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Mujoco_WASM/introspect/structs.py
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Yuval Tassa 3e034e38b2 Add constraint island discovery 
PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
2023-08-15 02:30:05 -07:00

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# Copyright 2023 DeepMind Technologies Limited
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ==============================================================================
"""Provides information about MuJoCo API structs.
DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
"""
from typing import Mapping
from .ast_nodes import AnonymousStructDecl
from .ast_nodes import AnonymousUnionDecl
from .ast_nodes import ArrayType
from .ast_nodes import PointerType
from .ast_nodes import StructDecl
from .ast_nodes import StructFieldDecl
from .ast_nodes import ValueType
STRUCTS: Mapping[str, StructDecl] = dict([
('mjLROpt',
StructDecl(
name='mjLROpt',
declname='struct mjLROpt_',
fields=(
StructFieldDecl(
name='mode',
type=ValueType(name='int'),
doc='which actuators to process (mjtLRMode)',
),
StructFieldDecl(
name='useexisting',
type=ValueType(name='int'),
doc='use existing length range if available',
),
StructFieldDecl(
name='uselimit',
type=ValueType(name='int'),
doc='use joint and tendon limits if available',
),
StructFieldDecl(
name='accel',
type=ValueType(name='mjtNum'),
doc='target acceleration used to compute force',
),
StructFieldDecl(
name='maxforce',
type=ValueType(name='mjtNum'),
doc='maximum force; 0: no limit',
),
StructFieldDecl(
name='timeconst',
type=ValueType(name='mjtNum'),
doc='time constant for velocity reduction; min 0.01',
),
StructFieldDecl(
name='timestep',
type=ValueType(name='mjtNum'),
doc='simulation timestep; 0: use mjOption.timestep',
),
StructFieldDecl(
name='inttotal',
type=ValueType(name='mjtNum'),
doc='total simulation time interval',
),
StructFieldDecl(
name='interval',
type=ValueType(name='mjtNum'),
doc='evaluation time interval (at the end)',
),
StructFieldDecl(
name='tolrange',
type=ValueType(name='mjtNum'),
doc='convergence tolerance (relative to range)',
),
),
)),
('mjVFS',
StructDecl(
name='mjVFS',
declname='struct mjVFS_',
fields=(
StructFieldDecl(
name='nfile',
type=ValueType(name='int'),
doc='number of files present',
),
StructFieldDecl(
name='filename',
type=ArrayType(
inner_type=ValueType(name='char'),
extents=(2000, 1000),
),
doc='file name without path',
),
StructFieldDecl(
name='filesize',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(2000,),
),
doc='file size in bytes',
),
StructFieldDecl(
name='filedata',
type=ArrayType(
inner_type=PointerType(
inner_type=ValueType(name='void'),
),
extents=(2000,),
),
doc='buffer with file data',
),
),
)),
('mjOption',
StructDecl(
name='mjOption',
declname='struct mjOption_',
fields=(
StructFieldDecl(
name='timestep',
type=ValueType(name='mjtNum'),
doc='timestep',
),
StructFieldDecl(
name='apirate',
type=ValueType(name='mjtNum'),
doc='update rate for remote API (Hz)',
),
StructFieldDecl(
name='impratio',
type=ValueType(name='mjtNum'),
doc='ratio of friction-to-normal contact impedance',
),
StructFieldDecl(
name='tolerance',
type=ValueType(name='mjtNum'),
doc='main solver tolerance',
),
StructFieldDecl(
name='noslip_tolerance',
type=ValueType(name='mjtNum'),
doc='noslip solver tolerance',
),
StructFieldDecl(
name='mpr_tolerance',
type=ValueType(name='mjtNum'),
doc='MPR solver tolerance',
),
StructFieldDecl(
name='gravity',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
doc='gravitational acceleration',
),
StructFieldDecl(
name='wind',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
doc='wind (for lift, drag and viscosity)',
),
StructFieldDecl(
name='magnetic',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
doc='global magnetic flux',
),
StructFieldDecl(
name='density',
type=ValueType(name='mjtNum'),
doc='density of medium',
),
StructFieldDecl(
name='viscosity',
type=ValueType(name='mjtNum'),
doc='viscosity of medium',
),
StructFieldDecl(
name='o_margin',
type=ValueType(name='mjtNum'),
doc='margin',
),
StructFieldDecl(
name='o_solref',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(2,),
),
doc='solref',
),
StructFieldDecl(
name='o_solimp',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(5,),
),
doc='solimp',
),
StructFieldDecl(
name='integrator',
type=ValueType(name='int'),
doc='integration mode (mjtIntegrator)',
),
StructFieldDecl(
name='collision',
type=ValueType(name='int'),
doc='collision mode (mjtCollision)',
),
StructFieldDecl(
name='cone',
type=ValueType(name='int'),
doc='type of friction cone (mjtCone)',
),
StructFieldDecl(
name='jacobian',
type=ValueType(name='int'),
doc='type of Jacobian (mjtJacobian)',
),
StructFieldDecl(
name='solver',
type=ValueType(name='int'),
doc='solver algorithm (mjtSolver)',
),
StructFieldDecl(
name='iterations',
type=ValueType(name='int'),
doc='maximum number of main solver iterations',
),
StructFieldDecl(
name='noslip_iterations',
type=ValueType(name='int'),
doc='maximum number of noslip solver iterations',
),
StructFieldDecl(
name='mpr_iterations',
type=ValueType(name='int'),
doc='maximum number of MPR solver iterations',
),
StructFieldDecl(
name='disableflags',
type=ValueType(name='int'),
doc='bit flags for disabling standard features',
),
StructFieldDecl(
name='enableflags',
type=ValueType(name='int'),
doc='bit flags for enabling optional features',
),
),
)),
('mjVisual',
StructDecl(
name='mjVisual',
declname='struct mjVisual_',
fields=(
StructFieldDecl(
name='global',
type=AnonymousStructDecl(
fields=(
StructFieldDecl(
name='fovy',
type=ValueType(name='float'),
doc='y-field of view for free camera (degrees)',
),
StructFieldDecl(
name='ipd',
type=ValueType(name='float'),
doc='inter-pupilary distance for free camera',
),
StructFieldDecl(
name='azimuth',
type=ValueType(name='float'),
doc='initial azimuth of free camera (degrees)',
),
StructFieldDecl(
name='elevation',
type=ValueType(name='float'),
doc='initial elevation of free camera (degrees)',
),
StructFieldDecl(
name='linewidth',
type=ValueType(name='float'),
doc='line width for wireframe and ray rendering',
),
StructFieldDecl(
name='glow',
type=ValueType(name='float'),
doc='glow coefficient for selected body',
),
StructFieldDecl(
name='realtime',
type=ValueType(name='float'),
doc='initial real-time factor (1: real time)',
),
StructFieldDecl(
name='offwidth',
type=ValueType(name='int'),
doc='width of offscreen buffer',
),
StructFieldDecl(
name='offheight',
type=ValueType(name='int'),
doc='height of offscreen buffer',
),
StructFieldDecl(
name='ellipsoidinertia',
type=ValueType(name='int'),
doc='geom for inertia visualization (0: box, 1: ellipsoid)', # pylint: disable=line-too-long
),
),
),
doc='',
),
StructFieldDecl(
name='quality',
type=AnonymousStructDecl(
fields=(
StructFieldDecl(
name='shadowsize',
type=ValueType(name='int'),
doc='size of shadowmap texture',
),
StructFieldDecl(
name='offsamples',
type=ValueType(name='int'),
doc='number of multisamples for offscreen rendering', # pylint: disable=line-too-long
),
StructFieldDecl(
name='numslices',
type=ValueType(name='int'),
doc='number of slices for builtin geom drawing',
),
StructFieldDecl(
name='numstacks',
type=ValueType(name='int'),
doc='number of stacks for builtin geom drawing',
),
StructFieldDecl(
name='numquads',
type=ValueType(name='int'),
doc='number of quads for box rendering',
),
),
),
doc='',
),
StructFieldDecl(
name='headlight',
type=AnonymousStructDecl(
fields=(
StructFieldDecl(
name='ambient',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='ambient rgb (alpha=1)',
),
StructFieldDecl(
name='diffuse',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='diffuse rgb (alpha=1)',
),
StructFieldDecl(
name='specular',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='specular rgb (alpha=1)',
),
StructFieldDecl(
name='active',
type=ValueType(name='int'),
doc='is headlight active',
),
),
),
doc='',
),
StructFieldDecl(
name='map',
type=AnonymousStructDecl(
fields=(
StructFieldDecl(
name='stiffness',
type=ValueType(name='float'),
doc='mouse perturbation stiffness (space->force)',
),
StructFieldDecl(
name='stiffnessrot',
type=ValueType(name='float'),
doc='mouse perturbation stiffness (space->torque)',
),
StructFieldDecl(
name='force',
type=ValueType(name='float'),
doc='from force units to space units',
),
StructFieldDecl(
name='torque',
type=ValueType(name='float'),
doc='from torque units to space units',
),
StructFieldDecl(
name='alpha',
type=ValueType(name='float'),
doc='scale geom alphas when transparency is enabled', # pylint: disable=line-too-long
),
StructFieldDecl(
name='fogstart',
type=ValueType(name='float'),
doc='OpenGL fog starts at fogstart * mjModel.stat.extent', # pylint: disable=line-too-long
),
StructFieldDecl(
name='fogend',
type=ValueType(name='float'),
doc='OpenGL fog ends at fogend * mjModel.stat.extent', # pylint: disable=line-too-long
),
StructFieldDecl(
name='znear',
type=ValueType(name='float'),
doc='near clipping plane = znear * mjModel.stat.extent', # pylint: disable=line-too-long
),
StructFieldDecl(
name='zfar',
type=ValueType(name='float'),
doc='far clipping plane = zfar * mjModel.stat.extent', # pylint: disable=line-too-long
),
StructFieldDecl(
name='haze',
type=ValueType(name='float'),
doc='haze ratio',
),
StructFieldDecl(
name='shadowclip',
type=ValueType(name='float'),
doc='directional light: shadowclip * mjModel.stat.extent', # pylint: disable=line-too-long
),
StructFieldDecl(
name='shadowscale',
type=ValueType(name='float'),
doc='spot light: shadowscale * light.cutoff',
),
StructFieldDecl(
name='actuatortendon',
type=ValueType(name='float'),
doc='scale tendon width',
),
),
),
doc='',
),
StructFieldDecl(
name='scale',
type=AnonymousStructDecl(
fields=(
StructFieldDecl(
name='forcewidth',
type=ValueType(name='float'),
doc='width of force arrow',
),
StructFieldDecl(
name='contactwidth',
type=ValueType(name='float'),
doc='contact width',
),
StructFieldDecl(
name='contactheight',
type=ValueType(name='float'),
doc='contact height',
),
StructFieldDecl(
name='connect',
type=ValueType(name='float'),
doc='autoconnect capsule width',
),
StructFieldDecl(
name='com',
type=ValueType(name='float'),
doc='com radius',
),
StructFieldDecl(
name='camera',
type=ValueType(name='float'),
doc='camera object',
),
StructFieldDecl(
name='light',
type=ValueType(name='float'),
doc='light object',
),
StructFieldDecl(
name='selectpoint',
type=ValueType(name='float'),
doc='selection point',
),
StructFieldDecl(
name='jointlength',
type=ValueType(name='float'),
doc='joint length',
),
StructFieldDecl(
name='jointwidth',
type=ValueType(name='float'),
doc='joint width',
),
StructFieldDecl(
name='actuatorlength',
type=ValueType(name='float'),
doc='actuator length',
),
StructFieldDecl(
name='actuatorwidth',
type=ValueType(name='float'),
doc='actuator width',
),
StructFieldDecl(
name='framelength',
type=ValueType(name='float'),
doc='bodyframe axis length',
),
StructFieldDecl(
name='framewidth',
type=ValueType(name='float'),
doc='bodyframe axis width',
),
StructFieldDecl(
name='constraint',
type=ValueType(name='float'),
doc='constraint width',
),
StructFieldDecl(
name='slidercrank',
type=ValueType(name='float'),
doc='slidercrank width',
),
),
),
doc='',
),
StructFieldDecl(
name='rgba',
type=AnonymousStructDecl(
fields=(
StructFieldDecl(
name='fog',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='fog',
),
StructFieldDecl(
name='haze',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='haze',
),
StructFieldDecl(
name='force',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='external force',
),
StructFieldDecl(
name='inertia',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='inertia box',
),
StructFieldDecl(
name='joint',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='joint',
),
StructFieldDecl(
name='actuator',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='actuator, neutral',
),
StructFieldDecl(
name='actuatornegative',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='actuator, negative limit',
),
StructFieldDecl(
name='actuatorpositive',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='actuator, positive limit',
),
StructFieldDecl(
name='com',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='center of mass',
),
StructFieldDecl(
name='camera',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='camera object',
),
StructFieldDecl(
name='light',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='light object',
),
StructFieldDecl(
name='selectpoint',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='selection point',
),
StructFieldDecl(
name='connect',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='auto connect',
),
StructFieldDecl(
name='contactpoint',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='contact point',
),
StructFieldDecl(
name='contactforce',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='contact force',
),
StructFieldDecl(
name='contactfriction',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='contact friction force',
),
StructFieldDecl(
name='contacttorque',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='contact torque',
),
StructFieldDecl(
name='contactgap',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='contact point in gap',
),
StructFieldDecl(
name='rangefinder',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='rangefinder ray',
),
StructFieldDecl(
name='constraint',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='constraint',
),
StructFieldDecl(
name='slidercrank',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='slidercrank',
),
StructFieldDecl(
name='crankbroken',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='used when crank must be stretched/broken',
),
),
),
doc='',
),
),
)),
('mjStatistic',
StructDecl(
name='mjStatistic',
declname='struct mjStatistic_',
fields=(
StructFieldDecl(
name='meaninertia',
type=ValueType(name='mjtNum'),
doc='mean diagonal inertia',
),
StructFieldDecl(
name='meanmass',
type=ValueType(name='mjtNum'),
doc='mean body mass',
),
StructFieldDecl(
name='meansize',
type=ValueType(name='mjtNum'),
doc='mean body size',
),
StructFieldDecl(
name='extent',
type=ValueType(name='mjtNum'),
doc='spatial extent',
),
StructFieldDecl(
name='center',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
doc='center of model',
),
),
)),
('mjModel',
StructDecl(
name='mjModel',
declname='struct mjModel_',
fields=(
StructFieldDecl(
name='nq',
type=ValueType(name='int'),
doc='number of generalized coordinates = dim(qpos)',
),
StructFieldDecl(
name='nv',
type=ValueType(name='int'),
doc='number of degrees of freedom = dim(qvel)',
),
StructFieldDecl(
name='nu',
type=ValueType(name='int'),
doc='number of actuators/controls = dim(ctrl)',
),
StructFieldDecl(
name='na',
type=ValueType(name='int'),
doc='number of activation states = dim(act)',
),
StructFieldDecl(
name='nbody',
type=ValueType(name='int'),
doc='number of bodies',
),
StructFieldDecl(
name='nbvh',
type=ValueType(name='int'),
doc='number of bounding volumes in all bodies',
),
StructFieldDecl(
name='njnt',
type=ValueType(name='int'),
doc='number of joints',
),
StructFieldDecl(
name='ngeom',
type=ValueType(name='int'),
doc='number of geoms',
),
StructFieldDecl(
name='nsite',
type=ValueType(name='int'),
doc='number of sites',
),
StructFieldDecl(
name='ncam',
type=ValueType(name='int'),
doc='number of cameras',
),
StructFieldDecl(
name='nlight',
type=ValueType(name='int'),
doc='number of lights',
),
StructFieldDecl(
name='nmesh',
type=ValueType(name='int'),
doc='number of meshes',
),
StructFieldDecl(
name='nmeshvert',
type=ValueType(name='int'),
doc='number of vertices in all meshes',
),
StructFieldDecl(
name='nmeshnormal',
type=ValueType(name='int'),
doc='number of normals in all meshes',
),
StructFieldDecl(
name='nmeshtexcoord',
type=ValueType(name='int'),
doc='number of texcoords in all meshes',
),
StructFieldDecl(
name='nmeshface',
type=ValueType(name='int'),
doc='number of triangular faces in all meshes',
),
StructFieldDecl(
name='nmeshgraph',
type=ValueType(name='int'),
doc='number of ints in mesh auxiliary data',
),
StructFieldDecl(
name='nskin',
type=ValueType(name='int'),
doc='number of skins',
),
StructFieldDecl(
name='nskinvert',
type=ValueType(name='int'),
doc='number of vertices in all skins',
),
StructFieldDecl(
name='nskintexvert',
type=ValueType(name='int'),
doc='number of vertiex with texcoords in all skins',
),
StructFieldDecl(
name='nskinface',
type=ValueType(name='int'),
doc='number of triangular faces in all skins',
),
StructFieldDecl(
name='nskinbone',
type=ValueType(name='int'),
doc='number of bones in all skins',
),
StructFieldDecl(
name='nskinbonevert',
type=ValueType(name='int'),
doc='number of vertices in all skin bones',
),
StructFieldDecl(
name='nhfield',
type=ValueType(name='int'),
doc='number of heightfields',
),
StructFieldDecl(
name='nhfielddata',
type=ValueType(name='int'),
doc='number of data points in all heightfields',
),
StructFieldDecl(
name='ntex',
type=ValueType(name='int'),
doc='number of textures',
),
StructFieldDecl(
name='ntexdata',
type=ValueType(name='int'),
doc='number of bytes in texture rgb data',
),
StructFieldDecl(
name='nmat',
type=ValueType(name='int'),
doc='number of materials',
),
StructFieldDecl(
name='npair',
type=ValueType(name='int'),
doc='number of predefined geom pairs',
),
StructFieldDecl(
name='nexclude',
type=ValueType(name='int'),
doc='number of excluded geom pairs',
),
StructFieldDecl(
name='neq',
type=ValueType(name='int'),
doc='number of equality constraints',
),
StructFieldDecl(
name='ntendon',
type=ValueType(name='int'),
doc='number of tendons',
),
StructFieldDecl(
name='nwrap',
type=ValueType(name='int'),
doc='number of wrap objects in all tendon paths',
),
StructFieldDecl(
name='nsensor',
type=ValueType(name='int'),
doc='number of sensors',
),
StructFieldDecl(
name='nnumeric',
type=ValueType(name='int'),
doc='number of numeric custom fields',
),
StructFieldDecl(
name='nnumericdata',
type=ValueType(name='int'),
doc='number of mjtNums in all numeric fields',
),
StructFieldDecl(
name='ntext',
type=ValueType(name='int'),
doc='number of text custom fields',
),
StructFieldDecl(
name='ntextdata',
type=ValueType(name='int'),
doc='number of mjtBytes in all text fields',
),
StructFieldDecl(
name='ntuple',
type=ValueType(name='int'),
doc='number of tuple custom fields',
),
StructFieldDecl(
name='ntupledata',
type=ValueType(name='int'),
doc='number of objects in all tuple fields',
),
StructFieldDecl(
name='nkey',
type=ValueType(name='int'),
doc='number of keyframes',
),
StructFieldDecl(
name='nmocap',
type=ValueType(name='int'),
doc='number of mocap bodies',
),
StructFieldDecl(
name='nplugin',
type=ValueType(name='int'),
doc='number of plugin instances',
),
StructFieldDecl(
name='npluginattr',
type=ValueType(name='int'),
doc='number of chars in all plugin config attributes',
),
StructFieldDecl(
name='nuser_body',
type=ValueType(name='int'),
doc='number of mjtNums in body_user',
),
StructFieldDecl(
name='nuser_jnt',
type=ValueType(name='int'),
doc='number of mjtNums in jnt_user',
),
StructFieldDecl(
name='nuser_geom',
type=ValueType(name='int'),
doc='number of mjtNums in geom_user',
),
StructFieldDecl(
name='nuser_site',
type=ValueType(name='int'),
doc='number of mjtNums in site_user',
),
StructFieldDecl(
name='nuser_cam',
type=ValueType(name='int'),
doc='number of mjtNums in cam_user',
),
StructFieldDecl(
name='nuser_tendon',
type=ValueType(name='int'),
doc='number of mjtNums in tendon_user',
),
StructFieldDecl(
name='nuser_actuator',
type=ValueType(name='int'),
doc='number of mjtNums in actuator_user',
),
StructFieldDecl(
name='nuser_sensor',
type=ValueType(name='int'),
doc='number of mjtNums in sensor_user',
),
StructFieldDecl(
name='nnames',
type=ValueType(name='int'),
doc='number of chars in all names',
),
StructFieldDecl(
name='nnames_map',
type=ValueType(name='int'),
doc='number of slots in the names hash map',
),
StructFieldDecl(
name='nM',
type=ValueType(name='int'),
doc='number of non-zeros in sparse inertia matrix',
),
StructFieldDecl(
name='nD',
type=ValueType(name='int'),
doc='number of non-zeros in sparse dof-dof matrix',
),
StructFieldDecl(
name='nB',
type=ValueType(name='int'),
doc='number of non-zeros in sparse body-dof matrix',
),
StructFieldDecl(
name='ntree',
type=ValueType(name='int'),
doc='number of kinematic trees under world body',
),
StructFieldDecl(
name='nemax',
type=ValueType(name='int'),
doc='number of potential equality-constraint rows',
),
StructFieldDecl(
name='njmax',
type=ValueType(name='int'),
doc='number of available rows in constraint Jacobian',
),
StructFieldDecl(
name='nconmax',
type=ValueType(name='int'),
doc='number of potential contacts in contact list',
),
StructFieldDecl(
name='nstack',
type=ValueType(name='int'),
doc='number of fields in mjData stack',
),
StructFieldDecl(
name='nuserdata',
type=ValueType(name='int'),
doc='number of extra fields in mjData',
),
StructFieldDecl(
name='nsensordata',
type=ValueType(name='int'),
doc='number of fields in sensor data vector',
),
StructFieldDecl(
name='npluginstate',
type=ValueType(name='int'),
doc='number of fields in plugin state vector',
),
StructFieldDecl(
name='nbuffer',
type=ValueType(name='int'),
doc='number of bytes in buffer',
),
StructFieldDecl(
name='opt',
type=ValueType(name='mjOption'),
doc='physics options',
),
StructFieldDecl(
name='vis',
type=ValueType(name='mjVisual'),
doc='visualization options',
),
StructFieldDecl(
name='stat',
type=ValueType(name='mjStatistic'),
doc='model statistics',
),
StructFieldDecl(
name='buffer',
type=PointerType(
inner_type=ValueType(name='void'),
),
doc='main buffer; all pointers point in it (nbuffer)',
),
StructFieldDecl(
name='qpos0',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='qpos values at default pose (nq x 1)',
),
StructFieldDecl(
name='qpos_spring',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='reference pose for springs (nq x 1)',
),
StructFieldDecl(
name='body_parentid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="id of body's parent (nbody x 1)",
),
StructFieldDecl(
name='body_rootid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='id of root above body (nbody x 1)',
),
StructFieldDecl(
name='body_weldid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='id of body that this body is welded to (nbody x 1)',
),
StructFieldDecl(
name='body_mocapid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='id of mocap data; -1: none (nbody x 1)',
),
StructFieldDecl(
name='body_jntnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of joints for this body (nbody x 1)',
),
StructFieldDecl(
name='body_jntadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='start addr of joints; -1: no joints (nbody x 1)',
),
StructFieldDecl(
name='body_dofnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of motion degrees of freedom (nbody x 1)',
),
StructFieldDecl(
name='body_dofadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='start addr of dofs; -1: no dofs (nbody x 1)',
),
StructFieldDecl(
name='body_treeid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="id of body's kinematic tree; -1: static (nbody x 1)",
),
StructFieldDecl(
name='body_geomnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of geoms (nbody x 1)',
),
StructFieldDecl(
name='body_geomadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='start addr of geoms; -1: no geoms (nbody x 1)',
),
StructFieldDecl(
name='body_simple',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='body is simple (has diagonal M) (nbody x 1)',
),
StructFieldDecl(
name='body_sameframe',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='inertial frame is same as body frame (nbody x 1)',
),
StructFieldDecl(
name='body_pos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='position offset rel. to parent body (nbody x 3)',
),
StructFieldDecl(
name='body_quat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='orientation offset rel. to parent body (nbody x 4)',
),
StructFieldDecl(
name='body_ipos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='local position of center of mass (nbody x 3)',
),
StructFieldDecl(
name='body_iquat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='local orientation of inertia ellipsoid (nbody x 4)',
),
StructFieldDecl(
name='body_mass',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='mass (nbody x 1)',
),
StructFieldDecl(
name='body_subtreemass',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='mass of subtree starting at this body (nbody x 1)',
),
StructFieldDecl(
name='body_inertia',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='diagonal inertia in ipos/iquat frame (nbody x 3)',
),
StructFieldDecl(
name='body_invweight0',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='mean inv inert in qpos0 (trn, rot) (nbody x 2)',
),
StructFieldDecl(
name='body_gravcomp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='antigravity force, units of body weight (nbody x 1)',
),
StructFieldDecl(
name='body_user',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='user data (nbody x nuser_body)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='body_plugin',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='plugin instance id; -1: not in use (nbody x 1)',
),
StructFieldDecl(
name='body_bvhadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address of bvh root (nbody x 1)',
),
StructFieldDecl(
name='body_bvhnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of bounding volumes (nbody x 1)',
),
StructFieldDecl(
name='bvh_depth',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='depth in the bounding volume hierarchy (nbvh x 1)',
),
StructFieldDecl(
name='bvh_child',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='left and right children in tree (nbvh x 2)',
),
StructFieldDecl(
name='bvh_geomid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='geom id of the node; -1: non-leaf (nbvh x 1)',
),
StructFieldDecl(
name='bvh_aabb',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='bounding box of node (center, size) (nbvh x 6)',
),
StructFieldDecl(
name='jnt_type',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='type of joint (mjtJoint) (njnt x 1)',
),
StructFieldDecl(
name='jnt_qposadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="start addr in 'qpos' for joint's data (njnt x 1)",
),
StructFieldDecl(
name='jnt_dofadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="start addr in 'qvel' for joint's data (njnt x 1)",
),
StructFieldDecl(
name='jnt_bodyid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="id of joint's body (njnt x 1)",
),
StructFieldDecl(
name='jnt_group',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='group for visibility (njnt x 1)',
),
StructFieldDecl(
name='jnt_limited',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='does joint have limits (njnt x 1)',
),
StructFieldDecl(
name='jnt_actfrclimited',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='does joint have actuator force limits (njnt x 1)',
),
StructFieldDecl(
name='jnt_solref',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint solver reference: limit (njnt x mjNREF)',
),
StructFieldDecl(
name='jnt_solimp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint solver impedance: limit (njnt x mjNIMP)',
),
StructFieldDecl(
name='jnt_pos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='local anchor position (njnt x 3)',
),
StructFieldDecl(
name='jnt_axis',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='local joint axis (njnt x 3)',
),
StructFieldDecl(
name='jnt_stiffness',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='stiffness coefficient (njnt x 1)',
),
StructFieldDecl(
name='jnt_range',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='joint limits (njnt x 2)',
),
StructFieldDecl(
name='jnt_actfrcrange',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='range of total actuator force (njnt x 2)',
),
StructFieldDecl(
name='jnt_margin',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='min distance for limit detection (njnt x 1)',
),
StructFieldDecl(
name='jnt_user',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='user data (njnt x nuser_jnt)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='dof_bodyid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="id of dof's body (nv x 1)",
),
StructFieldDecl(
name='dof_jntid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="id of dof's joint (nv x 1)",
),
StructFieldDecl(
name='dof_parentid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="id of dof's parent; -1: none (nv x 1)",
),
StructFieldDecl(
name='dof_treeid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="id of dof's kinematic tree (nv x 1)",
),
StructFieldDecl(
name='dof_Madr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='dof address in M-diagonal (nv x 1)',
),
StructFieldDecl(
name='dof_simplenum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of consecutive simple dofs (nv x 1)',
),
StructFieldDecl(
name='dof_solref',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint solver reference:frictionloss (nv x mjNREF)',
),
StructFieldDecl(
name='dof_solimp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint solver impedance:frictionloss (nv x mjNIMP)',
),
StructFieldDecl(
name='dof_frictionloss',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='dof friction loss (nv x 1)',
),
StructFieldDecl(
name='dof_armature',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='dof armature inertia/mass (nv x 1)',
),
StructFieldDecl(
name='dof_damping',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='damping coefficient (nv x 1)',
),
StructFieldDecl(
name='dof_invweight0',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='diag. inverse inertia in qpos0 (nv x 1)',
),
StructFieldDecl(
name='dof_M0',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='diag. inertia in qpos0 (nv x 1)',
),
StructFieldDecl(
name='geom_type',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='geometric type (mjtGeom) (ngeom x 1)',
),
StructFieldDecl(
name='geom_contype',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='geom contact type (ngeom x 1)',
),
StructFieldDecl(
name='geom_conaffinity',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='geom contact affinity (ngeom x 1)',
),
StructFieldDecl(
name='geom_condim',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='contact dimensionality (1, 3, 4, 6) (ngeom x 1)',
),
StructFieldDecl(
name='geom_bodyid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="id of geom's body (ngeom x 1)",
),
StructFieldDecl(
name='geom_dataid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="id of geom's mesh/hfield; -1: none (ngeom x 1)",
),
StructFieldDecl(
name='geom_matid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='material id for rendering; -1: none (ngeom x 1)',
),
StructFieldDecl(
name='geom_group',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='group for visibility (ngeom x 1)',
),
StructFieldDecl(
name='geom_priority',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='geom contact priority (ngeom x 1)',
),
StructFieldDecl(
name='geom_sameframe',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='same as body frame (1) or iframe (2) (ngeom x 1)',
),
StructFieldDecl(
name='geom_solmix',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='mixing coef for solref/imp in geom pair (ngeom x 1)',
),
StructFieldDecl(
name='geom_solref',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint solver reference: contact (ngeom x mjNREF)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='geom_solimp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint solver impedance: contact (ngeom x mjNIMP)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='geom_size',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='geom-specific size parameters (ngeom x 3)',
),
StructFieldDecl(
name='geom_aabb',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='bounding box, (center, size) (ngeom x 6)',
),
StructFieldDecl(
name='geom_rbound',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='radius of bounding sphere (ngeom x 1)',
),
StructFieldDecl(
name='geom_pos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='local position offset rel. to body (ngeom x 3)',
),
StructFieldDecl(
name='geom_quat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='local orientation offset rel. to body (ngeom x 4)',
),
StructFieldDecl(
name='geom_friction',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='friction for (slide, spin, roll) (ngeom x 3)',
),
StructFieldDecl(
name='geom_margin',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='detect contact if dist<margin(ngeom x 1)',
),
StructFieldDecl(
name='geom_gap',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='include in solver if dist<margin-gap (ngeom x 1)',
),
StructFieldDecl(
name='geom_fluid',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='fluid interaction parameters (ngeom x mjNFLUID)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='geom_user',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='user data (ngeom x nuser_geom)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='geom_rgba',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='rgba when material is omitted (ngeom x 4)',
),
StructFieldDecl(
name='site_type',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='geom type for rendering (mjtGeom) (nsite x 1)',
),
StructFieldDecl(
name='site_bodyid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="id of site's body (nsite x 1)",
),
StructFieldDecl(
name='site_matid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='material id for rendering; -1: none (nsite x 1)',
),
StructFieldDecl(
name='site_group',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='group for visibility (nsite x 1)',
),
StructFieldDecl(
name='site_sameframe',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='same as body frame (1) or iframe (2) (nsite x 1)',
),
StructFieldDecl(
name='site_size',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='geom size for rendering (nsite x 3)',
),
StructFieldDecl(
name='site_pos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='local position offset rel. to body (nsite x 3)',
),
StructFieldDecl(
name='site_quat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='local orientation offset rel. to body (nsite x 4)',
),
StructFieldDecl(
name='site_user',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='user data (nsite x nuser_site)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='site_rgba',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='rgba when material is omitted (nsite x 4)',
),
StructFieldDecl(
name='cam_mode',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='camera tracking mode (mjtCamLight) (ncam x 1)',
),
StructFieldDecl(
name='cam_bodyid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="id of camera's body (ncam x 1)",
),
StructFieldDecl(
name='cam_targetbodyid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='id of targeted body; -1: none (ncam x 1)',
),
StructFieldDecl(
name='cam_pos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='position rel. to body frame (ncam x 3)',
),
StructFieldDecl(
name='cam_quat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='orientation rel. to body frame (ncam x 4)',
),
StructFieldDecl(
name='cam_poscom0',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='global position rel. to sub-com in qpos0 (ncam x 3)',
),
StructFieldDecl(
name='cam_pos0',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='global position rel. to body in qpos0 (ncam x 3)',
),
StructFieldDecl(
name='cam_mat0',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='global orientation in qpos0 (ncam x 9)',
),
StructFieldDecl(
name='cam_fovy',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='y-field of view (deg) (ncam x 1)',
),
StructFieldDecl(
name='cam_ipd',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='inter-pupilary distance (ncam x 1)',
),
StructFieldDecl(
name='cam_user',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='user data (ncam x nuser_cam)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='light_mode',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='light tracking mode (mjtCamLight) (nlight x 1)',
),
StructFieldDecl(
name='light_bodyid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="id of light's body (nlight x 1)",
),
StructFieldDecl(
name='light_targetbodyid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='id of targeted body; -1: none (nlight x 1)',
),
StructFieldDecl(
name='light_directional',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='directional light (nlight x 1)',
),
StructFieldDecl(
name='light_castshadow',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='does light cast shadows (nlight x 1)',
),
StructFieldDecl(
name='light_active',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='is light on (nlight x 1)',
),
StructFieldDecl(
name='light_pos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='position rel. to body frame (nlight x 3)',
),
StructFieldDecl(
name='light_dir',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='direction rel. to body frame (nlight x 3)',
),
StructFieldDecl(
name='light_poscom0',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='global position rel. to sub-com in qpos0 (nlight x 3)',
),
StructFieldDecl(
name='light_pos0',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='global position rel. to body in qpos0 (nlight x 3)',
),
StructFieldDecl(
name='light_dir0',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='global direction in qpos0 (nlight x 3)',
),
StructFieldDecl(
name='light_attenuation',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='OpenGL attenuation (quadratic model) (nlight x 3)',
),
StructFieldDecl(
name='light_cutoff',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='OpenGL cutoff (nlight x 1)',
),
StructFieldDecl(
name='light_exponent',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='OpenGL exponent (nlight x 1)',
),
StructFieldDecl(
name='light_ambient',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='ambient rgb (alpha=1) (nlight x 3)',
),
StructFieldDecl(
name='light_diffuse',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='diffuse rgb (alpha=1) (nlight x 3)',
),
StructFieldDecl(
name='light_specular',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='specular rgb (alpha=1) (nlight x 3)',
),
StructFieldDecl(
name='mesh_vertadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='first vertex address (nmesh x 1)',
),
StructFieldDecl(
name='mesh_vertnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of vertices (nmesh x 1)',
),
StructFieldDecl(
name='mesh_faceadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='first face address (nmesh x 1)',
),
StructFieldDecl(
name='mesh_facenum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of faces (nmesh x 1)',
),
StructFieldDecl(
name='mesh_bvhadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address of bvh root (nmesh x 1)',
),
StructFieldDecl(
name='mesh_bvhnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of bvh (nmesh x 1)',
),
StructFieldDecl(
name='mesh_normaladr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='first normal address (nmesh x 1)',
),
StructFieldDecl(
name='mesh_normalnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of normals (nmesh x 1)',
),
StructFieldDecl(
name='mesh_texcoordadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='texcoord data address; -1: no texcoord (nmesh x 1)',
),
StructFieldDecl(
name='mesh_texcoordnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of texcoord (nmesh x 1)',
),
StructFieldDecl(
name='mesh_graphadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='graph data address; -1: no graph (nmesh x 1)',
),
StructFieldDecl(
name='mesh_vert',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='vertex positions for all meshes (nmeshvert x 3)',
),
StructFieldDecl(
name='mesh_normal',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='normals for all meshes (nmeshnormal x 3)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='mesh_texcoord',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='vertex texcoords for all meshes (nmeshtexcoord x 2)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='mesh_face',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='vertex face data (nmeshface x 3)',
),
StructFieldDecl(
name='mesh_facenormal',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='normal face data (nmeshface x 3)',
),
StructFieldDecl(
name='mesh_facetexcoord',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='texture face data (nmeshface x 3)',
),
StructFieldDecl(
name='mesh_graph',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='convex graph data (nmeshgraph x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='skin_matid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='skin material id; -1: none (nskin x 1)',
),
StructFieldDecl(
name='skin_group',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='group for visibility (nskin x 1)',
),
StructFieldDecl(
name='skin_rgba',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='skin rgba (nskin x 4)',
),
StructFieldDecl(
name='skin_inflate',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='inflate skin in normal direction (nskin x 1)',
),
StructFieldDecl(
name='skin_vertadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='first vertex address (nskin x 1)',
),
StructFieldDecl(
name='skin_vertnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of vertices (nskin x 1)',
),
StructFieldDecl(
name='skin_texcoordadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='texcoord data address; -1: no texcoord (nskin x 1)',
),
StructFieldDecl(
name='skin_faceadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='first face address (nskin x 1)',
),
StructFieldDecl(
name='skin_facenum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of faces (nskin x 1)',
),
StructFieldDecl(
name='skin_boneadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='first bone in skin (nskin x 1)',
),
StructFieldDecl(
name='skin_bonenum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of bones in skin (nskin x 1)',
),
StructFieldDecl(
name='skin_vert',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='vertex positions for all skin meshes (nskinvert x 3)',
),
StructFieldDecl(
name='skin_texcoord',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='vertex texcoords for all skin meshes (nskintexvert x 2)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='skin_face',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='triangle faces for all skin meshes (nskinface x 3)',
),
StructFieldDecl(
name='skin_bonevertadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='first vertex in each bone (nskinbone x 1)',
),
StructFieldDecl(
name='skin_bonevertnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of vertices in each bone (nskinbone x 1)',
),
StructFieldDecl(
name='skin_bonebindpos',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='bind pos of each bone (nskinbone x 3)',
),
StructFieldDecl(
name='skin_bonebindquat',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='bind quat of each bone (nskinbone x 4)',
),
StructFieldDecl(
name='skin_bonebodyid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='body id of each bone (nskinbone x 1)',
),
StructFieldDecl(
name='skin_bonevertid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='mesh ids of vertices in each bone (nskinbonevert x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='skin_bonevertweight',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='weights of vertices in each bone (nskinbonevert x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='hfield_size',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='(x, y, z_top, z_bottom) (nhfield x 4)',
),
StructFieldDecl(
name='hfield_nrow',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of rows in grid (nhfield x 1)',
),
StructFieldDecl(
name='hfield_ncol',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of columns in grid (nhfield x 1)',
),
StructFieldDecl(
name='hfield_adr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address in hfield_data (nhfield x 1)',
),
StructFieldDecl(
name='hfield_data',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='elevation data (nhfielddata x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='tex_type',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='texture type (mjtTexture) (ntex x 1)',
),
StructFieldDecl(
name='tex_height',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of rows in texture image (ntex x 1)',
),
StructFieldDecl(
name='tex_width',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of columns in texture image (ntex x 1)',
),
StructFieldDecl(
name='tex_adr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address in rgb (ntex x 1)',
),
StructFieldDecl(
name='tex_rgb',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='rgb (alpha = 1) (ntexdata x 1)',
),
StructFieldDecl(
name='mat_texid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='texture id; -1: none (nmat x 1)',
),
StructFieldDecl(
name='mat_texuniform',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='make texture cube uniform (nmat x 1)',
),
StructFieldDecl(
name='mat_texrepeat',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='texture repetition for 2d mapping (nmat x 2)',
),
StructFieldDecl(
name='mat_emission',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='emission (x rgb) (nmat x 1)',
),
StructFieldDecl(
name='mat_specular',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='specular (x white) (nmat x 1)',
),
StructFieldDecl(
name='mat_shininess',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='shininess coef (nmat x 1)',
),
StructFieldDecl(
name='mat_reflectance',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='reflectance (0: disable) (nmat x 1)',
),
StructFieldDecl(
name='mat_rgba',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='rgba (nmat x 4)',
),
StructFieldDecl(
name='pair_dim',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='contact dimensionality (npair x 1)',
),
StructFieldDecl(
name='pair_geom1',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='id of geom1 (npair x 1)',
),
StructFieldDecl(
name='pair_geom2',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='id of geom2 (npair x 1)',
),
StructFieldDecl(
name='pair_signature',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='(body1+1)<<16 + body2+1 (npair x 1)',
),
StructFieldDecl(
name='pair_solref',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='solver reference: contact normal (npair x mjNREF)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='pair_solreffriction',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='solver reference: contact friction (npair x mjNREF)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='pair_solimp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='solver impedance: contact (npair x mjNIMP)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='pair_margin',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='detect contact if dist<margin(npair x 1)',
),
StructFieldDecl(
name='pair_gap',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='include in solver if dist<margin-gap (npair x 1)',
),
StructFieldDecl(
name='pair_friction',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='tangent1, 2, spin, roll1, 2 (npair x 5)',
),
StructFieldDecl(
name='exclude_signature',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='(body1+1)<<16 + body2+1 (nexclude x 1)',
),
StructFieldDecl(
name='eq_type',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='constraint type (mjtEq) (neq x 1)',
),
StructFieldDecl(
name='eq_obj1id',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='id of object 1 (neq x 1)',
),
StructFieldDecl(
name='eq_obj2id',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='id of object 2 (neq x 1)',
),
StructFieldDecl(
name='eq_active',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='enable/disable constraint (neq x 1)',
),
StructFieldDecl(
name='eq_solref',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint solver reference (neq x mjNREF)',
),
StructFieldDecl(
name='eq_solimp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint solver impedance (neq x mjNIMP)',
),
StructFieldDecl(
name='eq_data',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='numeric data for constraint (neq x mjNEQDATA)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='tendon_adr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="address of first object in tendon's path (ntendon x 1)",
),
StructFieldDecl(
name='tendon_num',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="number of objects in tendon's path (ntendon x 1)",
),
StructFieldDecl(
name='tendon_matid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='material id for rendering (ntendon x 1)',
),
StructFieldDecl(
name='tendon_group',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='group for visibility (ntendon x 1)',
),
StructFieldDecl(
name='tendon_limited',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='does tendon have length limits (ntendon x 1)',
),
StructFieldDecl(
name='tendon_width',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='width for rendering (ntendon x 1)',
),
StructFieldDecl(
name='tendon_solref_lim',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint solver reference: limit (ntendon x mjNREF)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='tendon_solimp_lim',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint solver impedance: limit (ntendon x mjNIMP)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='tendon_solref_fri',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint solver reference: friction (ntendon x mjNREF)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='tendon_solimp_fri',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint solver impedance: friction (ntendon x mjNIMP)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='tendon_range',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='tendon length limits (ntendon x 2)',
),
StructFieldDecl(
name='tendon_margin',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='min distance for limit detection (ntendon x 1)',
),
StructFieldDecl(
name='tendon_stiffness',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='stiffness coefficient (ntendon x 1)',
),
StructFieldDecl(
name='tendon_damping',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='damping coefficient (ntendon x 1)',
),
StructFieldDecl(
name='tendon_frictionloss',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='loss due to friction (ntendon x 1)',
),
StructFieldDecl(
name='tendon_lengthspring',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='spring resting length range (ntendon x 2)',
),
StructFieldDecl(
name='tendon_length0',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='tendon length in qpos0 (ntendon x 1)',
),
StructFieldDecl(
name='tendon_invweight0',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='inv. weight in qpos0 (ntendon x 1)',
),
StructFieldDecl(
name='tendon_user',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='user data (ntendon x nuser_tendon)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='tendon_rgba',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='rgba when material is omitted (ntendon x 4)',
),
StructFieldDecl(
name='wrap_type',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='wrap object type (mjtWrap) (nwrap x 1)',
),
StructFieldDecl(
name='wrap_objid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='object id: geom, site, joint (nwrap x 1)',
),
StructFieldDecl(
name='wrap_prm',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='divisor, joint coef, or site id (nwrap x 1)',
),
StructFieldDecl(
name='actuator_trntype',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='transmission type (mjtTrn) (nu x 1)',
),
StructFieldDecl(
name='actuator_dyntype',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='dynamics type (mjtDyn) (nu x 1)',
),
StructFieldDecl(
name='actuator_gaintype',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='gain type (mjtGain) (nu x 1)',
),
StructFieldDecl(
name='actuator_biastype',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='bias type (mjtBias) (nu x 1)',
),
StructFieldDecl(
name='actuator_trnid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='transmission id: joint, tendon, site (nu x 2)',
),
StructFieldDecl(
name='actuator_actadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='first activation address; -1: stateless (nu x 1)',
),
StructFieldDecl(
name='actuator_actnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of activation variables (nu x 1)',
),
StructFieldDecl(
name='actuator_group',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='group for visibility (nu x 1)',
),
StructFieldDecl(
name='actuator_ctrllimited',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='is control limited (nu x 1)',
),
StructFieldDecl(
name='actuator_forcelimited',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='is force limited (nu x 1)',
),
StructFieldDecl(
name='actuator_actlimited',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='is activation limited (nu x 1)',
),
StructFieldDecl(
name='actuator_dynprm',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='dynamics parameters (nu x mjNDYN)',
),
StructFieldDecl(
name='actuator_gainprm',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='gain parameters (nu x mjNGAIN)',
),
StructFieldDecl(
name='actuator_biasprm',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='bias parameters (nu x mjNBIAS)',
),
StructFieldDecl(
name='actuator_actearly',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='step activation before force (nu x 1)',
),
StructFieldDecl(
name='actuator_ctrlrange',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='range of controls (nu x 2)',
),
StructFieldDecl(
name='actuator_forcerange',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='range of forces (nu x 2)',
),
StructFieldDecl(
name='actuator_actrange',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='range of activations (nu x 2)',
),
StructFieldDecl(
name='actuator_gear',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='scale length and transmitted force (nu x 6)',
),
StructFieldDecl(
name='actuator_cranklength',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='crank length for slider-crank (nu x 1)',
),
StructFieldDecl(
name='actuator_acc0',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='acceleration from unit force in qpos0 (nu x 1)',
),
StructFieldDecl(
name='actuator_length0',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='actuator length in qpos0 (nu x 1)',
),
StructFieldDecl(
name='actuator_lengthrange',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='feasible actuator length range (nu x 2)',
),
StructFieldDecl(
name='actuator_user',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='user data (nu x nuser_actuator)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='actuator_plugin',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='plugin instance id; -1: not a plugin (nu x 1)',
),
StructFieldDecl(
name='sensor_type',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='sensor type (mjtSensor) (nsensor x 1)',
),
StructFieldDecl(
name='sensor_datatype',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='numeric data type (mjtDataType) (nsensor x 1)',
),
StructFieldDecl(
name='sensor_needstage',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='required compute stage (mjtStage) (nsensor x 1)',
),
StructFieldDecl(
name='sensor_objtype',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='type of sensorized object (mjtObj) (nsensor x 1)',
),
StructFieldDecl(
name='sensor_objid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='id of sensorized object (nsensor x 1)',
),
StructFieldDecl(
name='sensor_reftype',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='type of reference frame (mjtObj) (nsensor x 1)',
),
StructFieldDecl(
name='sensor_refid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='id of reference frame; -1: global frame (nsensor x 1)',
),
StructFieldDecl(
name='sensor_dim',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of scalar outputs (nsensor x 1)',
),
StructFieldDecl(
name='sensor_adr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address in sensor array (nsensor x 1)',
),
StructFieldDecl(
name='sensor_cutoff',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='cutoff for real and positive; 0: ignore (nsensor x 1)',
),
StructFieldDecl(
name='sensor_noise',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='noise standard deviation (nsensor x 1)',
),
StructFieldDecl(
name='sensor_user',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='user data (nsensor x nuser_sensor)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='sensor_plugin',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='plugin instance id; -1: not a plugin (nsensor x 1)',
),
StructFieldDecl(
name='plugin',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='globally registered plugin slot number (nplugin x 1)',
),
StructFieldDecl(
name='plugin_stateadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address in the plugin state array (nplugin x 1)',
),
StructFieldDecl(
name='plugin_statenum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of states in the plugin instance (nplugin x 1)',
),
StructFieldDecl(
name='plugin_attr',
type=PointerType(
inner_type=ValueType(name='char'),
),
doc='config attributes of plugin instances (npluginattr x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='plugin_attradr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="address to each instance's config attrib (nplugin x 1)",
),
StructFieldDecl(
name='numeric_adr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address of field in numeric_data (nnumeric x 1)',
),
StructFieldDecl(
name='numeric_size',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='size of numeric field (nnumeric x 1)',
),
StructFieldDecl(
name='numeric_data',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='array of all numeric fields (nnumericdata x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='text_adr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address of text in text_data (ntext x 1)',
),
StructFieldDecl(
name='text_size',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='size of text field (strlen+1) (ntext x 1)',
),
StructFieldDecl(
name='text_data',
type=PointerType(
inner_type=ValueType(name='char'),
),
doc='array of all text fields (0-terminated) (ntextdata x 1)',
),
StructFieldDecl(
name='tuple_adr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address of text in text_data (ntuple x 1)',
),
StructFieldDecl(
name='tuple_size',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of objects in tuple (ntuple x 1)',
),
StructFieldDecl(
name='tuple_objtype',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='array of object types in all tuples (ntupledata x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='tuple_objid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='array of object ids in all tuples (ntupledata x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='tuple_objprm',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='array of object params in all tuples (ntupledata x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='key_time',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='key time (nkey x 1)',
),
StructFieldDecl(
name='key_qpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='key position (nkey x nq)',
),
StructFieldDecl(
name='key_qvel',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='key velocity (nkey x nv)',
),
StructFieldDecl(
name='key_act',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='key activation (nkey x na)',
),
StructFieldDecl(
name='key_mpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='key mocap position (nkey x 3*nmocap)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='key_mquat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='key mocap quaternion (nkey x 4*nmocap)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='key_ctrl',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='key control (nkey x nu)',
),
StructFieldDecl(
name='name_bodyadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='body name pointers (nbody x 1)',
),
StructFieldDecl(
name='name_jntadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='joint name pointers (njnt x 1)',
),
StructFieldDecl(
name='name_geomadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='geom name pointers (ngeom x 1)',
),
StructFieldDecl(
name='name_siteadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='site name pointers (nsite x 1)',
),
StructFieldDecl(
name='name_camadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='camera name pointers (ncam x 1)',
),
StructFieldDecl(
name='name_lightadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='light name pointers (nlight x 1)',
),
StructFieldDecl(
name='name_meshadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='mesh name pointers (nmesh x 1)',
),
StructFieldDecl(
name='name_skinadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='skin name pointers (nskin x 1)',
),
StructFieldDecl(
name='name_hfieldadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='hfield name pointers (nhfield x 1)',
),
StructFieldDecl(
name='name_texadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='texture name pointers (ntex x 1)',
),
StructFieldDecl(
name='name_matadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='material name pointers (nmat x 1)',
),
StructFieldDecl(
name='name_pairadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='geom pair name pointers (npair x 1)',
),
StructFieldDecl(
name='name_excludeadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='exclude name pointers (nexclude x 1)',
),
StructFieldDecl(
name='name_eqadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='equality constraint name pointers (neq x 1)',
),
StructFieldDecl(
name='name_tendonadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='tendon name pointers (ntendon x 1)',
),
StructFieldDecl(
name='name_actuatoradr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='actuator name pointers (nu x 1)',
),
StructFieldDecl(
name='name_sensoradr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='sensor name pointers (nsensor x 1)',
),
StructFieldDecl(
name='name_numericadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='numeric name pointers (nnumeric x 1)',
),
StructFieldDecl(
name='name_textadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='text name pointers (ntext x 1)',
),
StructFieldDecl(
name='name_tupleadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='tuple name pointers (ntuple x 1)',
),
StructFieldDecl(
name='name_keyadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='keyframe name pointers (nkey x 1)',
),
StructFieldDecl(
name='name_pluginadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='plugin instance name pointers (nplugin x 1)',
),
StructFieldDecl(
name='names',
type=PointerType(
inner_type=ValueType(name='char'),
),
doc='names of all objects, 0-terminated (nnames x 1)',
),
StructFieldDecl(
name='names_map',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='internal hash map of names (nnames_map x 1)', # pylint: disable=line-too-long
),
),
)),
('mjContact',
StructDecl(
name='mjContact',
declname='struct mjContact_',
fields=(
StructFieldDecl(
name='dist',
type=ValueType(name='mjtNum'),
doc='distance between nearest points; neg: penetration',
),
StructFieldDecl(
name='pos',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
doc='position of contact point: midpoint between geoms',
),
StructFieldDecl(
name='frame',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(9,),
),
doc='normal is in [0-2]',
),
StructFieldDecl(
name='includemargin',
type=ValueType(name='mjtNum'),
doc='include if dist<includemargin=margin-gap',
),
StructFieldDecl(
name='friction',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(5,),
),
doc='tangent1, 2, spin, roll1, 2',
),
StructFieldDecl(
name='solref',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(2,),
),
doc='constraint solver reference, normal direction',
),
StructFieldDecl(
name='solreffriction',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(2,),
),
doc='constraint solver reference, friction directions',
),
StructFieldDecl(
name='solimp',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(5,),
),
doc='constraint solver impedance',
),
StructFieldDecl(
name='mu',
type=ValueType(name='mjtNum'),
doc='friction of regularized cone, set by mj_makeConstraint',
),
StructFieldDecl(
name='H',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(36,),
),
doc='cone Hessian, set by mj_updateConstraint',
),
StructFieldDecl(
name='dim',
type=ValueType(name='int'),
doc='contact space dimensionality: 1, 3, 4 or 6',
),
StructFieldDecl(
name='geom1',
type=ValueType(name='int'),
doc='id of geom 1',
),
StructFieldDecl(
name='geom2',
type=ValueType(name='int'),
doc='id of geom 2',
),
StructFieldDecl(
name='exclude',
type=ValueType(name='int'),
doc='0: include, 1: in gap, 2: fused, 3: no dofs',
),
StructFieldDecl(
name='efc_address',
type=ValueType(name='int'),
doc='address in efc; -1: not included',
),
),
)),
('mjWarningStat',
StructDecl(
name='mjWarningStat',
declname='struct mjWarningStat_',
fields=(
StructFieldDecl(
name='lastinfo',
type=ValueType(name='int'),
doc='info from last warning',
),
StructFieldDecl(
name='number',
type=ValueType(name='int'),
doc='how many times was warning raised',
),
),
)),
('mjTimerStat',
StructDecl(
name='mjTimerStat',
declname='struct mjTimerStat_',
fields=(
StructFieldDecl(
name='duration',
type=ValueType(name='mjtNum'),
doc='cumulative duration',
),
StructFieldDecl(
name='number',
type=ValueType(name='int'),
doc='how many times was timer called',
),
),
)),
('mjSolverStat',
StructDecl(
name='mjSolverStat',
declname='struct mjSolverStat_',
fields=(
StructFieldDecl(
name='improvement',
type=ValueType(name='mjtNum'),
doc='cost reduction, scaled by 1/trace(M(qpos0))',
),
StructFieldDecl(
name='gradient',
type=ValueType(name='mjtNum'),
doc='gradient norm (primal only, scaled)',
),
StructFieldDecl(
name='lineslope',
type=ValueType(name='mjtNum'),
doc='slope in linesearch',
),
StructFieldDecl(
name='nactive',
type=ValueType(name='int'),
doc='number of active constraints',
),
StructFieldDecl(
name='nchange',
type=ValueType(name='int'),
doc='number of constraint state changes',
),
StructFieldDecl(
name='neval',
type=ValueType(name='int'),
doc='number of cost evaluations in line search',
),
StructFieldDecl(
name='nupdate',
type=ValueType(name='int'),
doc='number of Cholesky updates in line search',
),
),
)),
('mjData',
StructDecl(
name='mjData',
declname='struct mjData_',
fields=(
StructFieldDecl(
name='nstack',
type=ValueType(name='int'),
doc='number of mjtNums that can fit in the arena+stack space',
),
StructFieldDecl(
name='nbuffer',
type=ValueType(name='int'),
doc='size of main buffer in bytes',
),
StructFieldDecl(
name='nplugin',
type=ValueType(name='int'),
doc='number of plugin instances',
),
StructFieldDecl(
name='pstack',
type=ValueType(name='size_t'),
doc='first available mjtNum address in stack',
),
StructFieldDecl(
name='parena',
type=ValueType(name='size_t'),
doc='first available byte in arena',
),
StructFieldDecl(
name='maxuse_stack',
type=ValueType(name='int'),
doc='maximum stack allocation',
),
StructFieldDecl(
name='maxuse_arena',
type=ValueType(name='size_t'),
doc='maximum arena allocation',
),
StructFieldDecl(
name='maxuse_con',
type=ValueType(name='int'),
doc='maximum number of contacts',
),
StructFieldDecl(
name='maxuse_efc',
type=ValueType(name='int'),
doc='maximum number of scalar constraints',
),
StructFieldDecl(
name='warning',
type=ArrayType(
inner_type=ValueType(name='mjWarningStat'),
extents=(8,),
),
doc='warning statistics',
),
StructFieldDecl(
name='timer',
type=ArrayType(
inner_type=ValueType(name='mjTimerStat'),
extents=(13,),
),
doc='timer statistics',
),
StructFieldDecl(
name='solver',
type=ArrayType(
inner_type=ValueType(name='mjSolverStat'),
extents=(1000,),
),
doc='solver statistics per iteration',
),
StructFieldDecl(
name='solver_iter',
type=ValueType(name='int'),
doc='number of solver iterations',
),
StructFieldDecl(
name='solver_nnz',
type=ValueType(name='int'),
doc='number of non-zeros in Hessian or efc_AR',
),
StructFieldDecl(
name='solver_fwdinv',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(2,),
),
doc='forward-inverse comparison: qfrc, efc',
),
StructFieldDecl(
name='nbodypair_broad',
type=ValueType(name='int'),
doc='number of body pairs in collision according to the broad-phase', # pylint: disable=line-too-long
),
StructFieldDecl(
name='nbodypair_narrow',
type=ValueType(name='int'),
doc='number of body pairs actually in collision in the narrow-phase', # pylint: disable=line-too-long
),
StructFieldDecl(
name='ngeompair_mid',
type=ValueType(name='int'),
doc='number of geom pairs in collision according to the mid-phase', # pylint: disable=line-too-long
),
StructFieldDecl(
name='ngeompair_narrow',
type=ValueType(name='int'),
doc='number of geom pairs actually in collision in the narrow-phase', # pylint: disable=line-too-long
),
StructFieldDecl(
name='ne',
type=ValueType(name='int'),
doc='number of equality constraints',
),
StructFieldDecl(
name='nf',
type=ValueType(name='int'),
doc='number of friction constraints',
),
StructFieldDecl(
name='nefc',
type=ValueType(name='int'),
doc='number of constraints',
),
StructFieldDecl(
name='nnzJ',
type=ValueType(name='int'),
doc='number of non-zeros in constraint Jacobian',
),
StructFieldDecl(
name='ncon',
type=ValueType(name='int'),
doc='number of detected contacts',
),
StructFieldDecl(
name='nisland',
type=ValueType(name='int'),
doc='number of detected constraint islands',
),
StructFieldDecl(
name='time',
type=ValueType(name='mjtNum'),
doc='simulation time',
),
StructFieldDecl(
name='energy',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(2,),
),
doc='potential, kinetic energy',
),
StructFieldDecl(
name='buffer',
type=PointerType(
inner_type=ValueType(name='void'),
),
doc='main buffer; all pointers point in it (nbuffer bytes)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='arena',
type=PointerType(
inner_type=ValueType(name='void'),
),
doc='arena+stack buffer (nstack*sizeof(mjtNum) bytes)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='position (nq x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qvel',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='velocity (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='act',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='actuator activation (na x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qacc_warmstart',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='acceleration used for warmstart (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='plugin_state',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='plugin state (npluginstate x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='ctrl',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='control (nu x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qfrc_applied',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='applied generalized force (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='xfrc_applied',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='applied Cartesian force/torque (nbody x 6)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='mocap_pos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='positions of mocap bodies (nmocap x 3)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='mocap_quat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='orientations of mocap bodies (nmocap x 4)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qacc',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='acceleration (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='act_dot',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='time-derivative of actuator activation (na x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='userdata',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='user data, not touched by engine (nuserdata x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='sensordata',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='sensor data array (nsensordata x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='plugin',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='copy of m->plugin, required for deletion (nplugin x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='plugin_data',
type=PointerType(
inner_type=ValueType(name='uintptr_t'),
),
doc='pointer to plugin-managed data structure (nplugin x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='xpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='Cartesian position of body frame (nbody x 3)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='xquat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='Cartesian orientation of body frame (nbody x 4)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='xmat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='Cartesian orientation of body frame (nbody x 9)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='xipos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='Cartesian position of body com (nbody x 3)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='ximat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='Cartesian orientation of body inertia (nbody x 9)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='xanchor',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='Cartesian position of joint anchor (njnt x 3)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='xaxis',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='Cartesian joint axis (njnt x 3)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='geom_xpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='Cartesian geom position (ngeom x 3)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='geom_xmat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='Cartesian geom orientation (ngeom x 9)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='site_xpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='Cartesian site position (nsite x 3)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='site_xmat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='Cartesian site orientation (nsite x 9)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='cam_xpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='Cartesian camera position (ncam x 3)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='cam_xmat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='Cartesian camera orientation (ncam x 9)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='light_xpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='Cartesian light position (nlight x 3)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='light_xdir',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='Cartesian light direction (nlight x 3)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='subtree_com',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='center of mass of each subtree (nbody x 3)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='cdof',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='com-based motion axis of each dof (nv x 6)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='cinert',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='com-based body inertia and mass (nbody x 10)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='ten_wrapadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc="start address of tendon's path (ntendon x 1)", # pylint: disable=line-too-long
),
StructFieldDecl(
name='ten_wrapnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of wrap points in path (ntendon x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='ten_J_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of non-zeros in Jacobian row (ntendon x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='ten_J_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='row start address in colind array (ntendon x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='ten_J_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='column indices in sparse Jacobian (ntendon x nv)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='ten_length',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='tendon lengths (ntendon x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='ten_J',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='tendon Jacobian (ntendon x nv)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='wrap_obj',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='geom id; -1: site; -2: pulley (nwrap*2 x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='wrap_xpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='Cartesian 3D points in all path (nwrap*2 x 3)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='actuator_length',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='actuator lengths (nu x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='actuator_moment',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='actuator moments (nu x nv)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='crb',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='com-based composite inertia and mass (nbody x 10)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qM',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='total inertia (sparse) (nM x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qLD',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc="L'*D*L factorization of M (sparse) (nM x 1)", # pylint: disable=line-too-long
),
StructFieldDecl(
name='qLDiagInv',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='1/diag(D) (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qLDiagSqrtInv',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='1/sqrt(diag(D)) (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='bvh_active',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='volume has been added to collisions (nbvh x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='ten_velocity',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='tendon velocities (ntendon x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='actuator_velocity',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='actuator velocities (nu x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='cvel',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='com-based velocity [3D rot; 3D tran] (nbody x 6)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='cdof_dot',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='time-derivative of cdof (nv x 6)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qfrc_bias',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='C(qpos,qvel) (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qfrc_passive',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='passive force (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='subtree_linvel',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='linear velocity of subtree com (nbody x 3)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='subtree_angmom',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='angular momentum about subtree com (nbody x 3)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qH',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc="L'*D*L factorization of modified M (nM x 1)", # pylint: disable=line-too-long
),
StructFieldDecl(
name='qHDiagInv',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='1/diag(D) of modified M (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='D_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='non-zeros in each row (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='D_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address of each row in D_colind (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='D_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='column indices of non-zeros (nD x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='B_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='non-zeros in each row (nbody x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='B_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address of each row in B_colind (nbody x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='B_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='column indices of non-zeros (nB x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qDeriv',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='d (passive + actuator - bias) / d qvel (nD x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qLU',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='sparse LU of (qM - dt*qDeriv) (nD x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='actuator_force',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='actuator force in actuation space (nu x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qfrc_actuator',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='actuator force (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qfrc_smooth',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='net unconstrained force (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qacc_smooth',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='unconstrained acceleration (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qfrc_constraint',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint force (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qfrc_inverse',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc="net external force; should equal: (nv x 1)qfrc_applied + J'*xfrc_applied + qfrc_actuator", # pylint: disable=line-too-long
),
StructFieldDecl(
name='cacc',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='com-based acceleration (nbody x 6)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='cfrc_int',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='com-based interaction force with parent (nbody x 6)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='cfrc_ext',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='com-based external force on body (nbody x 6)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='contact',
type=PointerType(
inner_type=ValueType(name='mjContact'),
),
doc='list of all detected contacts (ncon x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_type',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='constraint type (mjtConstraint) (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_id',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='id of object of specified type (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_J_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of non-zeros in constraint Jacobian row (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_J_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='row start address in colind array (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_J_rowsuper',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of subsequent rows in supernode (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_J_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='column indices in constraint Jacobian (nnzJ x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_JT_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of non-zeros in constraint Jacobian row T (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_JT_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='row start address in colind array T (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_JT_rowsuper',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of subsequent rows in supernode T (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_JT_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='column indices in constraint Jacobian T (nnzJ x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_J',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint Jacobian (nnzJ x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_JT',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint Jacobian transposed (nnzJ x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_pos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint position (equality, contact) (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_margin',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='inclusion margin (contact) (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_frictionloss',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='frictionloss (friction) (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_diagApprox',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='approximation to diagonal of A (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_KBIP',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc="stiffness, damping, impedance, imp' (nefc x 4)", # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_D',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint mass (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_R',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='inverse constraint mass (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='island_dofadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address of first dof in island (nisland x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='island_efcadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address of first constraint in island (nisland x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='dof_island',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='island id of this dof; -1: none (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='dof_islandnext',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address of next dof in island; -1: last or none (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_island',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='island id of this constraint (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_islandnext',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address of next constraint in island; -1: last (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_AR_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of non-zeros in AR (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_AR_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='row start address in colind array (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_AR_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='column indices in sparse AR (nefc x nefc)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_AR',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc="J*inv(M)*J' + R (nefc x nefc)", # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_vel',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='velocity in constraint space: J*qvel (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_aref',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='reference pseudo-acceleration (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_b',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='linear cost term: J*qacc_smooth - aref (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_force',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint force in constraint space (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_state',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='constraint state (mjtConstraintState) (nefc x 1)', # pylint: disable=line-too-long
),
),
)),
('mjvPerturb',
StructDecl(
name='mjvPerturb',
declname='struct mjvPerturb_',
fields=(
StructFieldDecl(
name='select',
type=ValueType(name='int'),
doc='selected body id; non-positive: none',
),
StructFieldDecl(
name='skinselect',
type=ValueType(name='int'),
doc='selected skin id; negative: none',
),
StructFieldDecl(
name='active',
type=ValueType(name='int'),
doc='perturbation bitmask (mjtPertBit)',
),
StructFieldDecl(
name='active2',
type=ValueType(name='int'),
doc='secondary perturbation bitmask (mjtPertBit)',
),
StructFieldDecl(
name='refpos',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
doc='reference position for selected object',
),
StructFieldDecl(
name='refquat',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
doc='reference orientation for selected object',
),
StructFieldDecl(
name='refselpos',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
doc='reference position for selection point',
),
StructFieldDecl(
name='localpos',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
doc='selection point in object coordinates',
),
StructFieldDecl(
name='localmass',
type=ValueType(name='mjtNum'),
doc='spatial inertia at selection point',
),
StructFieldDecl(
name='scale',
type=ValueType(name='mjtNum'),
doc='relative mouse motion-to-space scaling (set by initPerturb)', # pylint: disable=line-too-long
),
),
)),
('mjvCamera',
StructDecl(
name='mjvCamera',
declname='struct mjvCamera_',
fields=(
StructFieldDecl(
name='type',
type=ValueType(name='int'),
doc='camera type (mjtCamera)',
),
StructFieldDecl(
name='fixedcamid',
type=ValueType(name='int'),
doc='fixed camera id',
),
StructFieldDecl(
name='trackbodyid',
type=ValueType(name='int'),
doc='body id to track',
),
StructFieldDecl(
name='lookat',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
doc='lookat point',
),
StructFieldDecl(
name='distance',
type=ValueType(name='mjtNum'),
doc='distance to lookat point or tracked body',
),
StructFieldDecl(
name='azimuth',
type=ValueType(name='mjtNum'),
doc='camera azimuth (deg)',
),
StructFieldDecl(
name='elevation',
type=ValueType(name='mjtNum'),
doc='camera elevation (deg)',
),
),
)),
('mjvGLCamera',
StructDecl(
name='mjvGLCamera',
declname='struct mjvGLCamera_',
fields=(
StructFieldDecl(
name='pos',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='position',
),
StructFieldDecl(
name='forward',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='forward direction',
),
StructFieldDecl(
name='up',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='up direction',
),
StructFieldDecl(
name='frustum_center',
type=ValueType(name='float'),
doc='hor. center (left,right set to match aspect)',
),
StructFieldDecl(
name='frustum_bottom',
type=ValueType(name='float'),
doc='bottom',
),
StructFieldDecl(
name='frustum_top',
type=ValueType(name='float'),
doc='top',
),
StructFieldDecl(
name='frustum_near',
type=ValueType(name='float'),
doc='near',
),
StructFieldDecl(
name='frustum_far',
type=ValueType(name='float'),
doc='far',
),
),
)),
('mjvGeom',
StructDecl(
name='mjvGeom',
declname='struct mjvGeom_',
fields=(
StructFieldDecl(
name='type',
type=ValueType(name='int'),
doc='geom type (mjtGeom)',
),
StructFieldDecl(
name='dataid',
type=ValueType(name='int'),
doc='mesh, hfield or plane id; -1: none',
),
StructFieldDecl(
name='objtype',
type=ValueType(name='int'),
doc='mujoco object type; mjOBJ_UNKNOWN for decor',
),
StructFieldDecl(
name='objid',
type=ValueType(name='int'),
doc='mujoco object id; -1 for decor',
),
StructFieldDecl(
name='category',
type=ValueType(name='int'),
doc='visual category',
),
StructFieldDecl(
name='texid',
type=ValueType(name='int'),
doc='texture id; -1: no texture',
),
StructFieldDecl(
name='texuniform',
type=ValueType(name='int'),
doc='uniform cube mapping',
),
StructFieldDecl(
name='texcoord',
type=ValueType(name='int'),
doc='mesh geom has texture coordinates',
),
StructFieldDecl(
name='segid',
type=ValueType(name='int'),
doc='segmentation id; -1: not shown',
),
StructFieldDecl(
name='texrepeat',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(2,),
),
doc='texture repetition for 2D mapping',
),
StructFieldDecl(
name='size',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='size parameters',
),
StructFieldDecl(
name='pos',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='Cartesian position',
),
StructFieldDecl(
name='mat',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(9,),
),
doc='Cartesian orientation',
),
StructFieldDecl(
name='rgba',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='color and transparency',
),
StructFieldDecl(
name='emission',
type=ValueType(name='float'),
doc='emission coef',
),
StructFieldDecl(
name='specular',
type=ValueType(name='float'),
doc='specular coef',
),
StructFieldDecl(
name='shininess',
type=ValueType(name='float'),
doc='shininess coef',
),
StructFieldDecl(
name='reflectance',
type=ValueType(name='float'),
doc='reflectance coef',
),
StructFieldDecl(
name='label',
type=ArrayType(
inner_type=ValueType(name='char'),
extents=(100,),
),
doc='text label',
),
StructFieldDecl(
name='camdist',
type=ValueType(name='float'),
doc='distance to camera (used by sorter)',
),
StructFieldDecl(
name='modelrbound',
type=ValueType(name='float'),
doc='geom rbound from model, 0 if not model geom',
),
StructFieldDecl(
name='transparent',
type=ValueType(name='mjtByte'),
doc='treat geom as transparent',
),
),
)),
('mjvLight',
StructDecl(
name='mjvLight',
declname='struct mjvLight_',
fields=(
StructFieldDecl(
name='pos',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='position rel. to body frame',
),
StructFieldDecl(
name='dir',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='direction rel. to body frame',
),
StructFieldDecl(
name='attenuation',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='OpenGL attenuation (quadratic model)',
),
StructFieldDecl(
name='cutoff',
type=ValueType(name='float'),
doc='OpenGL cutoff',
),
StructFieldDecl(
name='exponent',
type=ValueType(name='float'),
doc='OpenGL exponent',
),
StructFieldDecl(
name='ambient',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='ambient rgb (alpha=1)',
),
StructFieldDecl(
name='diffuse',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='diffuse rgb (alpha=1)',
),
StructFieldDecl(
name='specular',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='specular rgb (alpha=1)',
),
StructFieldDecl(
name='headlight',
type=ValueType(name='mjtByte'),
doc='headlight',
),
StructFieldDecl(
name='directional',
type=ValueType(name='mjtByte'),
doc='directional light',
),
StructFieldDecl(
name='castshadow',
type=ValueType(name='mjtByte'),
doc='does light cast shadows',
),
),
)),
('mjvOption',
StructDecl(
name='mjvOption',
declname='struct mjvOption_',
fields=(
StructFieldDecl(
name='label',
type=ValueType(name='int'),
doc='what objects to label (mjtLabel)',
),
StructFieldDecl(
name='frame',
type=ValueType(name='int'),
doc='which frame to show (mjtFrame)',
),
StructFieldDecl(
name='geomgroup',
type=ArrayType(
inner_type=ValueType(name='mjtByte'),
extents=(6,),
),
doc='geom visualization by group',
),
StructFieldDecl(
name='sitegroup',
type=ArrayType(
inner_type=ValueType(name='mjtByte'),
extents=(6,),
),
doc='site visualization by group',
),
StructFieldDecl(
name='jointgroup',
type=ArrayType(
inner_type=ValueType(name='mjtByte'),
extents=(6,),
),
doc='joint visualization by group',
),
StructFieldDecl(
name='tendongroup',
type=ArrayType(
inner_type=ValueType(name='mjtByte'),
extents=(6,),
),
doc='tendon visualization by group',
),
StructFieldDecl(
name='actuatorgroup',
type=ArrayType(
inner_type=ValueType(name='mjtByte'),
extents=(6,),
),
doc='actuator visualization by group',
),
StructFieldDecl(
name='skingroup',
type=ArrayType(
inner_type=ValueType(name='mjtByte'),
extents=(6,),
),
doc='skin visualization by group',
),
StructFieldDecl(
name='flags',
type=ArrayType(
inner_type=ValueType(name='mjtByte'),
extents=(26,),
),
doc='visualization flags (indexed by mjtVisFlag)',
),
StructFieldDecl(
name='bvh_depth',
type=ValueType(name='int'),
doc='depth of the bounding volume hierarchy to be visualized',
),
),
)),
('mjvScene',
StructDecl(
name='mjvScene',
declname='struct mjvScene_',
fields=(
StructFieldDecl(
name='maxgeom',
type=ValueType(name='int'),
doc='size of allocated geom buffer',
),
StructFieldDecl(
name='ngeom',
type=ValueType(name='int'),
doc='number of geoms currently in buffer',
),
StructFieldDecl(
name='geoms',
type=PointerType(
inner_type=ValueType(name='mjvGeom'),
),
doc='buffer for geoms (ngeom)',
),
StructFieldDecl(
name='geomorder',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='buffer for ordering geoms by distance to camera (ngeom)',
),
StructFieldDecl(
name='nskin',
type=ValueType(name='int'),
doc='number of skins',
),
StructFieldDecl(
name='skinfacenum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of faces in skin (nskin)',
),
StructFieldDecl(
name='skinvertadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address of skin vertices (nskin)',
),
StructFieldDecl(
name='skinvertnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of vertices in skin (nskin)',
),
StructFieldDecl(
name='skinvert',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='skin vertex data (nskin)',
),
StructFieldDecl(
name='skinnormal',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='skin normal data (nskin)',
),
StructFieldDecl(
name='nlight',
type=ValueType(name='int'),
doc='number of lights currently in buffer',
),
StructFieldDecl(
name='lights',
type=ArrayType(
inner_type=ValueType(name='mjvLight'),
extents=(100,),
),
doc='buffer for lights (nlight)',
),
StructFieldDecl(
name='camera',
type=ArrayType(
inner_type=ValueType(name='mjvGLCamera'),
extents=(2,),
),
doc='left and right camera',
),
StructFieldDecl(
name='enabletransform',
type=ValueType(name='mjtByte'),
doc='enable model transformation',
),
StructFieldDecl(
name='translate',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='model translation',
),
StructFieldDecl(
name='rotate',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='model quaternion rotation',
),
StructFieldDecl(
name='scale',
type=ValueType(name='float'),
doc='model scaling',
),
StructFieldDecl(
name='stereo',
type=ValueType(name='int'),
doc='stereoscopic rendering (mjtStereo)',
),
StructFieldDecl(
name='flags',
type=ArrayType(
inner_type=ValueType(name='mjtByte'),
extents=(10,),
),
doc='rendering flags (indexed by mjtRndFlag)',
),
StructFieldDecl(
name='framewidth',
type=ValueType(name='int'),
doc='frame pixel width; 0: disable framing',
),
StructFieldDecl(
name='framergb',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='frame color',
),
),
)),
('mjvFigure',
StructDecl(
name='mjvFigure',
declname='struct mjvFigure_',
fields=(
StructFieldDecl(
name='flg_legend',
type=ValueType(name='int'),
doc='show legend',
),
StructFieldDecl(
name='flg_ticklabel',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(2,),
),
doc='show grid tick labels (x,y)',
),
StructFieldDecl(
name='flg_extend',
type=ValueType(name='int'),
doc='automatically extend axis ranges to fit data',
),
StructFieldDecl(
name='flg_barplot',
type=ValueType(name='int'),
doc='isolated line segments (i.e. GL_LINES)',
),
StructFieldDecl(
name='flg_selection',
type=ValueType(name='int'),
doc='vertical selection line',
),
StructFieldDecl(
name='flg_symmetric',
type=ValueType(name='int'),
doc='symmetric y-axis',
),
StructFieldDecl(
name='linewidth',
type=ValueType(name='float'),
doc='line width',
),
StructFieldDecl(
name='gridwidth',
type=ValueType(name='float'),
doc='grid line width',
),
StructFieldDecl(
name='gridsize',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(2,),
),
doc='number of grid points in (x,y)',
),
StructFieldDecl(
name='gridrgb',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='grid line rgb',
),
StructFieldDecl(
name='figurergba',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='figure color and alpha',
),
StructFieldDecl(
name='panergba',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='pane color and alpha',
),
StructFieldDecl(
name='legendrgba',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='legend color and alpha',
),
StructFieldDecl(
name='textrgb',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='text color',
),
StructFieldDecl(
name='linergb',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(100, 3),
),
doc='line colors',
),
StructFieldDecl(
name='range',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(2, 2),
),
doc='axis ranges; (min>=max) automatic',
),
StructFieldDecl(
name='xformat',
type=ArrayType(
inner_type=ValueType(name='char'),
extents=(20,),
),
doc='x-tick label format for sprintf',
),
StructFieldDecl(
name='yformat',
type=ArrayType(
inner_type=ValueType(name='char'),
extents=(20,),
),
doc='y-tick label format for sprintf',
),
StructFieldDecl(
name='minwidth',
type=ArrayType(
inner_type=ValueType(name='char'),
extents=(20,),
),
doc='string used to determine min y-tick width',
),
StructFieldDecl(
name='title',
type=ArrayType(
inner_type=ValueType(name='char'),
extents=(1000,),
),
doc='figure title; subplots separated with 2+ spaces',
),
StructFieldDecl(
name='xlabel',
type=ArrayType(
inner_type=ValueType(name='char'),
extents=(100,),
),
doc='x-axis label',
),
StructFieldDecl(
name='linename',
type=ArrayType(
inner_type=ValueType(name='char'),
extents=(100, 100),
),
doc='line names for legend',
),
StructFieldDecl(
name='legendoffset',
type=ValueType(name='int'),
doc='number of lines to offset legend',
),
StructFieldDecl(
name='subplot',
type=ValueType(name='int'),
doc='selected subplot (for title rendering)',
),
StructFieldDecl(
name='highlight',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(2,),
),
doc='if point is in legend rect, highlight line',
),
StructFieldDecl(
name='highlightid',
type=ValueType(name='int'),
doc='if id>=0 and no point, highlight id',
),
StructFieldDecl(
name='selection',
type=ValueType(name='float'),
doc='selection line x-value',
),
StructFieldDecl(
name='linepnt',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(100,),
),
doc='number of points in line; (0) disable',
),
StructFieldDecl(
name='linedata',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(100, 2000),
),
doc='line data (x,y)',
),
StructFieldDecl(
name='xaxispixel',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(2,),
),
doc='range of x-axis in pixels',
),
StructFieldDecl(
name='yaxispixel',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(2,),
),
doc='range of y-axis in pixels',
),
StructFieldDecl(
name='xaxisdata',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(2,),
),
doc='range of x-axis in data units',
),
StructFieldDecl(
name='yaxisdata',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(2,),
),
doc='range of y-axis in data units',
),
),
)),
('mjvSceneState',
StructDecl(
name='mjvSceneState',
declname='struct mjvSceneState_',
fields=(
StructFieldDecl(
name='nbuffer',
type=ValueType(name='int'),
doc='size of the buffer in bytes',
),
StructFieldDecl(
name='buffer',
type=PointerType(
inner_type=ValueType(name='void'),
),
doc='heap-allocated memory for all arrays in this struct',
),
StructFieldDecl(
name='maxgeom',
type=ValueType(name='int'),
doc='maximum number of mjvGeom supported by this state object',
),
StructFieldDecl(
name='plugincache',
type=ValueType(name='mjvScene'),
doc='scratch space for vis geoms inserted by plugins',
),
StructFieldDecl(
name='model',
type=AnonymousStructDecl(
fields=(
StructFieldDecl(
name='nu',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='na',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='nbody',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='nbvh',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='njnt',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='ngeom',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='nsite',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='ncam',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='nlight',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='nmesh',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='nskin',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='nskinvert',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='nskinface',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='nskinbone',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='nskinbonevert',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='nmat',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='neq',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='ntendon',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='nwrap',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='nsensor',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='nnames',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='nsensordata',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='opt',
type=ValueType(name='mjOption'),
doc='',
),
StructFieldDecl(
name='vis',
type=ValueType(name='mjVisual'),
doc='',
),
StructFieldDecl(
name='stat',
type=ValueType(name='mjStatistic'),
doc='',
),
StructFieldDecl(
name='body_parentid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='body_rootid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='body_weldid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='body_mocapid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='body_jntnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='body_jntadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='body_geomnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='body_geomadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='body_iquat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='body_mass',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='body_inertia',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='body_bvhadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='body_bvhnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='bvh_depth',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='bvh_child',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='bvh_geomid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='bvh_aabb',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='jnt_type',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='jnt_bodyid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='jnt_group',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='geom_type',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='geom_bodyid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='geom_dataid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='geom_matid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='geom_group',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='geom_size',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='geom_aabb',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='geom_rbound',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='geom_rgba',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='site_type',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='site_bodyid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='site_matid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='site_group',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='site_size',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='site_rgba',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='cam_fovy',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='cam_ipd',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='light_directional',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='',
),
StructFieldDecl(
name='light_castshadow',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='',
),
StructFieldDecl(
name='light_active',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='',
),
StructFieldDecl(
name='light_attenuation',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='light_cutoff',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='light_exponent',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='light_ambient',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='light_diffuse',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='light_specular',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='mesh_texcoordadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='mesh_graphadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='skin_matid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='skin_group',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='skin_rgba',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='skin_inflate',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='skin_vertadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='skin_vertnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='skin_texcoordadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='skin_faceadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='skin_facenum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='skin_boneadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='skin_bonenum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='skin_vert',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='skin_face',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='skin_bonevertadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='skin_bonevertnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='skin_bonebindpos',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='skin_bonebindquat',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='skin_bonebodyid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='skin_bonevertid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='skin_bonevertweight',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='mat_texid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='mat_texuniform',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='',
),
StructFieldDecl(
name='mat_texrepeat',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='mat_emission',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='mat_specular',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='mat_shininess',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='mat_reflectance',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='mat_rgba',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='eq_type',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='eq_obj1id',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='eq_obj2id',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='eq_active',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='',
),
StructFieldDecl(
name='eq_data',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='tendon_num',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='tendon_matid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='tendon_group',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='tendon_limited',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='',
),
StructFieldDecl(
name='tendon_width',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='tendon_range',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='tendon_stiffness',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='tendon_damping',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='tendon_frictionloss',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='tendon_lengthspring',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='tendon_rgba',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='actuator_trntype',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='actuator_dyntype',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='actuator_trnid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='actuator_actadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='actuator_actnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='actuator_group',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='actuator_ctrllimited',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='',
),
StructFieldDecl(
name='actuator_actlimited',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='',
),
StructFieldDecl(
name='actuator_ctrlrange',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='actuator_actrange',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='actuator_cranklength',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='sensor_type',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='sensor_objid',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='sensor_adr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='name_bodyadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='name_jntadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='name_geomadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='name_siteadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='name_camadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='name_lightadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='name_eqadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='name_tendonadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='name_actuatoradr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='names',
type=PointerType(
inner_type=ValueType(name='char'),
),
doc='',
),
),
),
doc='',
),
StructFieldDecl(
name='data',
type=AnonymousStructDecl(
fields=(
StructFieldDecl(
name='warning',
type=ArrayType(
inner_type=ValueType(name='mjWarningStat'),
extents=(8,),
),
doc='',
),
StructFieldDecl(
name='nefc',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='ncon',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='nisland',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='time',
type=ValueType(name='mjtNum'),
doc='',
),
StructFieldDecl(
name='act',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='ctrl',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='xfrc_applied',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='sensordata',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='xpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='xquat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='xmat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='xipos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='ximat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='xanchor',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='xaxis',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='geom_xpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='geom_xmat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='site_xpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='site_xmat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='cam_xpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='cam_xmat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='light_xpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='light_xdir',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='subtree_com',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='ten_wrapadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='ten_wrapnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='wrap_obj',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='wrap_xpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='bvh_active',
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='',
),
StructFieldDecl(
name='island_dofadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='dof_island',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='efc_island',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='contact',
type=PointerType(
inner_type=ValueType(name='mjContact'),
),
doc='',
),
StructFieldDecl(
name='efc_force',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
),
),
doc='',
),
),
)),
('mjrRect',
StructDecl(
name='mjrRect',
declname='struct mjrRect_',
fields=(
StructFieldDecl(
name='left',
type=ValueType(name='int'),
doc='left (usually 0)',
),
StructFieldDecl(
name='bottom',
type=ValueType(name='int'),
doc='bottom (usually 0)',
),
StructFieldDecl(
name='width',
type=ValueType(name='int'),
doc='width (usually buffer width)',
),
StructFieldDecl(
name='height',
type=ValueType(name='int'),
doc='height (usually buffer height)',
),
),
)),
('mjrContext',
StructDecl(
name='mjrContext',
declname='struct mjrContext_',
fields=(
StructFieldDecl(
name='lineWidth',
type=ValueType(name='float'),
doc='line width for wireframe rendering',
),
StructFieldDecl(
name='shadowClip',
type=ValueType(name='float'),
doc='clipping radius for directional lights',
),
StructFieldDecl(
name='shadowScale',
type=ValueType(name='float'),
doc='fraction of light cutoff for spot lights',
),
StructFieldDecl(
name='fogStart',
type=ValueType(name='float'),
doc='fog start = stat.extent * vis.map.fogstart',
),
StructFieldDecl(
name='fogEnd',
type=ValueType(name='float'),
doc='fog end = stat.extent * vis.map.fogend',
),
StructFieldDecl(
name='fogRGBA',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='fog rgba',
),
StructFieldDecl(
name='shadowSize',
type=ValueType(name='int'),
doc='size of shadow map texture',
),
StructFieldDecl(
name='offWidth',
type=ValueType(name='int'),
doc='width of offscreen buffer',
),
StructFieldDecl(
name='offHeight',
type=ValueType(name='int'),
doc='height of offscreen buffer',
),
StructFieldDecl(
name='offSamples',
type=ValueType(name='int'),
doc='number of offscreen buffer multisamples',
),
StructFieldDecl(
name='fontScale',
type=ValueType(name='int'),
doc='font scale',
),
StructFieldDecl(
name='auxWidth',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(10,),
),
doc='auxiliary buffer width',
),
StructFieldDecl(
name='auxHeight',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(10,),
),
doc='auxiliary buffer height',
),
StructFieldDecl(
name='auxSamples',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(10,),
),
doc='auxiliary buffer multisamples',
),
StructFieldDecl(
name='offFBO',
type=ValueType(name='unsigned int'),
doc='offscreen framebuffer object',
),
StructFieldDecl(
name='offFBO_r',
type=ValueType(name='unsigned int'),
doc='offscreen framebuffer for resolving multisamples',
),
StructFieldDecl(
name='offColor',
type=ValueType(name='unsigned int'),
doc='offscreen color buffer',
),
StructFieldDecl(
name='offColor_r',
type=ValueType(name='unsigned int'),
doc='offscreen color buffer for resolving multisamples',
),
StructFieldDecl(
name='offDepthStencil',
type=ValueType(name='unsigned int'),
doc='offscreen depth and stencil buffer',
),
StructFieldDecl(
name='offDepthStencil_r',
type=ValueType(name='unsigned int'),
doc='offscreen depth and stencil buffer for resolving multisamples', # pylint: disable=line-too-long
),
StructFieldDecl(
name='shadowFBO',
type=ValueType(name='unsigned int'),
doc='shadow map framebuffer object',
),
StructFieldDecl(
name='shadowTex',
type=ValueType(name='unsigned int'),
doc='shadow map texture',
),
StructFieldDecl(
name='auxFBO',
type=ArrayType(
inner_type=ValueType(name='unsigned int'),
extents=(10,),
),
doc='auxiliary framebuffer object',
),
StructFieldDecl(
name='auxFBO_r',
type=ArrayType(
inner_type=ValueType(name='unsigned int'),
extents=(10,),
),
doc='auxiliary framebuffer object for resolving',
),
StructFieldDecl(
name='auxColor',
type=ArrayType(
inner_type=ValueType(name='unsigned int'),
extents=(10,),
),
doc='auxiliary color buffer',
),
StructFieldDecl(
name='auxColor_r',
type=ArrayType(
inner_type=ValueType(name='unsigned int'),
extents=(10,),
),
doc='auxiliary color buffer for resolving',
),
StructFieldDecl(
name='ntexture',
type=ValueType(name='int'),
doc='number of allocated textures',
),
StructFieldDecl(
name='textureType',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(100,),
),
doc='type of texture (mjtTexture) (ntexture)',
),
StructFieldDecl(
name='texture',
type=ArrayType(
inner_type=ValueType(name='unsigned int'),
extents=(100,),
),
doc='texture names',
),
StructFieldDecl(
name='basePlane',
type=ValueType(name='unsigned int'),
doc='all planes from model',
),
StructFieldDecl(
name='baseMesh',
type=ValueType(name='unsigned int'),
doc='all meshes from model',
),
StructFieldDecl(
name='baseHField',
type=ValueType(name='unsigned int'),
doc='all hfields from model',
),
StructFieldDecl(
name='baseBuiltin',
type=ValueType(name='unsigned int'),
doc='all buildin geoms, with quality from model',
),
StructFieldDecl(
name='baseFontNormal',
type=ValueType(name='unsigned int'),
doc='normal font',
),
StructFieldDecl(
name='baseFontShadow',
type=ValueType(name='unsigned int'),
doc='shadow font',
),
StructFieldDecl(
name='baseFontBig',
type=ValueType(name='unsigned int'),
doc='big font',
),
StructFieldDecl(
name='rangePlane',
type=ValueType(name='int'),
doc='all planes from model',
),
StructFieldDecl(
name='rangeMesh',
type=ValueType(name='int'),
doc='all meshes from model',
),
StructFieldDecl(
name='rangeHField',
type=ValueType(name='int'),
doc='all hfields from model',
),
StructFieldDecl(
name='rangeBuiltin',
type=ValueType(name='int'),
doc='all builtin geoms, with quality from model',
),
StructFieldDecl(
name='rangeFont',
type=ValueType(name='int'),
doc='all characters in font',
),
StructFieldDecl(
name='nskin',
type=ValueType(name='int'),
doc='number of skins',
),
StructFieldDecl(
name='skinvertVBO',
type=PointerType(
inner_type=ValueType(name='unsigned int'),
),
doc='skin vertex position VBOs (nskin)',
),
StructFieldDecl(
name='skinnormalVBO',
type=PointerType(
inner_type=ValueType(name='unsigned int'),
),
doc='skin vertex normal VBOs (nskin)',
),
StructFieldDecl(
name='skintexcoordVBO',
type=PointerType(
inner_type=ValueType(name='unsigned int'),
),
doc='skin vertex texture coordinate VBOs (nskin)',
),
StructFieldDecl(
name='skinfaceVBO',
type=PointerType(
inner_type=ValueType(name='unsigned int'),
),
doc='skin face index VBOs (nskin)',
),
StructFieldDecl(
name='charWidth',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(127,),
),
doc='character widths: normal and shadow',
),
StructFieldDecl(
name='charWidthBig',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(127,),
),
doc='chacarter widths: big',
),
StructFieldDecl(
name='charHeight',
type=ValueType(name='int'),
doc='character heights: normal and shadow',
),
StructFieldDecl(
name='charHeightBig',
type=ValueType(name='int'),
doc='character heights: big',
),
StructFieldDecl(
name='glInitialized',
type=ValueType(name='int'),
doc='is OpenGL initialized',
),
StructFieldDecl(
name='windowAvailable',
type=ValueType(name='int'),
doc='is default/window framebuffer available',
),
StructFieldDecl(
name='windowSamples',
type=ValueType(name='int'),
doc='number of samples for default/window framebuffer',
),
StructFieldDecl(
name='windowStereo',
type=ValueType(name='int'),
doc='is stereo available for default/window framebuffer',
),
StructFieldDecl(
name='windowDoublebuffer',
type=ValueType(name='int'),
doc='is default/window framebuffer double buffered',
),
StructFieldDecl(
name='currentBuffer',
type=ValueType(name='int'),
doc='currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN', # pylint: disable=line-too-long
),
StructFieldDecl(
name='readPixelFormat',
type=ValueType(name='int'),
doc='default color pixel format for mjr_readPixels',
),
),
)),
('mjuiState',
StructDecl(
name='mjuiState',
declname='struct mjuiState_',
fields=(
StructFieldDecl(
name='nrect',
type=ValueType(name='int'),
doc='number of rectangles used',
),
StructFieldDecl(
name='rect',
type=ArrayType(
inner_type=ValueType(name='mjrRect'),
extents=(25,),
),
doc='rectangles (index 0: entire window)',
),
StructFieldDecl(
name='userdata',
type=PointerType(
inner_type=ValueType(name='void'),
),
doc='pointer to user data (for callbacks)',
),
StructFieldDecl(
name='type',
type=ValueType(name='int'),
doc='(type mjtEvent)',
),
StructFieldDecl(
name='left',
type=ValueType(name='int'),
doc='is left button down',
),
StructFieldDecl(
name='right',
type=ValueType(name='int'),
doc='is right button down',
),
StructFieldDecl(
name='middle',
type=ValueType(name='int'),
doc='is middle button down',
),
StructFieldDecl(
name='doubleclick',
type=ValueType(name='int'),
doc='is last press a double click',
),
StructFieldDecl(
name='button',
type=ValueType(name='int'),
doc='which button was pressed (mjtButton)',
),
StructFieldDecl(
name='buttontime',
type=ValueType(name='double'),
doc='time of last button press',
),
StructFieldDecl(
name='x',
type=ValueType(name='double'),
doc='x position',
),
StructFieldDecl(
name='y',
type=ValueType(name='double'),
doc='y position',
),
StructFieldDecl(
name='dx',
type=ValueType(name='double'),
doc='x displacement',
),
StructFieldDecl(
name='dy',
type=ValueType(name='double'),
doc='y displacement',
),
StructFieldDecl(
name='sx',
type=ValueType(name='double'),
doc='x scroll',
),
StructFieldDecl(
name='sy',
type=ValueType(name='double'),
doc='y scroll',
),
StructFieldDecl(
name='control',
type=ValueType(name='int'),
doc='is control down',
),
StructFieldDecl(
name='shift',
type=ValueType(name='int'),
doc='is shift down',
),
StructFieldDecl(
name='alt',
type=ValueType(name='int'),
doc='is alt down',
),
StructFieldDecl(
name='key',
type=ValueType(name='int'),
doc='which key was pressed',
),
StructFieldDecl(
name='keytime',
type=ValueType(name='double'),
doc='time of last key press',
),
StructFieldDecl(
name='mouserect',
type=ValueType(name='int'),
doc='which rectangle contains mouse',
),
StructFieldDecl(
name='dragrect',
type=ValueType(name='int'),
doc='which rectangle is dragged with mouse',
),
StructFieldDecl(
name='dragbutton',
type=ValueType(name='int'),
doc='which button started drag (mjtButton)',
),
StructFieldDecl(
name='dropcount',
type=ValueType(name='int'),
doc='number of files dropped',
),
StructFieldDecl(
name='droppaths',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
doc='paths to files dropped',
),
),
)),
('mjuiThemeSpacing',
StructDecl(
name='mjuiThemeSpacing',
declname='struct mjuiThemeSpacing_',
fields=(
StructFieldDecl(
name='total',
type=ValueType(name='int'),
doc='total width',
),
StructFieldDecl(
name='scroll',
type=ValueType(name='int'),
doc='scrollbar width',
),
StructFieldDecl(
name='label',
type=ValueType(name='int'),
doc='label width',
),
StructFieldDecl(
name='section',
type=ValueType(name='int'),
doc='section gap',
),
StructFieldDecl(
name='itemside',
type=ValueType(name='int'),
doc='item side gap',
),
StructFieldDecl(
name='itemmid',
type=ValueType(name='int'),
doc='item middle gap',
),
StructFieldDecl(
name='itemver',
type=ValueType(name='int'),
doc='item vertical gap',
),
StructFieldDecl(
name='texthor',
type=ValueType(name='int'),
doc='text horizontal gap',
),
StructFieldDecl(
name='textver',
type=ValueType(name='int'),
doc='text vertical gap',
),
StructFieldDecl(
name='linescroll',
type=ValueType(name='int'),
doc='number of pixels to scroll',
),
StructFieldDecl(
name='samples',
type=ValueType(name='int'),
doc='number of multisamples',
),
),
)),
('mjuiThemeColor',
StructDecl(
name='mjuiThemeColor',
declname='struct mjuiThemeColor_',
fields=(
StructFieldDecl(
name='master',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='master background',
),
StructFieldDecl(
name='thumb',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='scrollbar thumb',
),
StructFieldDecl(
name='secttitle',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='section title',
),
StructFieldDecl(
name='sectfont',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='section font',
),
StructFieldDecl(
name='sectsymbol',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='section symbol',
),
StructFieldDecl(
name='sectpane',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='section pane',
),
StructFieldDecl(
name='shortcut',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='shortcut background',
),
StructFieldDecl(
name='fontactive',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='font active',
),
StructFieldDecl(
name='fontinactive',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='font inactive',
),
StructFieldDecl(
name='decorinactive',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='decor inactive',
),
StructFieldDecl(
name='decorinactive2',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='inactive slider color 2',
),
StructFieldDecl(
name='button',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='button',
),
StructFieldDecl(
name='check',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='check',
),
StructFieldDecl(
name='radio',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='radio',
),
StructFieldDecl(
name='select',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='select',
),
StructFieldDecl(
name='select2',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='select pane',
),
StructFieldDecl(
name='slider',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='slider',
),
StructFieldDecl(
name='slider2',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='slider color 2',
),
StructFieldDecl(
name='edit',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='edit',
),
StructFieldDecl(
name='edit2',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='edit invalid',
),
StructFieldDecl(
name='cursor',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(3,),
),
doc='edit cursor',
),
),
)),
('mjuiItem',
StructDecl(
name='mjuiItem',
declname='struct mjuiItem_',
fields=(
StructFieldDecl(
name='type',
type=ValueType(name='int'),
doc='type (mjtItem)',
),
StructFieldDecl(
name='name',
type=ArrayType(
inner_type=ValueType(name='char'),
extents=(40,),
),
doc='name',
),
StructFieldDecl(
name='state',
type=ValueType(name='int'),
doc='0: disable, 1: enable, 2+: use predicate',
),
StructFieldDecl(
name='pdata',
type=PointerType(
inner_type=ValueType(name='void'),
),
doc='data pointer (type-specific)',
),
StructFieldDecl(
name='sectionid',
type=ValueType(name='int'),
doc='id of section containing item',
),
StructFieldDecl(
name='itemid',
type=ValueType(name='int'),
doc='id of item within section',
),
AnonymousUnionDecl(
fields=(
StructFieldDecl(
name='single',
type=ValueType(name='struct mjuiItemSingle_'),
doc='check and button',
),
StructFieldDecl(
name='multi',
type=ValueType(name='struct mjuiItemMulti_'),
doc='static, radio and select',
),
StructFieldDecl(
name='slider',
type=ValueType(name='struct mjuiItemSlider_'),
doc='slider',
),
StructFieldDecl(
name='edit',
type=ValueType(name='struct mjuiItemEdit_'),
doc='edit',
),
),
),
StructFieldDecl(
name='rect',
type=ValueType(name='mjrRect'),
doc='rectangle occupied by item',
),
),
)),
('mjuiSection',
StructDecl(
name='mjuiSection',
declname='struct mjuiSection_',
fields=(
StructFieldDecl(
name='name',
type=ArrayType(
inner_type=ValueType(name='char'),
extents=(40,),
),
doc='name',
),
StructFieldDecl(
name='state',
type=ValueType(name='int'),
doc='0: closed, 1: open',
),
StructFieldDecl(
name='modifier',
type=ValueType(name='int'),
doc='0: none, 1: control, 2: shift; 4: alt',
),
StructFieldDecl(
name='shortcut',
type=ValueType(name='int'),
doc='shortcut key; 0: undefined',
),
StructFieldDecl(
name='nitem',
type=ValueType(name='int'),
doc='number of items in use',
),
StructFieldDecl(
name='item',
type=ArrayType(
inner_type=ValueType(name='mjuiItem'),
extents=(100,),
),
doc='preallocated array of items',
),
StructFieldDecl(
name='rtitle',
type=ValueType(name='mjrRect'),
doc='rectangle occupied by title',
),
StructFieldDecl(
name='rcontent',
type=ValueType(name='mjrRect'),
doc='rectangle occupied by content',
),
),
)),
('mjUI',
StructDecl(
name='mjUI',
declname='struct mjUI_',
fields=(
StructFieldDecl(
name='spacing',
type=ValueType(name='mjuiThemeSpacing'),
doc='UI theme spacing',
),
StructFieldDecl(
name='color',
type=ValueType(name='mjuiThemeColor'),
doc='UI theme color',
),
StructFieldDecl(
name='predicate',
type=ValueType(name='mjfItemEnable'),
doc='callback to set item state programmatically',
),
StructFieldDecl(
name='userdata',
type=PointerType(
inner_type=ValueType(name='void'),
),
doc='pointer to user data (passed to predicate)',
),
StructFieldDecl(
name='rectid',
type=ValueType(name='int'),
doc='index of this ui rectangle in mjuiState',
),
StructFieldDecl(
name='auxid',
type=ValueType(name='int'),
doc='aux buffer index of this ui',
),
StructFieldDecl(
name='radiocol',
type=ValueType(name='int'),
doc='number of radio columns (0 defaults to 2)',
),
StructFieldDecl(
name='width',
type=ValueType(name='int'),
doc='width',
),
StructFieldDecl(
name='height',
type=ValueType(name='int'),
doc='current heigth',
),
StructFieldDecl(
name='maxheight',
type=ValueType(name='int'),
doc='height when all sections open',
),
StructFieldDecl(
name='scroll',
type=ValueType(name='int'),
doc='scroll from top of UI',
),
StructFieldDecl(
name='mousesect',
type=ValueType(name='int'),
doc='0: none, -1: scroll, otherwise 1+section',
),
StructFieldDecl(
name='mouseitem',
type=ValueType(name='int'),
doc='item within section',
),
StructFieldDecl(
name='mousehelp',
type=ValueType(name='int'),
doc='help button down: print shortcuts',
),
StructFieldDecl(
name='editsect',
type=ValueType(name='int'),
doc='0: none, otherwise 1+section',
),
StructFieldDecl(
name='edititem',
type=ValueType(name='int'),
doc='item within section',
),
StructFieldDecl(
name='editcursor',
type=ValueType(name='int'),
doc='cursor position',
),
StructFieldDecl(
name='editscroll',
type=ValueType(name='int'),
doc='horizontal scroll',
),
StructFieldDecl(
name='edittext',
type=ArrayType(
inner_type=ValueType(name='char'),
extents=(300,),
),
doc='current text',
),
StructFieldDecl(
name='editchanged',
type=PointerType(
inner_type=ValueType(name='mjuiItem'),
),
doc='pointer to changed edit in last mjui_event',
),
StructFieldDecl(
name='nsect',
type=ValueType(name='int'),
doc='number of sections in use',
),
StructFieldDecl(
name='sect',
type=ArrayType(
inner_type=ValueType(name='mjuiSection'),
extents=(10,),
),
doc='preallocated array of sections',
),
),
)),
('mjuiDef',
StructDecl(
name='mjuiDef',
declname='struct mjuiDef_',
fields=(
StructFieldDecl(
name='type',
type=ValueType(name='int'),
doc='type (mjtItem); -1: section',
),
StructFieldDecl(
name='name',
type=ArrayType(
inner_type=ValueType(name='char'),
extents=(40,),
),
doc='name',
),
StructFieldDecl(
name='state',
type=ValueType(name='int'),
doc='state',
),
StructFieldDecl(
name='pdata',
type=PointerType(
inner_type=ValueType(name='void'),
),
doc='pointer to data',
),
StructFieldDecl(
name='other',
type=ArrayType(
inner_type=ValueType(name='char'),
extents=(300,),
),
doc='string with type-specific properties',
),
),
)),
])
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