('mjtConstraintState',
EnumDecl(
name='mjtConstraintState',
declname='enum mjtConstraintState_',
values=dict([
('mjCNSTRSTATE_SATISFIED', 0),
('mjCNSTRSTATE_QUADRATIC', 1),
('mjCNSTRSTATE_LINEARNEG', 2),
('mjCNSTRSTATE_LINEARPOS', 3),
('mjCNSTRSTATE_CONE', 4),
]),
)),
('mjtWarning',
EnumDecl(
name='mjtWarning',
unity/Runtime/Bindings/MjBindings.cs
+7 -7
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@@ -115,6 +115,13 @@ public const int mjVERSION_HEADER = 336;
// ------------------------------------Enums------------------------------------
public enum mjtConstraintState : int{
mjCNSTRSTATE_SATISFIED = 0,
mjCNSTRSTATE_QUADRATIC = 1,
mjCNSTRSTATE_LINEARNEG = 2,
mjCNSTRSTATE_LINEARPOS = 3,
mjCNSTRSTATE_CONE = 4,
}
public enum mjtWarning : int{
mjWARN_INERTIA = 0,
mjWARN_CONTACTFULL = 1,
@@ -344,13 +351,6 @@ public enum mjtConstraint : int{
mjCNSTR_CONTACT_PYRAMIDAL = 6,
mjCNSTR_CONTACT_ELLIPTIC = 7,
}
public enum mjtConstraintState : int{
mjCNSTRSTATE_SATISFIED = 0,
mjCNSTRSTATE_QUADRATIC = 1,
mjCNSTRSTATE_LINEARNEG = 2,
mjCNSTRSTATE_LINEARPOS = 3,
mjCNSTRSTATE_CONE = 4,
}
public enum mjtSensor : int{
mjSENS_TOUCH = 0,
mjSENS_ACCELEROMETER = 1,