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49efa9cc15dd0110dbff7f206991e15f1deb6075
Mujoco_WASM/introspect/functions.py
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Yuval Tassa 49efa9cc15 Change finite-support mju_sigmoid from a two-quadratic construction to a single quintic with zero 1st and 2nd derivatives at 0 and 1, the boundary of the smooth-support segment. 
Note: this function is currently unused in the MuJoCo codebase.
PiperOrigin-RevId: 529969804
Change-Id: I2bddc72916eff67625b806510935bc7f3ce5c770
2023-05-06 09:22:37 -07:00

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# Copyright 2022 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 functions.
DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
"""
from typing import Mapping
from .ast_nodes import ArrayType
from .ast_nodes import FunctionDecl
from .ast_nodes import FunctionParameterDecl
from .ast_nodes import PointerType
from .ast_nodes import ValueType
FUNCTIONS: Mapping[str, FunctionDecl] = dict([
('mj_defaultVFS',
FunctionDecl(
name='mj_defaultVFS',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='vfs',
type=PointerType(
inner_type=ValueType(name='mjVFS'),
),
),
),
doc='Initialize VFS to empty (no deallocation).',
)),
('mj_addFileVFS',
FunctionDecl(
name='mj_addFileVFS',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='vfs',
type=PointerType(
inner_type=ValueType(name='mjVFS'),
),
),
FunctionParameterDecl(
name='directory',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Add file to VFS, return 0: success, 1: full, 2: repeated name, -1: failed to load.', # pylint: disable=line-too-long
)),
('mj_makeEmptyFileVFS',
FunctionDecl(
name='mj_makeEmptyFileVFS',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='vfs',
type=PointerType(
inner_type=ValueType(name='mjVFS'),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='filesize',
type=ValueType(name='int'),
),
),
doc='Make empty file in VFS, return 0: success, 1: full, 2: repeated name.', # pylint: disable=line-too-long
)),
('mj_findFileVFS',
FunctionDecl(
name='mj_findFileVFS',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='vfs',
type=PointerType(
inner_type=ValueType(name='mjVFS', is_const=True),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Return file index in VFS, or -1 if not found in VFS.',
)),
('mj_deleteFileVFS',
FunctionDecl(
name='mj_deleteFileVFS',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='vfs',
type=PointerType(
inner_type=ValueType(name='mjVFS'),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Delete file from VFS, return 0: success, -1: not found in VFS.',
)),
('mj_deleteVFS',
FunctionDecl(
name='mj_deleteVFS',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='vfs',
type=PointerType(
inner_type=ValueType(name='mjVFS'),
),
),
),
doc='Delete all files from VFS.',
)),
('mj_loadXML',
FunctionDecl(
name='mj_loadXML',
return_type=PointerType(
inner_type=ValueType(name='mjModel'),
),
parameters=(
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='vfs',
type=PointerType(
inner_type=ValueType(name='mjVFS', is_const=True),
),
),
FunctionParameterDecl(
name='error',
type=PointerType(
inner_type=ValueType(name='char'),
),
),
FunctionParameterDecl(
name='error_sz',
type=ValueType(name='int'),
),
),
doc='Parse XML file in MJCF or URDF format, compile it, return low-level model. If vfs is not NULL, look up files in vfs before reading from disk. If error is not NULL, it must have size error_sz.', # pylint: disable=line-too-long
)),
('mj_saveLastXML',
FunctionDecl(
name='mj_saveLastXML',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='error',
type=PointerType(
inner_type=ValueType(name='char'),
),
),
FunctionParameterDecl(
name='error_sz',
type=ValueType(name='int'),
),
),
doc='Update XML data structures with info from low-level model, save as MJCF. If error is not NULL, it must have size error_sz.', # pylint: disable=line-too-long
)),
('mj_freeLastXML',
FunctionDecl(
name='mj_freeLastXML',
return_type=ValueType(name='void'),
parameters=(),
doc='Free last XML model if loaded. Called internally at each load.',
)),
('mj_printSchema',
FunctionDecl(
name='mj_printSchema',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='buffer',
type=PointerType(
inner_type=ValueType(name='char'),
),
),
FunctionParameterDecl(
name='buffer_sz',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='flg_html',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='flg_pad',
type=ValueType(name='int'),
),
),
doc='Print internal XML schema as plain text or HTML, with style-padding or  .', # pylint: disable=line-too-long
)),
('mj_step',
FunctionDecl(
name='mj_step',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Advance simulation, use control callback to obtain external force and control.', # pylint: disable=line-too-long
)),
('mj_step1',
FunctionDecl(
name='mj_step1',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Advance simulation in two steps: before external force and control is set by user.', # pylint: disable=line-too-long
)),
('mj_step2',
FunctionDecl(
name='mj_step2',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Advance simulation in two steps: after external force and control is set by user.', # pylint: disable=line-too-long
)),
('mj_forward',
FunctionDecl(
name='mj_forward',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Forward dynamics: same as mj_step but do not integrate in time.',
)),
('mj_inverse',
FunctionDecl(
name='mj_inverse',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Inverse dynamics: qacc must be set before calling.',
)),
('mj_forwardSkip',
FunctionDecl(
name='mj_forwardSkip',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='skipstage',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='skipsensor',
type=ValueType(name='int'),
),
),
doc='Forward dynamics with skip; skipstage is mjtStage.',
)),
('mj_inverseSkip',
FunctionDecl(
name='mj_inverseSkip',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='skipstage',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='skipsensor',
type=ValueType(name='int'),
),
),
doc='Inverse dynamics with skip; skipstage is mjtStage.',
)),
('mj_defaultLROpt',
FunctionDecl(
name='mj_defaultLROpt',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='opt',
type=PointerType(
inner_type=ValueType(name='mjLROpt'),
),
),
),
doc='Set default options for length range computation.',
)),
('mj_defaultSolRefImp',
FunctionDecl(
name='mj_defaultSolRefImp',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='solref',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='solimp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
doc='Set solver parameters to default values.',
)),
('mj_defaultOption',
FunctionDecl(
name='mj_defaultOption',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='opt',
type=PointerType(
inner_type=ValueType(name='mjOption'),
),
),
),
doc='Set physics options to default values.',
)),
('mj_defaultVisual',
FunctionDecl(
name='mj_defaultVisual',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='vis',
type=PointerType(
inner_type=ValueType(name='mjVisual'),
),
),
),
doc='Set visual options to default values.',
)),
('mj_copyModel',
FunctionDecl(
name='mj_copyModel',
return_type=PointerType(
inner_type=ValueType(name='mjModel'),
),
parameters=(
FunctionParameterDecl(
name='dest',
type=PointerType(
inner_type=ValueType(name='mjModel'),
),
),
FunctionParameterDecl(
name='src',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
),
doc='Copy mjModel, allocate new if dest is NULL.',
)),
('mj_saveModel',
FunctionDecl(
name='mj_saveModel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='buffer',
type=PointerType(
inner_type=ValueType(name='void'),
),
),
FunctionParameterDecl(
name='buffer_sz',
type=ValueType(name='int'),
),
),
doc='Save model to binary MJB file or memory buffer; buffer has precedence when given.', # pylint: disable=line-too-long
)),
('mj_loadModel',
FunctionDecl(
name='mj_loadModel',
return_type=PointerType(
inner_type=ValueType(name='mjModel'),
),
parameters=(
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='vfs',
type=PointerType(
inner_type=ValueType(name='mjVFS', is_const=True),
),
),
),
doc='Load model from binary MJB file. If vfs is not NULL, look up file in vfs before reading from disk.', # pylint: disable=line-too-long
)),
('mj_deleteModel',
FunctionDecl(
name='mj_deleteModel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel'),
),
),
),
doc='Free memory allocation in model.',
)),
('mj_sizeModel',
FunctionDecl(
name='mj_sizeModel',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
),
doc='Return size of buffer needed to hold model.',
)),
('mj_makeData',
FunctionDecl(
name='mj_makeData',
return_type=PointerType(
inner_type=ValueType(name='mjData'),
),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
),
doc='Allocate mjData corresponding to given model. If the model buffer is unallocated the initial configuration will not be set.', # pylint: disable=line-too-long
)),
('mj_copyData',
FunctionDecl(
name='mj_copyData',
return_type=PointerType(
inner_type=ValueType(name='mjData'),
),
parameters=(
FunctionParameterDecl(
name='dest',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='src',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
),
doc='Copy mjData. m is only required to contain the size fields from MJMODEL_INTS.', # pylint: disable=line-too-long
)),
('mj_resetData',
FunctionDecl(
name='mj_resetData',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Reset data to defaults.',
)),
('mj_resetDataDebug',
FunctionDecl(
name='mj_resetDataDebug',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='debug_value',
type=ValueType(name='unsigned char'),
),
),
doc='Reset data to defaults, fill everything else with debug_value.',
)),
('mj_resetDataKeyframe',
FunctionDecl(
name='mj_resetDataKeyframe',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='key',
type=ValueType(name='int'),
),
),
doc='Reset data, set fields from specified keyframe.',
)),
('mj_stackAlloc',
FunctionDecl(
name='mj_stackAlloc',
return_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
parameters=(
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='size',
type=ValueType(name='int'),
),
),
doc='Allocate array of mjtNums on mjData stack. Call mju_error on stack overflow.', # pylint: disable=line-too-long
)),
('mj_stackAllocInt',
FunctionDecl(
name='mj_stackAllocInt',
return_type=PointerType(
inner_type=ValueType(name='int'),
),
parameters=(
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='size',
type=ValueType(name='int'),
),
),
doc='Allocate array of ints on mjData stack. Call mju_error on stack overflow.', # pylint: disable=line-too-long
)),
('mj_deleteData',
FunctionDecl(
name='mj_deleteData',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Free memory allocation in mjData.',
)),
('mj_resetCallbacks',
FunctionDecl(
name='mj_resetCallbacks',
return_type=ValueType(name='void'),
parameters=(),
doc='Reset all callbacks to NULL pointers (NULL is the default).',
)),
('mj_setConst',
FunctionDecl(
name='mj_setConst',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel'),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Set constant fields of mjModel, corresponding to qpos0 configuration.', # pylint: disable=line-too-long
)),
('mj_setLengthRange',
FunctionDecl(
name='mj_setLengthRange',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel'),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='index',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='opt',
type=PointerType(
inner_type=ValueType(name='mjLROpt', is_const=True),
),
),
FunctionParameterDecl(
name='error',
type=PointerType(
inner_type=ValueType(name='char'),
),
),
FunctionParameterDecl(
name='error_sz',
type=ValueType(name='int'),
),
),
doc='Set actuator_lengthrange for specified actuator; return 1 if ok, 0 if error.', # pylint: disable=line-too-long
)),
('mj_printFormattedModel',
FunctionDecl(
name='mj_printFormattedModel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='float_format',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Print mjModel to text file, specifying format. float_format must be a valid printf-style format string for a single float value.', # pylint: disable=line-too-long
)),
('mj_printModel',
FunctionDecl(
name='mj_printModel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Print model to text file.',
)),
('mj_printFormattedData',
FunctionDecl(
name='mj_printFormattedData',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='float_format',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Print mjData to text file, specifying format. float_format must be a valid printf-style format string for a single float value', # pylint: disable=line-too-long
)),
('mj_printData',
FunctionDecl(
name='mj_printData',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Print data to text file.',
)),
('mju_printMat',
FunctionDecl(
name='mju_printMat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='nr',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nc',
type=ValueType(name='int'),
),
),
doc='Print matrix to screen.',
)),
('mju_printMatSparse',
FunctionDecl(
name='mju_printMatSparse',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='nr',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='rownnz',
type=PointerType(
inner_type=ValueType(name='int', is_const=True),
),
),
FunctionParameterDecl(
name='rowadr',
type=PointerType(
inner_type=ValueType(name='int', is_const=True),
),
),
FunctionParameterDecl(
name='colind',
type=PointerType(
inner_type=ValueType(name='int', is_const=True),
),
),
),
doc='Print sparse matrix to screen.',
)),
('mj_fwdPosition',
FunctionDecl(
name='mj_fwdPosition',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Run position-dependent computations.',
)),
('mj_fwdVelocity',
FunctionDecl(
name='mj_fwdVelocity',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Run velocity-dependent computations.',
)),
('mj_fwdActuation',
FunctionDecl(
name='mj_fwdActuation',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Compute actuator force qfrc_actuator.',
)),
('mj_fwdAcceleration',
FunctionDecl(
name='mj_fwdAcceleration',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Add up all non-constraint forces, compute qacc_smooth.',
)),
('mj_fwdConstraint',
FunctionDecl(
name='mj_fwdConstraint',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Run selected constraint solver.',
)),
('mj_Euler',
FunctionDecl(
name='mj_Euler',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Euler integrator, semi-implicit in velocity.',
)),
('mj_RungeKutta',
FunctionDecl(
name='mj_RungeKutta',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='N',
type=ValueType(name='int'),
),
),
doc='Runge-Kutta explicit order-N integrator.',
)),
('mj_invPosition',
FunctionDecl(
name='mj_invPosition',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Run position-dependent computations in inverse dynamics.',
)),
('mj_invVelocity',
FunctionDecl(
name='mj_invVelocity',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Run velocity-dependent computations in inverse dynamics.',
)),
('mj_invConstraint',
FunctionDecl(
name='mj_invConstraint',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Apply the analytical formula for inverse constraint dynamics.',
)),
('mj_compareFwdInv',
FunctionDecl(
name='mj_compareFwdInv',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Compare forward and inverse dynamics, save results in fwdinv.',
)),
('mj_sensorPos',
FunctionDecl(
name='mj_sensorPos',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Evaluate position-dependent sensors.',
)),
('mj_sensorVel',
FunctionDecl(
name='mj_sensorVel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Evaluate velocity-dependent sensors.',
)),
('mj_sensorAcc',
FunctionDecl(
name='mj_sensorAcc',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Evaluate acceleration and force-dependent sensors.',
)),
('mj_energyPos',
FunctionDecl(
name='mj_energyPos',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Evaluate position-dependent energy (potential).',
)),
('mj_energyVel',
FunctionDecl(
name='mj_energyVel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Evaluate velocity-dependent energy (kinetic).',
)),
('mj_checkPos',
FunctionDecl(
name='mj_checkPos',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Check qpos, reset if any element is too big or nan.',
)),
('mj_checkVel',
FunctionDecl(
name='mj_checkVel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Check qvel, reset if any element is too big or nan.',
)),
('mj_checkAcc',
FunctionDecl(
name='mj_checkAcc',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Check qacc, reset if any element is too big or nan.',
)),
('mj_kinematics',
FunctionDecl(
name='mj_kinematics',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Run forward kinematics.',
)),
('mj_comPos',
FunctionDecl(
name='mj_comPos',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Map inertias and motion dofs to global frame centered at CoM.',
)),
('mj_camlight',
FunctionDecl(
name='mj_camlight',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Compute camera and light positions and orientations.',
)),
('mj_tendon',
FunctionDecl(
name='mj_tendon',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Compute tendon lengths, velocities and moment arms.',
)),
('mj_transmission',
FunctionDecl(
name='mj_transmission',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Compute actuator transmission lengths and moments.',
)),
('mj_crb',
FunctionDecl(
name='mj_crb',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Run composite rigid body inertia algorithm (CRB).',
)),
('mj_factorM',
FunctionDecl(
name='mj_factorM',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc="Compute sparse L'*D*L factorizaton of inertia matrix.",
)),
('mj_solveM',
FunctionDecl(
name='mj_solveM',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='x',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='y',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc="Solve linear system M * x = y using factorization: x = inv(L'*D*L)*y", # pylint: disable=line-too-long
)),
('mj_solveM2',
FunctionDecl(
name='mj_solveM2',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='x',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='y',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc="Half of linear solve: x = sqrt(inv(D))*inv(L')*y",
)),
('mj_comVel',
FunctionDecl(
name='mj_comVel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Compute cvel, cdof_dot.',
)),
('mj_passive',
FunctionDecl(
name='mj_passive',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Compute qfrc_passive from spring-dampers, viscosity and density.',
)),
('mj_subtreeVel',
FunctionDecl(
name='mj_subtreeVel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='subtree linear velocity and angular momentum',
)),
('mj_rne',
FunctionDecl(
name='mj_rne',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='flg_acc',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='result',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
doc='RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term.', # pylint: disable=line-too-long
)),
('mj_rnePostConstraint',
FunctionDecl(
name='mj_rnePostConstraint',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='RNE with complete data: compute cacc, cfrc_ext, cfrc_int.',
)),
('mj_collision',
FunctionDecl(
name='mj_collision',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Run collision detection.',
)),
('mj_makeConstraint',
FunctionDecl(
name='mj_makeConstraint',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Construct constraints.',
)),
('mj_projectConstraint',
FunctionDecl(
name='mj_projectConstraint',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Compute inverse constraint inertia efc_AR.',
)),
('mj_referenceConstraint',
FunctionDecl(
name='mj_referenceConstraint',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Compute efc_vel, efc_aref.',
)),
('mj_constraintUpdate',
FunctionDecl(
name='mj_constraintUpdate',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='jar',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='cost',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(1,),
),
),
FunctionParameterDecl(
name='flg_coneHessian',
type=ValueType(name='int'),
),
),
doc='Compute efc_state, efc_force, qfrc_constraint, and (optionally) cone Hessians. If cost is not NULL, set *cost = s(jar) where jar = Jac*qacc-aref.', # pylint: disable=line-too-long
)),
('mj_addContact',
FunctionDecl(
name='mj_addContact',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjContact', is_const=True),
),
),
),
doc='Add contact to d->contact list; return 0 if success; 1 if buffer full.', # pylint: disable=line-too-long
)),
('mj_isPyramidal',
FunctionDecl(
name='mj_isPyramidal',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
),
doc='Determine type of friction cone.',
)),
('mj_isSparse',
FunctionDecl(
name='mj_isSparse',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
),
doc='Determine type of constraint Jacobian.',
)),
('mj_isDual',
FunctionDecl(
name='mj_isDual',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
),
doc='Determine type of solver (PGS is dual, CG and Newton are primal).', # pylint: disable=line-too-long
)),
('mj_mulJacVec',
FunctionDecl(
name='mj_mulJacVec',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
),
doc='Multiply dense or sparse constraint Jacobian by vector.',
)),
('mj_mulJacTVec',
FunctionDecl(
name='mj_mulJacTVec',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
),
doc='Multiply dense or sparse constraint Jacobian transpose by vector.', # pylint: disable=line-too-long
)),
('mj_jac',
FunctionDecl(
name='mj_jac',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='jacp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='jacr',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='point',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='body',
type=ValueType(name='int'),
),
),
doc='Compute 3/6-by-nv end-effector Jacobian of global point attached to given body.', # pylint: disable=line-too-long
)),
('mj_jacBody',
FunctionDecl(
name='mj_jacBody',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='jacp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='jacr',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='body',
type=ValueType(name='int'),
),
),
doc='Compute body frame end-effector Jacobian.',
)),
('mj_jacBodyCom',
FunctionDecl(
name='mj_jacBodyCom',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='jacp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='jacr',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='body',
type=ValueType(name='int'),
),
),
doc='Compute body center-of-mass end-effector Jacobian.',
)),
('mj_jacSubtreeCom',
FunctionDecl(
name='mj_jacSubtreeCom',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='jacp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='body',
type=ValueType(name='int'),
),
),
doc='Compute subtree center-of-mass end-effector Jacobian.',
)),
('mj_jacGeom',
FunctionDecl(
name='mj_jacGeom',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='jacp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='jacr',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='geom',
type=ValueType(name='int'),
),
),
doc='Compute geom end-effector Jacobian.',
)),
('mj_jacSite',
FunctionDecl(
name='mj_jacSite',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='jacp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='jacr',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='site',
type=ValueType(name='int'),
),
),
doc='Compute site end-effector Jacobian.',
)),
('mj_jacPointAxis',
FunctionDecl(
name='mj_jacPointAxis',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='jacPoint',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='jacAxis',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='point',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='axis',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='body',
type=ValueType(name='int'),
),
),
doc='Compute translation end-effector Jacobian of point, and rotation Jacobian of axis.', # pylint: disable=line-too-long
)),
('mj_name2id',
FunctionDecl(
name='mj_name2id',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='type',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='name',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Get id of object with the specified mjtObj type and name, returns -1 if id not found.', # pylint: disable=line-too-long
)),
('mj_id2name',
FunctionDecl(
name='mj_id2name',
return_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='type',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='id',
type=ValueType(name='int'),
),
),
doc='Get name of object with the specified mjtObj type and id, returns NULL if name not found.', # pylint: disable=line-too-long
)),
('mj_fullM',
FunctionDecl(
name='mj_fullM',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='dst',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='M',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
),
doc='Convert sparse inertia matrix M into full (i.e. dense) matrix.',
)),
('mj_mulM',
FunctionDecl(
name='mj_mulM',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
),
doc='Multiply vector by inertia matrix.',
)),
('mj_mulM2',
FunctionDecl(
name='mj_mulM2',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
),
doc='Multiply vector by (inertia matrix)^(1/2).',
)),
('mj_addM',
FunctionDecl(
name='mj_addM',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='dst',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
),
FunctionParameterDecl(
name='rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
),
FunctionParameterDecl(
name='colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
),
),
doc='Add inertia matrix to destination matrix. Destination can be sparse uncompressed, or dense when all int* are NULL', # pylint: disable=line-too-long
)),
('mj_applyFT',
FunctionDecl(
name='mj_applyFT',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='force',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='torque',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='point',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='body',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='qfrc_target',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
doc='Apply Cartesian force and torque (outside xfrc_applied mechanism).', # pylint: disable=line-too-long
)),
('mj_objectVelocity',
FunctionDecl(
name='mj_objectVelocity',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='objtype',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='objid',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(6,),
),
),
FunctionParameterDecl(
name='flg_local',
type=ValueType(name='int'),
),
),
doc='Compute object 6D velocity (rot:lin) in object-centered frame, world/local orientation.', # pylint: disable=line-too-long
)),
('mj_objectAcceleration',
FunctionDecl(
name='mj_objectAcceleration',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='objtype',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='objid',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(6,),
),
),
FunctionParameterDecl(
name='flg_local',
type=ValueType(name='int'),
),
),
doc='Compute object 6D acceleration (rot:lin) in object-centered frame, world/local orientation.', # pylint: disable=line-too-long
)),
('mj_contactForce',
FunctionDecl(
name='mj_contactForce',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='id',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='result',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(6,),
),
),
),
doc='Extract 6D force:torque given contact id, in the contact frame.',
)),
('mj_differentiatePos',
FunctionDecl(
name='mj_differentiatePos',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='qvel',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='dt',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='qpos1',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='qpos2',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
),
doc='Compute velocity by finite-differencing two positions.',
)),
('mj_integratePos',
FunctionDecl(
name='mj_integratePos',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='qpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='qvel',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='dt',
type=ValueType(name='mjtNum'),
),
),
doc='Integrate position with given velocity.',
)),
('mj_normalizeQuat',
FunctionDecl(
name='mj_normalizeQuat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='qpos',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
doc='Normalize all quaternions in qpos-type vector.',
)),
('mj_local2Global',
FunctionDecl(
name='mj_local2Global',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='xpos',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='xmat',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(9,),
),
),
FunctionParameterDecl(
name='pos',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='body',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='sameframe',
type=ValueType(name='mjtByte'),
),
),
doc='Map from body local to global Cartesian coordinates.',
)),
('mj_getTotalmass',
FunctionDecl(
name='mj_getTotalmass',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
),
doc='Sum all body masses.',
)),
('mj_setTotalmass',
FunctionDecl(
name='mj_setTotalmass',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel'),
),
),
FunctionParameterDecl(
name='newmass',
type=ValueType(name='mjtNum'),
),
),
doc='Scale body masses and inertias to achieve specified total mass.',
)),
('mj_getPluginConfig',
FunctionDecl(
name='mj_getPluginConfig',
return_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='plugin_id',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='attrib',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Return a config attribute value of a plugin instance; NULL: invalid plugin instance ID or attribute name', # pylint: disable=line-too-long
)),
('mj_loadPluginLibrary',
FunctionDecl(
name='mj_loadPluginLibrary',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='path',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Load a dynamic library. The dynamic library is assumed to register one or more plugins.', # pylint: disable=line-too-long
)),
('mj_loadAllPluginLibraries',
FunctionDecl(
name='mj_loadAllPluginLibraries',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='directory',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='callback',
type=ValueType(name='mjfPluginLibraryLoadCallback'),
),
),
doc='Scan a directory and load all dynamic libraries. Dynamic libraries in the specified directory are assumed to register one or more plugins. Optionally, if a callback is specified, it is called for each dynamic library encountered that registers plugins.', # pylint: disable=line-too-long
)),
('mj_version',
FunctionDecl(
name='mj_version',
return_type=ValueType(name='int'),
parameters=(),
doc='Return version number: 1.0.2 is encoded as 102.',
)),
('mj_versionString',
FunctionDecl(
name='mj_versionString',
return_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
parameters=(),
doc='Return the current version of MuJoCo as a null-terminated string.', # pylint: disable=line-too-long
)),
('mj_multiRay',
FunctionDecl(
name='mj_multiRay',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='pnt',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='geomgroup',
type=PointerType(
inner_type=ValueType(name='mjtByte', is_const=True),
),
),
FunctionParameterDecl(
name='flg_static',
type=ValueType(name='mjtByte'),
),
FunctionParameterDecl(
name='bodyexclude',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='geomid',
type=PointerType(
inner_type=ValueType(name='int'),
),
),
FunctionParameterDecl(
name='dist',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='nray',
type=ValueType(name='int'),
),
),
doc='Intersect multiple rays emanating from a single point. Similar semantics to mj_ray, but vec is an array of (nray x 3) directions.', # pylint: disable=line-too-long
)),
('mj_ray',
FunctionDecl(
name='mj_ray',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='pnt',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='geomgroup',
type=PointerType(
inner_type=ValueType(name='mjtByte', is_const=True),
),
),
FunctionParameterDecl(
name='flg_static',
type=ValueType(name='mjtByte'),
),
FunctionParameterDecl(
name='bodyexclude',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='geomid',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(1,),
),
),
),
doc='Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude. Return distance (x) to nearest surface, or -1 if no intersection and output geomid. geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion.', # pylint: disable=line-too-long
)),
('mj_rayHfield',
FunctionDecl(
name='mj_rayHfield',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='geomid',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='pnt',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Intersect ray with hfield, return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long
)),
('mj_rayMesh',
FunctionDecl(
name='mj_rayMesh',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='geomid',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='pnt',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Intersect ray with mesh, return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long
)),
('mju_rayGeom',
FunctionDecl(
name='mju_rayGeom',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='pos',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='mat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
),
FunctionParameterDecl(
name='size',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='pnt',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='geomtype',
type=ValueType(name='int'),
),
),
doc='Intersect ray with pure geom, return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long
)),
('mju_raySkin',
FunctionDecl(
name='mju_raySkin',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='nface',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nvert',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='face',
type=PointerType(
inner_type=ValueType(name='int', is_const=True),
),
),
FunctionParameterDecl(
name='vert',
type=PointerType(
inner_type=ValueType(name='float', is_const=True),
),
),
FunctionParameterDecl(
name='pnt',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vertid',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(1,),
),
),
),
doc='Intersect ray with skin, return nearest distance or -1 if no intersection, and also output nearest vertex id.', # pylint: disable=line-too-long
)),
('mjv_defaultCamera',
FunctionDecl(
name='mjv_defaultCamera',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='cam',
type=PointerType(
inner_type=ValueType(name='mjvCamera'),
),
),
),
doc='Set default camera.',
)),
('mjv_defaultFreeCamera',
FunctionDecl(
name='mjv_defaultFreeCamera',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='cam',
type=PointerType(
inner_type=ValueType(name='mjvCamera'),
),
),
),
doc='Set default free camera.',
)),
('mjv_defaultPerturb',
FunctionDecl(
name='mjv_defaultPerturb',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='pert',
type=PointerType(
inner_type=ValueType(name='mjvPerturb'),
),
),
),
doc='Set default perturbation.',
)),
('mjv_room2model',
FunctionDecl(
name='mjv_room2model',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='modelpos',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='modelquat',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='roompos',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='roomquat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
),
doc='Transform pose from room to model space.',
)),
('mjv_model2room',
FunctionDecl(
name='mjv_model2room',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='roompos',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='roomquat',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='modelpos',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='modelquat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
),
doc='Transform pose from model to room space.',
)),
('mjv_cameraInModel',
FunctionDecl(
name='mjv_cameraInModel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='headpos',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='forward',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='up',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
),
doc='Get camera info in model space; average left and right OpenGL cameras.', # pylint: disable=line-too-long
)),
('mjv_cameraInRoom',
FunctionDecl(
name='mjv_cameraInRoom',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='headpos',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='forward',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='up',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
),
doc='Get camera info in room space; average left and right OpenGL cameras.', # pylint: disable=line-too-long
)),
('mjv_frustumHeight',
FunctionDecl(
name='mjv_frustumHeight',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
),
doc='Get frustum height at unit distance from camera; average left and right OpenGL cameras.', # pylint: disable=line-too-long
)),
('mjv_alignToCamera',
FunctionDecl(
name='mjv_alignToCamera',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='forward',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y).', # pylint: disable=line-too-long
)),
('mjv_moveCamera',
FunctionDecl(
name='mjv_moveCamera',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='action',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='reldx',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='reldy',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
FunctionParameterDecl(
name='cam',
type=PointerType(
inner_type=ValueType(name='mjvCamera'),
),
),
),
doc='Move camera with mouse; action is mjtMouse.',
)),
('mjv_moveCameraFromState',
FunctionDecl(
name='mjv_moveCameraFromState',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='scnstate',
type=PointerType(
inner_type=ValueType(name='mjvSceneState', is_const=True),
),
),
FunctionParameterDecl(
name='action',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='reldx',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='reldy',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
FunctionParameterDecl(
name='cam',
type=PointerType(
inner_type=ValueType(name='mjvCamera'),
),
),
),
doc='Move camera with mouse given a scene state; action is mjtMouse.',
)),
('mjv_movePerturb',
FunctionDecl(
name='mjv_movePerturb',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='action',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='reldx',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='reldy',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
FunctionParameterDecl(
name='pert',
type=PointerType(
inner_type=ValueType(name='mjvPerturb'),
),
),
),
doc='Move perturb object with mouse; action is mjtMouse.',
)),
('mjv_movePerturbFromState',
FunctionDecl(
name='mjv_movePerturbFromState',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='scnstate',
type=PointerType(
inner_type=ValueType(name='mjvSceneState', is_const=True),
),
),
FunctionParameterDecl(
name='action',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='reldx',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='reldy',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
FunctionParameterDecl(
name='pert',
type=PointerType(
inner_type=ValueType(name='mjvPerturb'),
),
),
),
doc='Move perturb object with mouse given a scene state; action is mjtMouse.', # pylint: disable=line-too-long
)),
('mjv_moveModel',
FunctionDecl(
name='mjv_moveModel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='action',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='reldx',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='reldy',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='roomup',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
),
doc='Move model with mouse; action is mjtMouse.',
)),
('mjv_initPerturb',
FunctionDecl(
name='mjv_initPerturb',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
FunctionParameterDecl(
name='pert',
type=PointerType(
inner_type=ValueType(name='mjvPerturb'),
),
),
),
doc='Copy perturb pos,quat from selected body; set scale for perturbation.', # pylint: disable=line-too-long
)),
('mjv_applyPerturbPose',
FunctionDecl(
name='mjv_applyPerturbPose',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='pert',
type=PointerType(
inner_type=ValueType(name='mjvPerturb', is_const=True),
),
),
FunctionParameterDecl(
name='flg_paused',
type=ValueType(name='int'),
),
),
doc='Set perturb pos,quat in d->mocap when selected body is mocap, and in d->qpos otherwise. Write d->qpos only if flg_paused and subtree root for selected body has free joint.', # pylint: disable=line-too-long
)),
('mjv_applyPerturbForce',
FunctionDecl(
name='mjv_applyPerturbForce',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='pert',
type=PointerType(
inner_type=ValueType(name='mjvPerturb', is_const=True),
),
),
),
doc='Set perturb force,torque in d->xfrc_applied, if selected body is dynamic.', # pylint: disable=line-too-long
)),
('mjv_averageCamera',
FunctionDecl(
name='mjv_averageCamera',
return_type=ValueType(name='mjvGLCamera'),
parameters=(
FunctionParameterDecl(
name='cam1',
type=PointerType(
inner_type=ValueType(name='mjvGLCamera', is_const=True),
),
),
FunctionParameterDecl(
name='cam2',
type=PointerType(
inner_type=ValueType(name='mjvGLCamera', is_const=True),
),
),
),
doc='Return the average of two OpenGL cameras.',
)),
('mjv_select',
FunctionDecl(
name='mjv_select',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='vopt',
type=PointerType(
inner_type=ValueType(name='mjvOption', is_const=True),
),
),
FunctionParameterDecl(
name='aspectratio',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='relx',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='rely',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene', is_const=True),
),
),
FunctionParameterDecl(
name='selpnt',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='geomid',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(1,),
),
),
FunctionParameterDecl(
name='skinid',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(1,),
),
),
),
doc='Select geom or skin with mouse, return bodyid; -1: none selected.', # pylint: disable=line-too-long
)),
('mjv_defaultOption',
FunctionDecl(
name='mjv_defaultOption',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='opt',
type=PointerType(
inner_type=ValueType(name='mjvOption'),
),
),
),
doc='Set default visualization options.',
)),
('mjv_defaultFigure',
FunctionDecl(
name='mjv_defaultFigure',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='fig',
type=PointerType(
inner_type=ValueType(name='mjvFigure'),
),
),
),
doc='Set default figure.',
)),
('mjv_initGeom',
FunctionDecl(
name='mjv_initGeom',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='geom',
type=PointerType(
inner_type=ValueType(name='mjvGeom'),
),
),
FunctionParameterDecl(
name='type',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='size',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='pos',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='mat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
),
FunctionParameterDecl(
name='rgba',
type=ArrayType(
inner_type=ValueType(name='float', is_const=True),
extents=(4,),
),
),
),
doc='Initialize given geom fields when not NULL, set the rest to their default values.', # pylint: disable=line-too-long
)),
('mjv_makeConnector',
FunctionDecl(
name='mjv_makeConnector',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='geom',
type=PointerType(
inner_type=ValueType(name='mjvGeom'),
),
),
FunctionParameterDecl(
name='type',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='width',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='a0',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='a1',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='a2',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='b0',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='b1',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='b2',
type=ValueType(name='mjtNum'),
),
),
doc='Set (type, size, pos, mat) for connector-type geom between given points. Assume that mjv_initGeom was already called to set all other properties. Width of mjGEOM_LINE is denominated in pixels.', # pylint: disable=line-too-long
)),
('mjv_defaultScene',
FunctionDecl(
name='mjv_defaultScene',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
),
doc='Set default abstract scene.',
)),
('mjv_makeScene',
FunctionDecl(
name='mjv_makeScene',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
FunctionParameterDecl(
name='maxgeom',
type=ValueType(name='int'),
),
),
doc='Allocate resources in abstract scene.',
)),
('mjv_freeScene',
FunctionDecl(
name='mjv_freeScene',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
),
doc='Free abstract scene.',
)),
('mjv_updateScene',
FunctionDecl(
name='mjv_updateScene',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='opt',
type=PointerType(
inner_type=ValueType(name='mjvOption', is_const=True),
),
),
FunctionParameterDecl(
name='pert',
type=PointerType(
inner_type=ValueType(name='mjvPerturb', is_const=True),
),
),
FunctionParameterDecl(
name='cam',
type=PointerType(
inner_type=ValueType(name='mjvCamera'),
),
),
FunctionParameterDecl(
name='catmask',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
),
doc='Update entire scene given model state.',
)),
('mjv_updateSceneFromState',
FunctionDecl(
name='mjv_updateSceneFromState',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='scnstate',
type=PointerType(
inner_type=ValueType(name='mjvSceneState', is_const=True),
),
),
FunctionParameterDecl(
name='opt',
type=PointerType(
inner_type=ValueType(name='mjvOption', is_const=True),
),
),
FunctionParameterDecl(
name='pert',
type=PointerType(
inner_type=ValueType(name='mjvPerturb', is_const=True),
),
),
FunctionParameterDecl(
name='cam',
type=PointerType(
inner_type=ValueType(name='mjvCamera'),
),
),
FunctionParameterDecl(
name='catmask',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
),
doc='Update entire scene from a scene state, return the number of new mjWARN_VGEOMFULL warnings.', # pylint: disable=line-too-long
)),
('mjv_defaultSceneState',
FunctionDecl(
name='mjv_defaultSceneState',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='scnstate',
type=PointerType(
inner_type=ValueType(name='mjvSceneState'),
),
),
),
doc='Set default scene state.',
)),
('mjv_makeSceneState',
FunctionDecl(
name='mjv_makeSceneState',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='scnstate',
type=PointerType(
inner_type=ValueType(name='mjvSceneState'),
),
),
FunctionParameterDecl(
name='maxgeom',
type=ValueType(name='int'),
),
),
doc='Allocate resources and initialize a scene state object.',
)),
('mjv_freeSceneState',
FunctionDecl(
name='mjv_freeSceneState',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='scnstate',
type=PointerType(
inner_type=ValueType(name='mjvSceneState'),
),
),
),
doc='Free scene state.',
)),
('mjv_updateSceneState',
FunctionDecl(
name='mjv_updateSceneState',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='opt',
type=PointerType(
inner_type=ValueType(name='mjvOption', is_const=True),
),
),
FunctionParameterDecl(
name='scnstate',
type=PointerType(
inner_type=ValueType(name='mjvSceneState'),
),
),
),
doc='Update a scene state from model and data.',
)),
('mjv_addGeoms',
FunctionDecl(
name='mjv_addGeoms',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='opt',
type=PointerType(
inner_type=ValueType(name='mjvOption', is_const=True),
),
),
FunctionParameterDecl(
name='pert',
type=PointerType(
inner_type=ValueType(name='mjvPerturb', is_const=True),
),
),
FunctionParameterDecl(
name='catmask',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
),
doc='Add geoms from selected categories.',
)),
('mjv_makeLights',
FunctionDecl(
name='mjv_makeLights',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
),
doc='Make list of lights.',
)),
('mjv_updateCamera',
FunctionDecl(
name='mjv_updateCamera',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='cam',
type=PointerType(
inner_type=ValueType(name='mjvCamera'),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
),
doc='Update camera.',
)),
('mjv_updateSkin',
FunctionDecl(
name='mjv_updateSkin',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
),
doc='Update skins.',
)),
('mjr_defaultContext',
FunctionDecl(
name='mjr_defaultContext',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext'),
),
),
),
doc='Set default mjrContext.',
)),
('mjr_makeContext',
FunctionDecl(
name='mjr_makeContext',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext'),
),
),
FunctionParameterDecl(
name='fontscale',
type=ValueType(name='int'),
),
),
doc='Allocate resources in custom OpenGL context; fontscale is mjtFontScale.', # pylint: disable=line-too-long
)),
('mjr_changeFont',
FunctionDecl(
name='mjr_changeFont',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='fontscale',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext'),
),
),
),
doc='Change font of existing context.',
)),
('mjr_addAux',
FunctionDecl(
name='mjr_addAux',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='index',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='width',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='height',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='samples',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext'),
),
),
),
doc='Add Aux buffer with given index to context; free previous Aux buffer.', # pylint: disable=line-too-long
)),
('mjr_freeContext',
FunctionDecl(
name='mjr_freeContext',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext'),
),
),
),
doc='Free resources in custom OpenGL context, set to default.',
)),
('mjr_resizeOffscreen',
FunctionDecl(
name='mjr_resizeOffscreen',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='width',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='height',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext'),
),
),
),
doc='Resize offscreen buffers.',
)),
('mjr_uploadTexture',
FunctionDecl(
name='mjr_uploadTexture',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
FunctionParameterDecl(
name='texid',
type=ValueType(name='int'),
),
),
doc='Upload texture to GPU, overwriting previous upload if any.',
)),
('mjr_uploadMesh',
FunctionDecl(
name='mjr_uploadMesh',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
FunctionParameterDecl(
name='meshid',
type=ValueType(name='int'),
),
),
doc='Upload mesh to GPU, overwriting previous upload if any.',
)),
('mjr_uploadHField',
FunctionDecl(
name='mjr_uploadHField',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
FunctionParameterDecl(
name='hfieldid',
type=ValueType(name='int'),
),
),
doc='Upload height field to GPU, overwriting previous upload if any.',
)),
('mjr_restoreBuffer',
FunctionDecl(
name='mjr_restoreBuffer',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Make con->currentBuffer current again.',
)),
('mjr_setBuffer',
FunctionDecl(
name='mjr_setBuffer',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='framebuffer',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext'),
),
),
),
doc='Set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN. If only one buffer is available, set that buffer and ignore framebuffer argument.', # pylint: disable=line-too-long
)),
('mjr_readPixels',
FunctionDecl(
name='mjr_readPixels',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='rgb',
type=PointerType(
inner_type=ValueType(name='unsigned char'),
),
),
FunctionParameterDecl(
name='depth',
type=PointerType(
inner_type=ValueType(name='float'),
),
),
FunctionParameterDecl(
name='viewport',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Read pixels from current OpenGL framebuffer to client buffer. Viewport is in OpenGL framebuffer; client buffer starts at (0,0).', # pylint: disable=line-too-long
)),
('mjr_drawPixels',
FunctionDecl(
name='mjr_drawPixels',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='rgb',
type=PointerType(
inner_type=ValueType(name='unsigned char', is_const=True),
),
),
FunctionParameterDecl(
name='depth',
type=PointerType(
inner_type=ValueType(name='float', is_const=True),
),
),
FunctionParameterDecl(
name='viewport',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Draw pixels from client buffer to current OpenGL framebuffer. Viewport is in OpenGL framebuffer; client buffer starts at (0,0).', # pylint: disable=line-too-long
)),
('mjr_blitBuffer',
FunctionDecl(
name='mjr_blitBuffer',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='src',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='dst',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='flg_color',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='flg_depth',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Blit from src viewpoint in current framebuffer to dst viewport in other framebuffer. If src, dst have different size and flg_depth==0, color is interpolated with GL_LINEAR.', # pylint: disable=line-too-long
)),
('mjr_setAux',
FunctionDecl(
name='mjr_setAux',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='index',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Set Aux buffer for custom OpenGL rendering (call restoreBuffer when done).', # pylint: disable=line-too-long
)),
('mjr_blitAux',
FunctionDecl(
name='mjr_blitAux',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='index',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='src',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='left',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='bottom',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Blit from Aux buffer to con->currentBuffer.',
)),
('mjr_text',
FunctionDecl(
name='mjr_text',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='font',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='txt',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
FunctionParameterDecl(
name='x',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='y',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='r',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='g',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='b',
type=ValueType(name='float'),
),
),
doc='Draw text at (x,y) in relative coordinates; font is mjtFont.',
)),
('mjr_overlay',
FunctionDecl(
name='mjr_overlay',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='font',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='gridpos',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='viewport',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='overlay',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='overlay2',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Draw text overlay; font is mjtFont; gridpos is mjtGridPos.',
)),
('mjr_maxViewport',
FunctionDecl(
name='mjr_maxViewport',
return_type=ValueType(name='mjrRect'),
parameters=(
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Get maximum viewport for active buffer.',
)),
('mjr_rectangle',
FunctionDecl(
name='mjr_rectangle',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='viewport',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='r',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='g',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='b',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='a',
type=ValueType(name='float'),
),
),
doc='Draw rectangle.',
)),
('mjr_label',
FunctionDecl(
name='mjr_label',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='viewport',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='font',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='txt',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='r',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='g',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='b',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='a',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='rt',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='gt',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='bt',
type=ValueType(name='float'),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Draw rectangle with centered text.',
)),
('mjr_figure',
FunctionDecl(
name='mjr_figure',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='viewport',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='fig',
type=PointerType(
inner_type=ValueType(name='mjvFigure'),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Draw 2D figure.',
)),
('mjr_render',
FunctionDecl(
name='mjr_render',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='viewport',
type=ValueType(name='mjrRect'),
),
FunctionParameterDecl(
name='scn',
type=PointerType(
inner_type=ValueType(name='mjvScene'),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Render 3D scene.',
)),
('mjr_finish',
FunctionDecl(
name='mjr_finish',
return_type=ValueType(name='void'),
parameters=(),
doc='Call glFinish.',
)),
('mjr_getError',
FunctionDecl(
name='mjr_getError',
return_type=ValueType(name='int'),
parameters=(),
doc='Call glGetError and return result.',
)),
('mjr_findRect',
FunctionDecl(
name='mjr_findRect',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='x',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='y',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nrect',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='rect',
type=PointerType(
inner_type=ValueType(name='mjrRect', is_const=True),
),
),
),
doc='Find first rectangle containing mouse, -1: not found.',
)),
('mjui_themeSpacing',
FunctionDecl(
name='mjui_themeSpacing',
return_type=ValueType(name='mjuiThemeSpacing'),
parameters=(
FunctionParameterDecl(
name='ind',
type=ValueType(name='int'),
),
),
doc='Get builtin UI theme spacing (ind: 0-1).',
)),
('mjui_themeColor',
FunctionDecl(
name='mjui_themeColor',
return_type=ValueType(name='mjuiThemeColor'),
parameters=(
FunctionParameterDecl(
name='ind',
type=ValueType(name='int'),
),
),
doc='Get builtin UI theme color (ind: 0-3).',
)),
('mjui_add',
FunctionDecl(
name='mjui_add',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='ui',
type=PointerType(
inner_type=ValueType(name='mjUI'),
),
),
FunctionParameterDecl(
name='def',
type=PointerType(
inner_type=ValueType(name='mjuiDef', is_const=True),
),
),
),
doc='Add definitions to UI.',
)),
('mjui_addToSection',
FunctionDecl(
name='mjui_addToSection',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='ui',
type=PointerType(
inner_type=ValueType(name='mjUI'),
),
),
FunctionParameterDecl(
name='sect',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='def',
type=PointerType(
inner_type=ValueType(name='mjuiDef', is_const=True),
),
),
),
doc='Add definitions to UI section.',
)),
('mjui_resize',
FunctionDecl(
name='mjui_resize',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='ui',
type=PointerType(
inner_type=ValueType(name='mjUI'),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Compute UI sizes.',
)),
('mjui_update',
FunctionDecl(
name='mjui_update',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='section',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='item',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='ui',
type=PointerType(
inner_type=ValueType(name='mjUI', is_const=True),
),
),
FunctionParameterDecl(
name='state',
type=PointerType(
inner_type=ValueType(name='mjuiState', is_const=True),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Update specific section/item; -1: update all.',
)),
('mjui_event',
FunctionDecl(
name='mjui_event',
return_type=PointerType(
inner_type=ValueType(name='mjuiItem'),
),
parameters=(
FunctionParameterDecl(
name='ui',
type=PointerType(
inner_type=ValueType(name='mjUI'),
),
),
FunctionParameterDecl(
name='state',
type=PointerType(
inner_type=ValueType(name='mjuiState'),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Handle UI event, return pointer to changed item, NULL if no change.', # pylint: disable=line-too-long
)),
('mjui_render',
FunctionDecl(
name='mjui_render',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='ui',
type=PointerType(
inner_type=ValueType(name='mjUI'),
),
),
FunctionParameterDecl(
name='state',
type=PointerType(
inner_type=ValueType(name='mjuiState', is_const=True),
),
),
FunctionParameterDecl(
name='con',
type=PointerType(
inner_type=ValueType(name='mjrContext', is_const=True),
),
),
),
doc='Copy UI image to current buffer.',
)),
('mju_error',
FunctionDecl(
name='mju_error',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Main error function; does not return to caller.',
)),
('mju_error_i',
FunctionDecl(
name='mju_error_i',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='i',
type=ValueType(name='int'),
),
),
doc='Deprecated: use mju_error.',
)),
('mju_error_s',
FunctionDecl(
name='mju_error_s',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='text',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Deprecated: use mju_error.',
)),
('mju_warning',
FunctionDecl(
name='mju_warning',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Main warning function; returns to caller.',
)),
('mju_warning_i',
FunctionDecl(
name='mju_warning_i',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='i',
type=ValueType(name='int'),
),
),
doc='Deprecated: use mju_warning.',
)),
('mju_warning_s',
FunctionDecl(
name='mju_warning_s',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='text',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Deprecated: use mju_warning.',
)),
('mju_clearHandlers',
FunctionDecl(
name='mju_clearHandlers',
return_type=ValueType(name='void'),
parameters=(),
doc='Clear user error and memory handlers.',
)),
('mju_malloc',
FunctionDecl(
name='mju_malloc',
return_type=PointerType(
inner_type=ValueType(name='void'),
),
parameters=(
FunctionParameterDecl(
name='size',
type=ValueType(name='size_t'),
),
),
doc='Allocate memory; byte-align on 64; pad size to multiple of 64.',
)),
('mju_free',
FunctionDecl(
name='mju_free',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='ptr',
type=PointerType(
inner_type=ValueType(name='void'),
),
),
),
doc='Free memory, using free() by default.',
)),
('mj_warning',
FunctionDecl(
name='mj_warning',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='warning',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='info',
type=ValueType(name='int'),
),
),
doc='High-level warning function: count warnings in mjData, print only the first.', # pylint: disable=line-too-long
)),
('mju_writeLog',
FunctionDecl(
name='mju_writeLog',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='type',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='msg',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Write [datetime, type: message] to MUJOCO_LOG.TXT.',
)),
('mj_activate',
FunctionDecl(
name='mj_activate',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='filename',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Return 1 (for backward compatibility).',
)),
('mj_deactivate',
FunctionDecl(
name='mj_deactivate',
return_type=ValueType(name='void'),
parameters=(),
doc='Do nothing (for backward compatibility).',
)),
('mju_zero3',
FunctionDecl(
name='mju_zero3',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
),
doc='Set res = 0.',
)),
('mju_copy3',
FunctionDecl(
name='mju_copy3',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='data',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Set res = vec.',
)),
('mju_scl3',
FunctionDecl(
name='mju_scl3',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='scl',
type=ValueType(name='mjtNum'),
),
),
doc='Set res = vec*scl.',
)),
('mju_add3',
FunctionDecl(
name='mju_add3',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec1',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec2',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Set res = vec1 + vec2.',
)),
('mju_sub3',
FunctionDecl(
name='mju_sub3',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec1',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec2',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Set res = vec1 - vec2.',
)),
('mju_addTo3',
FunctionDecl(
name='mju_addTo3',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Set res = res + vec.',
)),
('mju_subFrom3',
FunctionDecl(
name='mju_subFrom3',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Set res = res - vec.',
)),
('mju_addToScl3',
FunctionDecl(
name='mju_addToScl3',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='scl',
type=ValueType(name='mjtNum'),
),
),
doc='Set res = res + vec*scl.',
)),
('mju_addScl3',
FunctionDecl(
name='mju_addScl3',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec1',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec2',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='scl',
type=ValueType(name='mjtNum'),
),
),
doc='Set res = vec1 + vec2*scl.',
)),
('mju_normalize3',
FunctionDecl(
name='mju_normalize3',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
),
doc='Normalize vector, return length before normalization.',
)),
('mju_norm3',
FunctionDecl(
name='mju_norm3',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Return vector length (without normalizing the vector).',
)),
('mju_dot3',
FunctionDecl(
name='mju_dot3',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='vec1',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec2',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Return dot-product of vec1 and vec2.',
)),
('mju_dist3',
FunctionDecl(
name='mju_dist3',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='pos1',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='pos2',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Return Cartesian distance between 3D vectors pos1 and pos2.',
)),
('mju_rotVecMat',
FunctionDecl(
name='mju_rotVecMat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='mat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
),
),
doc='Multiply vector by 3D rotation matrix: res = mat * vec.',
)),
('mju_rotVecMatT',
FunctionDecl(
name='mju_rotVecMatT',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='mat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
),
),
doc="Multiply vector by transposed 3D rotation matrix: res = mat' * vec.", # pylint: disable=line-too-long
)),
('mju_cross',
FunctionDecl(
name='mju_cross',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='a',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='b',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Compute cross-product: res = cross(a, b).',
)),
('mju_zero4',
FunctionDecl(
name='mju_zero4',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
),
doc='Set res = 0.',
)),
('mju_unit4',
FunctionDecl(
name='mju_unit4',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
),
doc='Set res = (1,0,0,0).',
)),
('mju_copy4',
FunctionDecl(
name='mju_copy4',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='data',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
),
doc='Set res = vec.',
)),
('mju_normalize4',
FunctionDecl(
name='mju_normalize4',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
),
doc='Normalize vector, return length before normalization.',
)),
('mju_zero',
FunctionDecl(
name='mju_zero',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set res = 0.',
)),
('mju_fill',
FunctionDecl(
name='mju_fill',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='val',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set res = val.',
)),
('mju_copy',
FunctionDecl(
name='mju_copy',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='data',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set res = vec.',
)),
('mju_sum',
FunctionDecl(
name='mju_sum',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Return sum(vec).',
)),
('mju_L1',
FunctionDecl(
name='mju_L1',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Return L1 norm: sum(abs(vec)).',
)),
('mju_scl',
FunctionDecl(
name='mju_scl',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='scl',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set res = vec*scl.',
)),
('mju_add',
FunctionDecl(
name='mju_add',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec1',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec2',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set res = vec1 + vec2.',
)),
('mju_sub',
FunctionDecl(
name='mju_sub',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec1',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec2',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set res = vec1 - vec2.',
)),
('mju_addTo',
FunctionDecl(
name='mju_addTo',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set res = res + vec.',
)),
('mju_subFrom',
FunctionDecl(
name='mju_subFrom',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set res = res - vec.',
)),
('mju_addToScl',
FunctionDecl(
name='mju_addToScl',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='scl',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set res = res + vec*scl.',
)),
('mju_addScl',
FunctionDecl(
name='mju_addScl',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec1',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec2',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='scl',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set res = vec1 + vec2*scl.',
)),
('mju_normalize',
FunctionDecl(
name='mju_normalize',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Normalize vector, return length before normalization.',
)),
('mju_norm',
FunctionDecl(
name='mju_norm',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Return vector length (without normalizing vector).',
)),
('mju_dot',
FunctionDecl(
name='mju_dot',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='vec1',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec2',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Return dot-product of vec1 and vec2.',
)),
('mju_mulMatVec',
FunctionDecl(
name='mju_mulMatVec',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='nr',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nc',
type=ValueType(name='int'),
),
),
doc='Multiply matrix and vector: res = mat * vec.',
)),
('mju_mulMatTVec',
FunctionDecl(
name='mju_mulMatTVec',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='nr',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nc',
type=ValueType(name='int'),
),
),
doc="Multiply transposed matrix and vector: res = mat' * vec.",
)),
('mju_mulVecMatVec',
FunctionDecl(
name='mju_mulVecMatVec',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='vec1',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec2',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc="Multiply square matrix with vectors on both sides: returns vec1' * mat * vec2.", # pylint: disable=line-too-long
)),
('mju_transpose',
FunctionDecl(
name='mju_transpose',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='nr',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nc',
type=ValueType(name='int'),
),
),
doc="Transpose matrix: res = mat'.",
)),
('mju_symmetrize',
FunctionDecl(
name='mju_symmetrize',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc="Symmetrize square matrix res = (mat + mat')/2.",
)),
('mju_eye',
FunctionDecl(
name='mju_eye',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Set mat to the identity matrix.',
)),
('mju_mulMatMat',
FunctionDecl(
name='mju_mulMatMat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat1',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='mat2',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='r1',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='c1',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='c2',
type=ValueType(name='int'),
),
),
doc='Multiply matrices: res = mat1 * mat2.',
)),
('mju_mulMatMatT',
FunctionDecl(
name='mju_mulMatMatT',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat1',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='mat2',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='r1',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='c1',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='r2',
type=ValueType(name='int'),
),
),
doc="Multiply matrices, second argument transposed: res = mat1 * mat2'.", # pylint: disable=line-too-long
)),
('mju_mulMatTMat',
FunctionDecl(
name='mju_mulMatTMat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat1',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='mat2',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='r1',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='c1',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='c2',
type=ValueType(name='int'),
),
),
doc="Multiply matrices, first argument transposed: res = mat1' * mat2.", # pylint: disable=line-too-long
)),
('mju_sqrMatTD',
FunctionDecl(
name='mju_sqrMatTD',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='diag',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='nr',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nc',
type=ValueType(name='int'),
),
),
doc="Set res = mat' * diag * mat if diag is not NULL, and res = mat' * mat otherwise.", # pylint: disable=line-too-long
)),
('mju_transformSpatial',
FunctionDecl(
name='mju_transformSpatial',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(6,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(6,),
),
),
FunctionParameterDecl(
name='flg_force',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='newpos',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='oldpos',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='rotnew2old',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
),
),
doc='Coordinate transform of 6D motion or force vector in rotation:translation format. rotnew2old is 3-by-3, NULL means no rotation; flg_force specifies force or motion type.', # pylint: disable=line-too-long
)),
('mju_rotVecQuat',
FunctionDecl(
name='mju_rotVecQuat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
),
doc='Rotate vector by quaternion.',
)),
('mju_negQuat',
FunctionDecl(
name='mju_negQuat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
),
doc='Conjugate quaternion, corresponding to opposite rotation.',
)),
('mju_mulQuat',
FunctionDecl(
name='mju_mulQuat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='quat1',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='quat2',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
),
doc='Multiply quaternions.',
)),
('mju_mulQuatAxis',
FunctionDecl(
name='mju_mulQuatAxis',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='axis',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Multiply quaternion and axis.',
)),
('mju_axisAngle2Quat',
FunctionDecl(
name='mju_axisAngle2Quat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='axis',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='angle',
type=ValueType(name='mjtNum'),
),
),
doc='Convert axisAngle to quaternion.',
)),
('mju_quat2Vel',
FunctionDecl(
name='mju_quat2Vel',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='dt',
type=ValueType(name='mjtNum'),
),
),
doc='Convert quaternion (corresponding to orientation difference) to 3D velocity.', # pylint: disable=line-too-long
)),
('mju_subQuat',
FunctionDecl(
name='mju_subQuat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='qa',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='qb',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
),
doc='Subtract quaternions, express as 3D velocity: qb*quat(res) = qa.',
)),
('mju_quat2Mat',
FunctionDecl(
name='mju_quat2Mat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(9,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
),
doc='Convert quaternion to 3D rotation matrix.',
)),
('mju_mat2Quat',
FunctionDecl(
name='mju_mat2Quat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='mat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
),
),
doc='Convert 3D rotation matrix to quaternion.',
)),
('mju_derivQuat',
FunctionDecl(
name='mju_derivQuat',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='vel',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Compute time-derivative of quaternion, given 3D rotational velocity.', # pylint: disable=line-too-long
)),
('mju_quatIntegrate',
FunctionDecl(
name='mju_quatIntegrate',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='vel',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='scale',
type=ValueType(name='mjtNum'),
),
),
doc='Integrate quaternion given 3D angular velocity.',
)),
('mju_quatZ2Vec',
FunctionDecl(
name='mju_quatZ2Vec',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Construct quaternion performing rotation from z-axis to given vector.', # pylint: disable=line-too-long
)),
('mju_mulPose',
FunctionDecl(
name='mju_mulPose',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='posres',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='quatres',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='pos1',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='quat1',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='pos2',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='quat2',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
),
doc='Multiply two poses.',
)),
('mju_negPose',
FunctionDecl(
name='mju_negPose',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='posres',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='quatres',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='pos',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
),
doc='Conjugate pose, corresponding to the opposite spatial transformation.', # pylint: disable=line-too-long
)),
('mju_trnVecPose',
FunctionDecl(
name='mju_trnVecPose',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='pos',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(4,),
),
),
FunctionParameterDecl(
name='vec',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
),
doc='Transform vector by pose.',
)),
('mju_cholFactor',
FunctionDecl(
name='mju_cholFactor',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='mindiag',
type=ValueType(name='mjtNum'),
),
),
doc="Cholesky decomposition: mat = L*L'; return rank, decomposition performed in-place into mat.", # pylint: disable=line-too-long
)),
('mju_cholSolve',
FunctionDecl(
name='mju_cholSolve',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc="Solve (mat*mat') * res = vec, where mat is a Cholesky factor.",
)),
('mju_cholUpdate',
FunctionDecl(
name='mju_cholUpdate',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='x',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='flg_plus',
type=ValueType(name='int'),
),
),
doc="Cholesky rank-one update: L*L' +/- x*x'; return rank.",
)),
('mju_cholFactorBand',
FunctionDecl(
name='mju_cholFactorBand',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='ntotal',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nband',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='ndense',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='diagadd',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='diagmul',
type=ValueType(name='mjtNum'),
),
),
doc='Band-dense Cholesky decomposition. Returns minimum value in the factorized diagonal, or 0 if rank-deficient. mat has (ntotal-ndense) x nband + ndense x ntotal elements. The first (ntotal-ndense) x nband store the band part, left of diagonal, inclusive. The second ndense x ntotal store the band part as entire dense rows. Add diagadd+diagmul*mat_ii to diagonal before factorization.', # pylint: disable=line-too-long
)),
('mju_cholSolveBand',
FunctionDecl(
name='mju_cholSolveBand',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='ntotal',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nband',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='ndense',
type=ValueType(name='int'),
),
),
doc="Solve (mat*mat')*res = vec where mat is a band-dense Cholesky factor.", # pylint: disable=line-too-long
)),
('mju_band2Dense',
FunctionDecl(
name='mju_band2Dense',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='ntotal',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nband',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='ndense',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='flg_sym',
type=ValueType(name='mjtByte'),
),
),
doc='Convert banded matrix to dense matrix, fill upper triangle if flg_sym>0.', # pylint: disable=line-too-long
)),
('mju_dense2Band',
FunctionDecl(
name='mju_dense2Band',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='ntotal',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nband',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='ndense',
type=ValueType(name='int'),
),
),
doc='Convert dense matrix to banded matrix.',
)),
('mju_bandMulMatVec',
FunctionDecl(
name='mju_bandMulMatVec',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='mat',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='ntotal',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nband',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='ndense',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nvec',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='flg_sym',
type=ValueType(name='mjtByte'),
),
),
doc='Multiply band-diagonal matrix with nvec vectors, include upper triangle if flg_sym>0.', # pylint: disable=line-too-long
)),
('mju_bandDiag',
FunctionDecl(
name='mju_bandDiag',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='i',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='ntotal',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='nband',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='ndense',
type=ValueType(name='int'),
),
),
doc='Address of diagonal element i in band-dense matrix representation.', # pylint: disable=line-too-long
)),
('mju_eig3',
FunctionDecl(
name='mju_eig3',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='eigval',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(3,),
),
),
FunctionParameterDecl(
name='eigvec',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(9,),
),
),
FunctionParameterDecl(
name='quat',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(4,),
),
),
FunctionParameterDecl(
name='mat',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
),
),
doc='Eigenvalue decomposition of symmetric 3x3 matrix.',
)),
('mju_boxQP',
FunctionDecl(
name='mju_boxQP',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='R',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='index',
type=PointerType(
inner_type=ValueType(name='int'),
),
),
FunctionParameterDecl(
name='H',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='g',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='lower',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='upper',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
),
doc="minimize 0.5*x'*H*x + x'*g s.t. lower <= x <= upper, return rank or -1 if failed inputs: n - problem dimension H - SPD matrix n*n g - bias vector n lower - lower bounds n upper - upper bounds n res - solution warmstart n return value: nfree <= n - rank of unconstrained subspace, -1 if failure outputs (required): res - solution n R - subspace Cholesky factor nfree*nfree allocated: n*(n+7) outputs (optional): index - set of free dimensions nfree allocated: n notes: the initial value of res is used to warmstart the solver R must have allocatd size n*(n+7), but only nfree*nfree values are used in output index (if given) must have allocated size n, but only nfree values are used in output only the lower triangles of H and R and are read from and written to, respectively the convenience function mju_boxQPmalloc allocates the required data structures", # pylint: disable=line-too-long
)),
('mju_boxQPmalloc',
FunctionDecl(
name='mju_boxQPmalloc',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
FunctionParameterDecl(
name='R',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
FunctionParameterDecl(
name='index',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='int'),
),
),
),
FunctionParameterDecl(
name='H',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
FunctionParameterDecl(
name='g',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='lower',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
FunctionParameterDecl(
name='upper',
type=PointerType(
inner_type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
),
doc='allocate heap memory for box-constrained Quadratic Program as in mju_boxQP, index, lower, and upper are optional free all pointers with mju_free()', # pylint: disable=line-too-long
)),
('mju_muscleGain',
FunctionDecl(
name='mju_muscleGain',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='len',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='vel',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='lengthrange',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(2,),
),
),
FunctionParameterDecl(
name='acc0',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='prm',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
),
),
doc='Muscle active force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).', # pylint: disable=line-too-long
)),
('mju_muscleBias',
FunctionDecl(
name='mju_muscleBias',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='len',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='lengthrange',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(2,),
),
),
FunctionParameterDecl(
name='acc0',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='prm',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(9,),
),
),
),
doc='Muscle passive force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).', # pylint: disable=line-too-long
)),
('mju_muscleDynamics',
FunctionDecl(
name='mju_muscleDynamics',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='ctrl',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='act',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='prm',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(2,),
),
),
),
doc='Muscle activation dynamics, prm = (tau_act, tau_deact).',
)),
('mju_encodePyramid',
FunctionDecl(
name='mju_encodePyramid',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='pyramid',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='force',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='mu',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='dim',
type=ValueType(name='int'),
),
),
doc='Convert contact force to pyramid representation.',
)),
('mju_decodePyramid',
FunctionDecl(
name='mju_decodePyramid',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='force',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='pyramid',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='mu',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='dim',
type=ValueType(name='int'),
),
),
doc='Convert pyramid representation to contact force.',
)),
('mju_springDamper',
FunctionDecl(
name='mju_springDamper',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='pos0',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='vel0',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='Kp',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='Kv',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='dt',
type=ValueType(name='mjtNum'),
),
),
doc='Integrate spring-damper analytically, return pos(dt).',
)),
('mju_min',
FunctionDecl(
name='mju_min',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='a',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='b',
type=ValueType(name='mjtNum'),
),
),
doc='Return min(a,b) with single evaluation of a and b.',
)),
('mju_max',
FunctionDecl(
name='mju_max',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='a',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='b',
type=ValueType(name='mjtNum'),
),
),
doc='Return max(a,b) with single evaluation of a and b.',
)),
('mju_clip',
FunctionDecl(
name='mju_clip',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='x',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='min',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='max',
type=ValueType(name='mjtNum'),
),
),
doc='Clip x to the range [min, max].',
)),
('mju_sign',
FunctionDecl(
name='mju_sign',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='x',
type=ValueType(name='mjtNum'),
),
),
doc='Return sign of x: +1, -1 or 0.',
)),
('mju_round',
FunctionDecl(
name='mju_round',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='x',
type=ValueType(name='mjtNum'),
),
),
doc='Round x to nearest integer.',
)),
('mju_type2Str',
FunctionDecl(
name='mju_type2Str',
return_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='type',
type=ValueType(name='int'),
),
),
doc='Convert type id (mjtObj) to type name.',
)),
('mju_str2Type',
FunctionDecl(
name='mju_str2Type',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='str',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Convert type name to type id (mjtObj).',
)),
('mju_writeNumBytes',
FunctionDecl(
name='mju_writeNumBytes',
return_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='nbytes',
type=ValueType(name='size_t'),
),
),
doc='Return human readable number of bytes using standard letter suffix.', # pylint: disable=line-too-long
)),
('mju_warningText',
FunctionDecl(
name='mju_warningText',
return_type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='warning',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='info',
type=ValueType(name='size_t'),
),
),
doc='Construct a warning message given the warning type and info.',
)),
('mju_isBad',
FunctionDecl(
name='mju_isBad',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='x',
type=ValueType(name='mjtNum'),
),
),
doc='Return 1 if nan or abs(x)>mjMAXVAL, 0 otherwise. Used by check functions.', # pylint: disable=line-too-long
)),
('mju_isZero',
FunctionDecl(
name='mju_isZero',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Return 1 if all elements are 0.',
)),
('mju_standardNormal',
FunctionDecl(
name='mju_standardNormal',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='num2',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
doc='Standard normal random number generator (optional second number).', # pylint: disable=line-too-long
)),
('mju_f2n',
FunctionDecl(
name='mju_f2n',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='float', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Convert from float to mjtNum.',
)),
('mju_n2f',
FunctionDecl(
name='mju_n2f',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='float'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Convert from mjtNum to float.',
)),
('mju_d2n',
FunctionDecl(
name='mju_d2n',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='double', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Convert from double to mjtNum.',
)),
('mju_n2d',
FunctionDecl(
name='mju_n2d',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='res',
type=PointerType(
inner_type=ValueType(name='double'),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Convert from mjtNum to double.',
)),
('mju_insertionSort',
FunctionDecl(
name='mju_insertionSort',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='list',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Insertion sort, resulting list is in increasing order.',
)),
('mju_insertionSortInt',
FunctionDecl(
name='mju_insertionSortInt',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='list',
type=PointerType(
inner_type=ValueType(name='int'),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Integer insertion sort, resulting list is in increasing order.',
)),
('mju_Halton',
FunctionDecl(
name='mju_Halton',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='index',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='base',
type=ValueType(name='int'),
),
),
doc='Generate Halton sequence.',
)),
('mju_strncpy',
FunctionDecl(
name='mju_strncpy',
return_type=PointerType(
inner_type=ValueType(name='char'),
),
parameters=(
FunctionParameterDecl(
name='dst',
type=PointerType(
inner_type=ValueType(name='char'),
),
),
FunctionParameterDecl(
name='src',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='n',
type=ValueType(name='int'),
),
),
doc='Call strncpy, then set dst[n-1] = 0.',
)),
('mju_sigmoid',
FunctionDecl(
name='mju_sigmoid',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='x',
type=ValueType(name='mjtNum'),
),
),
doc='Sigmoid function over 0<=x<=1 using quintic polynomial.',
)),
('mjd_transitionFD',
FunctionDecl(
name='mjd_transitionFD',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='eps',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='flg_centered',
type=ValueType(name='mjtByte'),
),
FunctionParameterDecl(
name='A',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='B',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='C',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='D',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
doc='Finite differenced transition matrices (control theory notation) d(x_next) = A*dx + B*du d(sensor) = C*dx + D*du required output matrix dimensions: A: (2*nv+na x 2*nv+na) B: (2*nv+na x nu) D: (nsensordata x 2*nv+na) C: (nsensordata x nu)', # pylint: disable=line-too-long
)),
('mjd_inverseFD',
FunctionDecl(
name='mjd_inverseFD',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='eps',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='flg_actuation',
type=ValueType(name='mjtByte'),
),
FunctionParameterDecl(
name='DfDq',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='DfDv',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='DfDa',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='DsDq',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='DsDv',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='DsDa',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='DmDq',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
doc='Finite differenced Jacobians of (force, sensors) = mj_inverse(state, acceleration) All outputs are optional. Output dimensions (transposed w.r.t Control Theory convention): DfDq: (nv x nv) DfDv: (nv x nv) DfDa: (nv x nv) DsDq: (nv x nsensordata) DsDv: (nv x nsensordata) DsDa: (nv x nsensordata) DmDq: (nv x nM) single-letter shortcuts: inputs: q=qpos, v=qvel, a=qacc outputs: f=qfrc_inverse, s=sensordata, m=qM notes: optionally computes mass matrix Jacobian DmDq flg_actuation specifies whether to subtract qfrc_actuator from qfrc_inverse', # pylint: disable=line-too-long
)),
('mjp_defaultPlugin',
FunctionDecl(
name='mjp_defaultPlugin',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='plugin',
type=PointerType(
inner_type=ValueType(name='mjpPlugin'),
),
),
),
doc='Set default plugin definition.',
)),
('mjp_registerPlugin',
FunctionDecl(
name='mjp_registerPlugin',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='plugin',
type=PointerType(
inner_type=ValueType(name='mjpPlugin', is_const=True),
),
),
),
doc='Globally register a plugin. This function is thread-safe. If an identical mjpPlugin is already registered, this function does nothing. If a non-identical mjpPlugin with the same name is already registered, an mju_error is raised. Two mjpPlugins are considered identical if all member function pointers and numbers are equal, and the name and attribute strings are all identical, however the char pointers to the strings need not be the same.', # pylint: disable=line-too-long
)),
('mjp_pluginCount',
FunctionDecl(
name='mjp_pluginCount',
return_type=ValueType(name='int'),
parameters=(),
doc='Return the number of globally registered plugins.',
)),
('mjp_getPlugin',
FunctionDecl(
name='mjp_getPlugin',
return_type=PointerType(
inner_type=ValueType(name='mjpPlugin', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='name',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
FunctionParameterDecl(
name='slot',
type=PointerType(
inner_type=ValueType(name='int'),
),
),
),
doc='Look up a plugin by name. If slot is not NULL, also write its registered slot number into it.', # pylint: disable=line-too-long
)),
('mjp_getPluginAtSlot',
FunctionDecl(
name='mjp_getPluginAtSlot',
return_type=PointerType(
inner_type=ValueType(name='mjpPlugin', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='slot',
type=ValueType(name='int'),
),
),
doc='Look up a plugin by the registered slot number that was returned by mjp_registerPlugin.', # pylint: disable=line-too-long
)),
('mjp_defaultResourceProvider',
FunctionDecl(
name='mjp_defaultResourceProvider',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='provider',
type=PointerType(
inner_type=ValueType(name='mjpResourceProvider'),
),
),
),
doc='Set default resource provider definition.',
)),
('mjp_registerResourceProvider',
FunctionDecl(
name='mjp_registerResourceProvider',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='provider',
type=PointerType(
inner_type=ValueType(name='mjpResourceProvider', is_const=True), # pylint: disable=line-too-long
),
),
),
doc='Globally register a resource provider in a thread-safe manner. The provider must have a prefix that is not a sub-prefix or super-prefix of any current registered providers. This function returns a slot number > 0 on success.', # pylint: disable=line-too-long
)),
('mjp_resourceProviderCount',
FunctionDecl(
name='mjp_resourceProviderCount',
return_type=ValueType(name='int'),
parameters=(),
doc='Return the number of globally registered resource providers.',
)),
('mjp_getResourceProvider',
FunctionDecl(
name='mjp_getResourceProvider',
return_type=PointerType(
inner_type=ValueType(name='mjpResourceProvider', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='resource_name',
type=PointerType(
inner_type=ValueType(name='char', is_const=True),
),
),
),
doc='Return the resource provider with the prefix that matches against the resource name. If no match, return NULL.', # pylint: disable=line-too-long
)),
('mjp_getResourceProviderAtSlot',
FunctionDecl(
name='mjp_getResourceProviderAtSlot',
return_type=PointerType(
inner_type=ValueType(name='mjpResourceProvider', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='slot',
type=ValueType(name='int'),
),
),
doc='Look up a resource provider by slot number returned by mjp_registerResourceProvider. If invalid slot number, return NULL.', # pylint: disable=line-too-long
)),
])
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