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Mujoco_WASM/introspect/structs.py
T
Saran Tunyasuvunakool b362cb4972 Expose a handle for the Python viewer. 
This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData.

To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData.

Fixes https://github.com/deepmind/mujoco/issues/796

PiperOrigin-RevId: 525723636
Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
2023-04-20 05:59:19 -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 total 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='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 the 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_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_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_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_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_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='constraint solver reference: contact (npair x mjNREF)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='pair_solimp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint 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_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',
),
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='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='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='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='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
),
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
),
),
)),
('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=(24,),
),
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='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='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=(80,),
),
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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