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Mujoco_WASM/python/mujoco/indexer_xmacro.h
T
Saran Tunyasuvunakool 71c5f1794d Remove efc_ fields from joint indexers. 
Since the introduction of arena memory, these fields now have dynamic sizes that change between time steps depending on the number of active constraints. This breaks strict correspondence between joints and `efc_` rows.

Note that these fields can still be accessed directly as attributes on the `MjData` object.

PiperOrigin-RevId: 508342388
Change-Id: I610ae6ca462f6bb5cf8bc199a3436bed3d1a5371
2023-02-09 05:02:11 -08:00

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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.
#ifndef MUJOCO_PYTHON_INDEXER_XMACRO_H_
#define MUJOCO_PYTHON_INDEXER_XMACRO_H_
#include <mujoco/mjxmacro.h>
#define MJMODEL_ACTUATOR \
X( int, actuator_, trntype, nu, 1 ) \
X( int, actuator_, dyntype, nu, 1 ) \
X( int, actuator_, gaintype, nu, 1 ) \
X( int, actuator_, biastype, nu, 1 ) \
X( int, actuator_, trnid, nu, 2 ) \
X( int, actuator_, actadr, nu, 1 ) \
X( int, actuator_, actnum, nu, 1 ) \
X( int, actuator_, group, nu, 1 ) \
X( mjtByte, actuator_, ctrllimited, nu, 1 ) \
X( mjtByte, actuator_, forcelimited, nu, 1 ) \
X( mjtByte, actuator_, actlimited, nu, 1 ) \
X( mjtNum, actuator_, dynprm, nu, mjNDYN ) \
X( mjtNum, actuator_, gainprm, nu, mjNGAIN ) \
X( mjtNum, actuator_, biasprm, nu, mjNBIAS ) \
X( mjtNum, actuator_, ctrlrange, nu, 2 ) \
X( mjtNum, actuator_, forcerange, nu, 2 ) \
X( mjtNum, actuator_, actrange, nu, 2 ) \
X( mjtNum, actuator_, gear, nu, 6 ) \
X( mjtNum, actuator_, cranklength, nu, 1 ) \
X( mjtNum, actuator_, acc0, nu, 1 ) \
X( mjtNum, actuator_, length0, nu, 1 ) \
X( mjtNum, actuator_, lengthrange, nu, 2 ) \
X( mjtNum, actuator_, user, nu, MJ_M(nuser_actuator) )
#define MJMODEL_BODY \
X( int, body_, parentid, nbody, 1 ) \
X( int, body_, rootid, nbody, 1 ) \
X( int, body_, weldid, nbody, 1 ) \
X( int, body_, mocapid, nbody, 1 ) \
X( int, body_, jntnum, nbody, 1 ) \
X( int, body_, jntadr, nbody, 1 ) \
X( int, body_, dofnum, nbody, 1 ) \
X( int, body_, dofadr, nbody, 1 ) \
X( int, body_, geomnum, nbody, 1 ) \
X( int, body_, geomadr, nbody, 1 ) \
X( mjtByte, body_, simple, nbody, 1 ) \
X( mjtByte, body_, sameframe, nbody, 1 ) \
X( mjtNum, body_, pos, nbody, 3 ) \
X( mjtNum, body_, quat, nbody, 4 ) \
X( mjtNum, body_, ipos, nbody, 3 ) \
X( mjtNum, body_, iquat, nbody, 4 ) \
X( mjtNum, body_, mass, nbody, 1 ) \
X( mjtNum, body_, subtreemass, nbody, 1 ) \
X( mjtNum, body_, inertia, nbody, 3 ) \
X( mjtNum, body_, invweight0, nbody, 2 ) \
X( mjtNum, body_, user, nbody, MJ_M(nuser_body) )
#define MJMODEL_CAMERA \
X( int, cam_, mode, ncam, 1 ) \
X( int, cam_, bodyid, ncam, 1 ) \
X( int, cam_, targetbodyid, ncam, 1 ) \
X( mjtNum, cam_, pos, ncam, 3 ) \
X( mjtNum, cam_, quat, ncam, 4 ) \
X( mjtNum, cam_, poscom0, ncam, 3 ) \
X( mjtNum, cam_, pos0, ncam, 3 ) \
X( mjtNum, cam_, mat0, ncam, 9 ) \
X( mjtNum, cam_, fovy, ncam, 1 ) \
X( mjtNum, cam_, ipd, ncam, 1 ) \
X( mjtNum, cam_, user, ncam, MJ_M(nuser_cam) )
#define MJMODEL_EQUALITY \
X( int, eq_, type, neq, 1 ) \
X( int, eq_, obj1id, neq, 1 ) \
X( int, eq_, obj2id, neq, 1 ) \
X( mjtByte, eq_, active, neq, 1 ) \
X( mjtNum, eq_, solref, neq, mjNREF ) \
X( mjtNum, eq_, solimp, neq, mjNIMP ) \
X( mjtNum, eq_, data, neq, mjNEQDATA )
#define MJMODEL_EXCLUDE \
X( int, exclude_, signature, nexclude, 1 )
#define MJMODEL_GEOM \
X( int, geom_, type, ngeom, 1 ) \
X( int, geom_, contype, ngeom, 1 ) \
X( int, geom_, conaffinity, ngeom, 1 ) \
X( int, geom_, condim, ngeom, 1 ) \
X( int, geom_, bodyid, ngeom, 1 ) \
X( int, geom_, dataid, ngeom, 1 ) \
X( int, geom_, matid, ngeom, 1 ) \
X( int, geom_, group, ngeom, 1 ) \
X( int, geom_, priority, ngeom, 1 ) \
X( mjtByte, geom_, sameframe, ngeom, 1 ) \
X( mjtNum, geom_, solmix, ngeom, 1 ) \
X( mjtNum, geom_, solref, ngeom, mjNREF ) \
X( mjtNum, geom_, solimp, ngeom, mjNIMP ) \
X( mjtNum, geom_, size, ngeom, 3 ) \
X( mjtNum, geom_, rbound, ngeom, 1 ) \
X( mjtNum, geom_, pos, ngeom, 3 ) \
X( mjtNum, geom_, quat, ngeom, 4 ) \
X( mjtNum, geom_, friction, ngeom, 3 ) \
X( mjtNum, geom_, margin, ngeom, 1 ) \
X( mjtNum, geom_, gap, ngeom, 1 ) \
X( mjtNum, geom_, user, ngeom, MJ_M(nuser_geom) ) \
X( float, geom_, rgba, ngeom, 4 )
#define MJMODEL_HFIELD \
X( mjtNum, hfield_, size, nhfield, 4 ) \
X( int, hfield_, nrow, nhfield, 1 ) \
X( int, hfield_, ncol, nhfield, 1 ) \
X( int, hfield_, adr, nhfield, 1 ) \
X( float, hfield_, data, nhfielddata, 1 )
#define MJMODEL_JOINT \
X( mjtNum, , qpos0, nq, 1 ) \
X( mjtNum, , qpos_spring, nq, 1 ) \
X( int, jnt_, type, njnt, 1 ) \
X( int, jnt_, qposadr, njnt, 1 ) \
X( int, jnt_, dofadr, njnt, 1 ) \
X( int, jnt_, group, njnt, 1 ) \
X( mjtByte, jnt_, limited, njnt, 1 ) \
X( mjtNum, jnt_, pos, njnt, 3 ) \
X( mjtNum, jnt_, axis, njnt, 3 ) \
X( mjtNum, jnt_, stiffness, njnt, 1 ) \
X( mjtNum, jnt_, range, njnt, 2 ) \
X( mjtNum, jnt_, margin, njnt, 1 ) \
X( mjtNum, jnt_, user, njnt, MJ_M(nuser_jnt) ) \
X( int, dof_, bodyid, nv, 1 ) \
X( int, dof_, jntid, nv, 1 ) \
X( int, dof_, parentid, nv, 1 ) \
X( int, dof_, Madr, nv, 1 ) \
X( int, dof_, simplenum, nv, 1 ) \
X( mjtNum, dof_, solref, nv, mjNREF ) \
X( mjtNum, dof_, solimp, nv, mjNIMP ) \
X( mjtNum, dof_, frictionloss, nv, 1 ) \
X( mjtNum, dof_, armature, nv, 1 ) \
X( mjtNum, dof_, damping, nv, 1 ) \
X( mjtNum, dof_, invweight0, nv, 1 ) \
X( mjtNum, dof_, M0, nv, 1 )
#define MJMODEL_LIGHT \
X( int, light_, mode, nlight, 1 ) \
X( int, light_, bodyid, nlight, 1 ) \
X( int, light_, targetbodyid, nlight, 1 ) \
X( mjtByte, light_, directional, nlight, 1 ) \
X( mjtByte, light_, castshadow, nlight, 1 ) \
X( mjtByte, light_, active, nlight, 1 ) \
X( mjtNum, light_, pos, nlight, 3 ) \
X( mjtNum, light_, dir, nlight, 3 ) \
X( mjtNum, light_, poscom0, nlight, 3 ) \
X( mjtNum, light_, pos0, nlight, 3 ) \
X( mjtNum, light_, dir0, nlight, 3 ) \
X( float, light_, attenuation, nlight, 3 ) \
X( float, light_, cutoff, nlight, 1 ) \
X( float, light_, exponent, nlight, 1 ) \
X( float, light_, ambient, nlight, 3 ) \
X( float, light_, diffuse, nlight, 3 ) \
X( float, light_, specular, nlight, 3 )
#define MJMODEL_MATERIAL \
X( int, mat_, texid, nmat, 1 ) \
X( mjtByte, mat_, texuniform, nmat, 1 ) \
X( float, mat_, texrepeat, nmat, 2 ) \
X( float, mat_, emission, nmat, 1 ) \
X( float, mat_, specular, nmat, 1 ) \
X( float, mat_, shininess, nmat, 1 ) \
X( float, mat_, reflectance, nmat, 1 ) \
X( float, mat_, rgba, nmat, 4 )
#define MJMODEL_MESH \
X( int, mesh_, vertadr, nmesh, 1 ) \
X( int, mesh_, vertnum, nmesh, 1 ) \
X( int, mesh_, texcoordadr, nmesh, 1 ) \
X( int, mesh_, faceadr, nmesh, 1 ) \
X( int, mesh_, facenum, nmesh, 1 ) \
X( int, mesh_, graphadr, nmesh, 1 )
#define MJMODEL_NUMERIC \
X( int, numeric_, adr, nnumeric, 1 ) \
X( int, numeric_, size, nnumeric, 1 ) \
X( mjtNum, numeric_, data, nnumericdata, 1 )
#define MJMODEL_PAIR \
X( int, pair_, dim, npair, 1 ) \
X( int, pair_, geom1, npair, 1 ) \
X( int, pair_, geom2, npair, 1 ) \
X( int, pair_, signature, npair, 1 ) \
X( mjtNum, pair_, solref, npair, mjNREF ) \
X( mjtNum, pair_, solimp, npair, mjNIMP ) \
X( mjtNum, pair_, margin, npair, 1 ) \
X( mjtNum, pair_, gap, npair, 1 ) \
X( mjtNum, pair_, friction, npair, 5 )
#define MJMODEL_SENSOR \
X( int, sensor_, type, nsensor, 1 ) \
X( int, sensor_, datatype, nsensor, 1 ) \
X( int, sensor_, needstage, nsensor, 1 ) \
X( int, sensor_, objtype, nsensor, 1 ) \
X( int, sensor_, objid, nsensor, 1 ) \
X( int, sensor_, reftype, nsensor, 1 ) \
X( int, sensor_, refid, nsensor, 1 ) \
X( int, sensor_, dim, nsensor, 1 ) \
X( int, sensor_, adr, nsensor, 1 ) \
X( mjtNum, sensor_, cutoff, nsensor, 1 ) \
X( mjtNum, sensor_, noise, nsensor, 1 ) \
X( mjtNum, sensor_, user, nsensor, MJ_M(nuser_sensor) )
#define MJMODEL_SITE \
X( int, site_, type, nsite, 1 ) \
X( int, site_, bodyid, nsite, 1 ) \
X( int, site_, matid, nsite, 1 ) \
X( int, site_, group, nsite, 1 ) \
X( mjtByte, site_, sameframe, nsite, 1 ) \
X( mjtNum, site_, size, nsite, 3 ) \
X( mjtNum, site_, pos, nsite, 3 ) \
X( mjtNum, site_, quat, nsite, 4 ) \
X( mjtNum, site_, user, nsite, MJ_M(nuser_site) ) \
X( float, site_, rgba, nsite, 4 )
#define MJMODEL_SKIN \
X( int, skin_, matid, nskin, 1 ) \
X( float, skin_, rgba, nskin, 4 ) \
X( float, skin_, inflate, nskin, 1 ) \
X( int, skin_, vertadr, nskin, 1 ) \
X( int, skin_, vertnum, nskin, 1 ) \
X( int, skin_, texcoordadr, nskin, 1 ) \
X( int, skin_, faceadr, nskin, 1 ) \
X( int, skin_, facenum, nskin, 1 ) \
X( int, skin_, boneadr, nskin, 1 ) \
X( int, skin_, bonenum, nskin, 1 )
#define MJMODEL_TENDON \
X( int, tendon, _adr, ntendon, 1 ) \
X( int, tendon, _num, ntendon, 1 ) \
X( int, tendon, _matid, ntendon, 1 ) \
X( int, tendon, _group, ntendon, 1 ) \
X( mjtByte, tendon, _limited, ntendon, 1 ) \
X( mjtNum, tendon, _width, ntendon, 1 ) \
X( mjtNum, tendon, _solref_lim, ntendon, mjNREF ) \
X( mjtNum, tendon, _solimp_lim, ntendon, mjNIMP ) \
X( mjtNum, tendon, _solref_fri, ntendon, mjNREF ) \
X( mjtNum, tendon, _solimp_fri, ntendon, mjNIMP ) \
X( mjtNum, tendon, _range, ntendon, 2 ) \
X( mjtNum, tendon, _margin, ntendon, 1 ) \
X( mjtNum, tendon, _stiffness, ntendon, 1 ) \
X( mjtNum, tendon, _damping, ntendon, 1 ) \
X( mjtNum, tendon, _frictionloss, ntendon, 1 ) \
X( mjtNum, tendon, _lengthspring, ntendon, 1 ) \
X( mjtNum, tendon, _length0, ntendon, 1 ) \
X( mjtNum, tendon, _invweight0, ntendon, 1 ) \
X( mjtNum, tendon, _user, ntendon, MJ_M(nuser_tendon) ) \
X( float, tendon, _rgba, ntendon, 4 )
#define MJMODEL_TEXTURE \
X( int, tex_, type, ntex, 1 ) \
X( int, tex_, height, ntex, 1 ) \
X( int, tex_, width, ntex, 1 ) \
X( int, tex_, adr, ntex, 1 ) \
X( mjtByte, tex_, rgb, ntexdata, 1 )
#define MJMODEL_TUPLE \
X( int, tuple_, adr, ntuple, 1 ) \
X( int, tuple_, size, ntuple, 1 ) \
X( int, tuple_, objtype, ntupledata, 1 ) \
X( int, tuple_, objid, ntupledata, 1 ) \
X( mjtNum, tuple_, objprm, ntupledata, 1 )
#define MJMODEL_KEYFRAME \
X( mjtNum, key_, time, nkey, 1 ) \
X( mjtNum, key_, qpos, nkey, MJ_M(nq) ) \
X( mjtNum, key_, qvel, nkey, MJ_M(nv) ) \
X( mjtNum, key_, act, nkey, MJ_M(na) ) \
X( mjtNum, key_, mpos, nkey, MJ_M(nmocap)*3 ) \
X( mjtNum, key_, mquat, nkey, MJ_M(nmocap)*4 )
#define MJMODEL_VIEW_GROUPS \
XGROUP( MjModelActuatorViews, actuator, nu, MJMODEL_ACTUATOR ) \
XGROUP( MjModelBodyViews, body, nbody, MJMODEL_BODY ) \
XGROUP( MjModelCameraViews, cam, ncam, MJMODEL_CAMERA ) \
XGROUP( MjModelEqualityViews, eq, neq, MJMODEL_EQUALITY ) \
XGROUP( MjModelExcludeViews, exclude, nexclude, MJMODEL_EXCLUDE ) \
XGROUP( MjModelGeomViews, geom, ngeom, MJMODEL_GEOM ) \
XGROUP( MjModelHfieldViews, hfield, nhfield, MJMODEL_HFIELD ) \
XGROUP( MjModelJointViews, jnt, njnt, MJMODEL_JOINT ) \
XGROUP( MjModelLightViews, light, nlight, MJMODEL_LIGHT ) \
XGROUP( MjModelMaterialViews, mat, nmat, MJMODEL_MATERIAL ) \
XGROUP( MjModelMeshViews, mesh, nmesh, MJMODEL_MESH ) \
XGROUP( MjModelNumericViews, numeric, nnumeric, MJMODEL_NUMERIC ) \
XGROUP( MjModelPairViews, pair, npair, MJMODEL_PAIR ) \
XGROUP( MjModelSensorViews, sensor, nsensor, MJMODEL_SENSOR ) \
XGROUP( MjModelSiteViews, site, nsite, MJMODEL_SITE ) \
XGROUP( MjModelSkinViews, skin, nskin, MJMODEL_SKIN ) \
XGROUP( MjModelTendonViews, tendon, ntendon, MJMODEL_TENDON ) \
XGROUP( MjModelTextureViews, tex, ntex, MJMODEL_TEXTURE ) \
XGROUP( MjModelTupleViews, tuple, ntuple, MJMODEL_TUPLE ) \
XGROUP( MjModelKeyframeViews, key, nkey, MJMODEL_KEYFRAME )
#define MJMODEL_VIEW_GROUPS_ALTNAMES \
XGROUP( cam, camera, MJMODEL_CAMERA ) \
XGROUP( eq, equality, MJMODEL_EQUALITY ) \
XGROUP( jnt, joint, MJMODEL_JOINT ) \
XGROUP( mat, material, MJMODEL_MATERIAL ) \
XGROUP( tex, texture, MJMODEL_TEXTURE ) \
XGROUP( key, keyframe, MJMODEL_KEYFRAME )
#define MJDATA_ACTUATOR \
X( mjtNum, , ctrl, nu, 1 ) \
X( mjtNum, actuator_, length, nu, 1 ) \
X( mjtNum, actuator_, moment, nu, MJ_M(nv) ) \
X( mjtNum, actuator_, velocity, nu, 1 ) \
X( mjtNum, actuator_, force, nu, 1 )
#define MJDATA_BODY \
X( mjtNum, , xfrc_applied, nbody, 6 ) \
X( mjtNum, , xpos, nbody, 3 ) \
X( mjtNum, , xquat, nbody, 4 ) \
X( mjtNum, , xmat, nbody, 9 ) \
X( mjtNum, , xipos, nbody, 3 ) \
X( mjtNum, , ximat, nbody, 9 ) \
X( mjtNum, , subtree_com, nbody, 3 ) \
X( mjtNum, , cinert, nbody, 10 ) \
X( mjtNum, , crb, nbody, 10 ) \
X( mjtNum, , cvel, nbody, 6 ) \
X( mjtNum, , subtree_linvel, nbody, 3 ) \
X( mjtNum, , subtree_angmom, nbody, 3 ) \
X( mjtNum, , cacc, nbody, 6 ) \
X( mjtNum, , cfrc_int, nbody, 6 ) \
X( mjtNum, , cfrc_ext, nbody, 6 )
#define MJDATA_CAMERA \
X( mjtNum, cam_, xpos, ncam, 3 ) \
X( mjtNum, cam_, xmat, ncam, 9 )
#define MJDATA_GEOM \
X( mjtNum, geom_, xpos, ngeom, 3 ) \
X( mjtNum, geom_, xmat, ngeom, 9 )
#define MJDATA_JOINT \
X( mjtNum, , qpos, nq, 1 ) \
X( mjtNum, , qvel, nv, 1 ) \
X( mjtNum, , qacc_warmstart, nv, 1 ) \
X( mjtNum, , qfrc_applied, nv, 1 ) \
X( mjtNum, , qacc, nv, 1 ) \
X( mjtNum, , xanchor, njnt, 3 ) \
X( mjtNum, , xaxis, njnt, 3 ) \
X( mjtNum, , cdof, nv, 6 ) \
X( mjtNum, , qLDiagInv, nv, 1 ) \
X( mjtNum, , qLDiagSqrtInv, nv, 1 ) \
X( mjtNum, , cdof_dot, nv, 6 ) \
X( mjtNum, , qfrc_bias, nv, 1 ) \
X( mjtNum, , qfrc_passive, nv, 1 ) \
X( mjtNum, , qfrc_actuator, nv, 1 ) \
X( mjtNum, , qfrc_smooth, nv, 1 ) \
X( mjtNum, , qacc_smooth, nv, 1 ) \
X( mjtNum, , qfrc_constraint, nv, 1 ) \
X( mjtNum, , qfrc_inverse, nv, 1 )
#define MJDATA_LIGHT \
X( mjtNum, light_, xpos, nlight, 3 ) \
X( mjtNum, light_, xdir, nlight, 3 )
#define MJDATA_SENSOR \
X( mjtNum, sensor, data, nsensordata, 1 )
#define MJDATA_SITE \
X( mjtNum, site_, xpos, nsite, 3 ) \
X( mjtNum, site_, xmat, nsite, 9 )
#define MJDATA_TENDON \
X( int, ten_, wrapadr , ntendon, 1 ) \
X( int, ten_, wrapnum , ntendon, 1 ) \
X( int, ten_, J_rownnz, ntendon, 1 ) \
X( int, ten_, J_rowadr, ntendon, 1 ) \
X( int, ten_, J_colind, ntendon, MJ_M(nv) ) \
X( mjtNum, ten_, length , ntendon, 1 ) \
X( mjtNum, ten_, J , ntendon, MJ_M(nv) ) \
X( mjtNum, ten_, velocity, ntendon, 1 )
#define MJDATA_VIEW_GROUPS \
XGROUP( MjDataActuatorViews, actuator, nu, MJDATA_ACTUATOR ) \
XGROUP( MjDataBodyViews, body, nbody, MJDATA_BODY ) \
XGROUP( MjDataCameraViews, cam, ncam, MJDATA_CAMERA ) \
XGROUP( MjDataGeomViews, geom, ngeom, MJDATA_GEOM ) \
XGROUP( MjDataJointViews, jnt, njnt, MJDATA_JOINT ) \
XGROUP( MjDataLightViews, light, nlight, MJDATA_LIGHT ) \
XGROUP( MjDataSensorViews, sensor, nsensor, MJDATA_SENSOR ) \
XGROUP( MjDataSiteViews, site, nsite, MJDATA_SITE ) \
XGROUP( MjDataTendonViews, tendon, ntendon, MJDATA_TENDON )
#define MJDATA_VIEW_GROUPS_ALTNAMES \
XGROUP( cam, camera, MJDATA_CAMERA ) \
XGROUP( jnt, joint, MJDATA_JOINT ) \
XGROUP( tendon, ten, MJDATA_TENDON )
#endif // MUJOCO_PYTHON_INDEXER_XMACRO_H_
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