Yuval Tassa
ed13bf5647
PiperOrigin-RevId: 960212286 Change-Id: Ibeff129c3110576c8846c76ba6ab756f23c0fa2e
923 lines
64 KiB
C
923 lines
64 KiB
C
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_MJMODEL_H_
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#define MUJOCO_MJMODEL_H_
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#include <stddef.h>
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#include <stdint.h>
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#include <mujoco/mjtype.h>
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// global constants
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#define mjPI 3.14159265358979323846
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#define mjMAXVAL 1E+10 // maximum value in qpos, qvel, qacc
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#define mjMINMU 1E-5 // minimum friction coefficient
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#define mjMINIMP 0.0001 // minimum constraint impedance
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#define mjMAXIMP 0.9999 // maximum constraint impedance
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#define mjMAXCONPAIR 50 // maximum number of contacts per geom pair
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#define mjMAXTREEDEPTH 50 // maximum bounding volume hierarchy depth
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#define mjMAXFLEXNODES 27 // maximum number of flex nodes
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#define mjMINAWAKE 10 // minimum number of timesteps before sleeping
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//---------------------------------- sizes ---------------------------------------------------------
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#define mjNEQDATA 11 // number of eq_data fields
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#define mjNDYN 10 // number of actuator dynamics parameters
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#define mjNGAIN 10 // number of actuator gain parameters
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#define mjNBIAS 10 // number of actuator bias parameters
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#define mjNFLUID 12 // number of fluid interaction parameters
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#define mjNREF 2 // number of solver reference parameters
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#define mjNIMP 5 // number of solver impedance parameters
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#define mjNPOLY 2 // number of high-order polynomial coefficients
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#define mjNSENS 3 // number of sensor parameters
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#define mjNSOLVER 200 // size of one mjData.solver array
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#define mjNISLAND 20 // number of mjData.solver arrays
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//---------------------------------- mjLROpt -------------------------------------------------------
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typedef struct mjLROpt_ { // options for mj_setLengthRange()
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// flags
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int mode; // which actuators to process (mjtLRMode)
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int useexisting; // use existing length range if available
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int uselimit; // use joint and tendon limits if available
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// algorithm parameters
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mjtNum accel; // target acceleration used to compute force
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mjtNum maxforce; // maximum force; 0: no limit
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mjtNum timeconst; // time constant for velocity reduction; min 0.01
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mjtNum timestep; // simulation timestep; 0: use mjOption.timestep
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mjtNum inttotal; // total simulation time interval
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mjtNum interval; // evaluation time interval (at the end)
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mjtNum tolrange; // convergence tolerance (relative to range)
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} mjLROpt;
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//---------------------------------- mjCache -------------------------------------------------------
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typedef struct mjCache_ { // asset cache used by the compiler
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void* impl_; // internal pointer to cache
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} mjCache;
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//---------------------------------- mjVFS ---------------------------------------------------------
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typedef struct mjVFS_ { // virtual file system for loading from memory
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void* impl_; // internal pointer to VFS memory
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} mjVFS;
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//---------------------------------- mjOption ------------------------------------------------------
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typedef struct mjOption_ { // physics options
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// timing parameters
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mjtNum timestep; // timestep
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// solver parameters
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mjtNum impratio; // ratio of friction-to-normal contact impedance
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mjtNum tolerance; // main solver tolerance
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mjtNum ls_tolerance; // CG/Newton linesearch tolerance
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mjtNum noslip_tolerance; // noslip solver tolerance
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mjtNum ccd_tolerance; // convex collision solver tolerance
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// sleep settings
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mjtNum sleep_tolerance; // sleep velocity tolerance
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// physical constants
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mjtNum gravity[3]; // gravitational acceleration
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mjtNum wind[3]; // wind (for lift, drag and viscosity)
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mjtNum magnetic[3]; // global magnetic flux
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mjtNum density; // density of medium
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mjtNum viscosity; // viscosity of medium
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// override contact solver parameters (if enabled)
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mjtNum o_margin; // margin
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mjtNum o_solref[mjNREF]; // solref
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mjtNum o_solimp[mjNIMP]; // solimp
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mjtNum o_friction[5]; // friction
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// discrete settings
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int integrator; // integration mode (mjtIntegrator)
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int cone; // type of friction cone (mjtCone)
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int jacobian; // type of Jacobian (mjtJacobian)
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int solver; // solver algorithm (mjtSolver)
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int iterations; // maximum number of main solver iterations
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int ls_iterations; // maximum number of CG/Newton linesearch iterations
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int noslip_iterations; // maximum number of noslip solver iterations
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int ccd_iterations; // maximum number of convex collision solver iterations
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int disableflags; // bit flags for disabling standard features
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int enableflags; // bit flags for enabling optional features
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int disableactuator; // bit flags for disabling actuators by group id
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// sdf collision settings
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int sdf_initpoints; // number of starting points for gradient descent
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int sdf_iterations; // max number of iterations for gradient descent
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} mjOption;
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//---------------------------------- mjVisual ------------------------------------------------------
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typedef struct mjVisual_ { // visualization options
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struct { // global parameters
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int cameraid; // initial camera id (-1: free)
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int orthographic; // is the free camera orthographic (0: no, 1: yes)
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float fovy; // y field-of-view of free camera (orthographic ? length : degree)
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float ipd; // inter-pupilary distance for free camera
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float azimuth; // initial azimuth of free camera (degrees)
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float elevation; // initial elevation of free camera (degrees)
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float linewidth; // line width for wireframe and ray rendering
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float glow; // glow coefficient for selected body
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float realtime; // initial real-time factor (1: real time)
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int offwidth; // width of offscreen buffer
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int offheight; // height of offscreen buffer
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int ellipsoidinertia; // geom for inertia visualization (0: box, 1: ellipsoid)
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int bvactive; // visualize active bounding volumes (0: no, 1: yes)
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} global;
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struct { // rendering quality
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int shadowsize; // size of shadowmap texture
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int offsamples; // number of multisamples for offscreen rendering
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int numslices; // number of slices for builtin geom drawing
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int numstacks; // number of stacks for builtin geom drawing
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int numquads; // number of quads for box rendering
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} quality;
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struct { // head light
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float ambient[3]; // ambient rgb (alpha=1)
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float diffuse[3]; // diffuse rgb (alpha=1)
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float specular[3]; // specular rgb (alpha=1)
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int active; // is headlight active
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} headlight;
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struct { // mapping
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float stiffness; // mouse perturbation stiffness (space->force)
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float stiffnessrot; // mouse perturbation stiffness (space->torque)
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float force; // from force units to space units
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float torque; // from torque units to space units
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float alpha; // scale geom alphas when transparency is enabled
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float fogstart; // OpenGL fog starts at fogstart * mjModel.stat.extent
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float fogend; // OpenGL fog ends at fogend * mjModel.stat.extent
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float znear; // near clipping plane = znear * mjModel.stat.extent
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float zfar; // far clipping plane = zfar * mjModel.stat.extent
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float haze; // haze ratio
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float shadowclip; // directional light: shadowclip * mjModel.stat.extent
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float shadowscale; // spot light: shadowscale * light.cutoff
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float actuatortendon; // scale tendon width
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} map;
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struct { // scale of decor elements relative to mean body size
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float forcewidth; // width of force arrow
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float contactwidth; // contact width
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float contactheight; // contact height
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float connect; // autoconnect capsule width
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float com; // com radius
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float camera; // camera object
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float light; // light object
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float selectpoint; // selection point
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float jointlength; // joint length
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float jointwidth; // joint width
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float actuatorlength; // actuator length
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float actuatorwidth; // actuator width
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float framelength; // bodyframe axis length
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float framewidth; // bodyframe axis width
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float constraint; // constraint width
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float slidercrank; // slidercrank width
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float frustum; // frustum zfar plane
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} scale;
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struct { // color of decor elements
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float fog[4]; // fog
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float haze[4]; // haze
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float force[4]; // external force
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float inertia[4]; // inertia box
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float joint[4]; // joint
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float actuator[4]; // actuator, neutral
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float actuatornegative[4]; // actuator, negative limit
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float actuatorpositive[4]; // actuator, positive limit
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float com[4]; // center of mass
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float camera[4]; // camera object
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float light[4]; // light object
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float selectpoint[4]; // selection point
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float connect[4]; // auto connect
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float contactpoint[4]; // contact point
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float contactforce[4]; // contact force
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float contactfriction[4]; // contact friction force
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float contacttorque[4]; // contact torque
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float contactgap[4]; // contact point in gap
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float rangefinder[4]; // rangefinder ray
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float constraint[4]; // constraint
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float slidercrank[4]; // slidercrank
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float crankbroken[4]; // used when crank must be stretched/broken
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float frustum[4]; // camera frustum
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float bv[4]; // bounding volume
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float bvactive[4]; // active bounding volume
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} rgba;
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} mjVisual;
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//---------------------------------- mjStatistic ---------------------------------------------------
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typedef struct mjStatistic_ { // model statistics (in qpos0)
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mjtNum meaninertia; // mean diagonal inertia
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mjtNum meanmass; // mean body mass
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mjtNum meansize; // mean body size
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mjtNum extent; // spatial extent
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mjtNum center[3]; // center of model
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} mjStatistic;
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//---------------------------------- mjModel -------------------------------------------------------
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typedef struct mjModel_ {
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// ------------------------------- sizes
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// sizes needed at mjModel construction
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mjtSize nq; // number of generalized coordinates = dim(qpos)
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mjtSize nv; // number of degrees of freedom = dim(qvel)
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mjtSize nu; // number of scalar controls = dim(ctrl)
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mjtSize nactuator; // number of actuators
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mjtSize nout; // number of force outputs, derived from transmission type
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mjtSize na; // number of activation states = dim(act)
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mjtSize nbody; // number of bodies
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mjtSize nbvh; // number of total bounding volumes in all bodies
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mjtSize nbvhstatic; // number of static bounding volumes (aabb stored in mjModel)
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mjtSize nbvhdynamic; // number of dynamic bounding volumes (aabb stored in mjData)
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mjtSize noct; // number of total octree cells in all meshes
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mjtSize njnt; // number of joints
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mjtSize ntree; // number of kinematic trees under world body
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mjtSize nM; // number of non-zeros in sparse inertia matrix
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mjtSize nB; // number of non-zeros in sparse body-dof matrix
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mjtSize nC; // number of non-zeros in sparse reduced dof-dof matrix
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mjtSize nD; // number of non-zeros in sparse dof-dof matrix
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mjtSize ngeom; // number of geoms
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mjtSize nsite; // number of sites
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mjtSize ncam; // number of cameras
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mjtSize nlight; // number of lights
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mjtSize nflex; // number of flexes
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mjtSize nflexnode; // number of dofs in all flexes
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mjtSize nflexvert; // number of vertices in all flexes
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mjtSize nflexedge; // number of edges in all flexes
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mjtSize nflexelem; // number of elements in all flexes
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mjtSize nflexelemdata; // number of element vertex ids in all flexes
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mjtSize nflexstiffness; // number of stiffness parameters in all flexes
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mjtSize nflexbending; // number of bending parameters in all flexes
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mjtSize nefm0dof; // number of dofs covered by the constant metric factor
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mjtSize nefm0L; // number of non-zeros in the constant metric factor
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mjtSize nflexelemedge; // number of element edge ids in all flexes
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mjtSize nflexshelldata; // number of shell fragment vertex ids in all flexes
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mjtSize nflexevpair; // number of element-vertex pairs in all flexes
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mjtSize nflextexcoord; // number of vertices with texture coordinates
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mjtSize nJfe; // number of non-zeros in sparse flexedge Jacobian matrix
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mjtSize nJfv; // number of non-zeros in sparse flexvert Jacobian matrix
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mjtSize nmesh; // number of meshes
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mjtSize nmeshvert; // number of vertices in all meshes
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mjtSize nmeshnormal; // number of normals in all meshes
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mjtSize nmeshtexcoord; // number of texcoords in all meshes
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mjtSize nmeshface; // number of triangular faces in all meshes
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mjtSize nmeshgraph; // number of ints in mesh auxiliary data
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mjtSize nmeshpoly; // number of polygons in all meshes
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mjtSize nmeshpolyvert; // number of vertices in all polygons
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mjtSize nmeshpolymap; // number of polygons in vertex map
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mjtSize nskin; // number of skins
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mjtSize nskinvert; // number of vertices in all skins
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mjtSize nskintexvert; // number of vertices with texcoords in all skins
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mjtSize nskinface; // number of triangular faces in all skins
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mjtSize nskinbone; // number of bones in all skins
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mjtSize nskinbonevert; // number of vertices in all skin bones
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mjtSize nhfield; // number of heightfields
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mjtSize nhfielddata; // number of data points in all heightfields
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mjtSize ntex; // number of textures
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mjtSize ntexdata; // number of bytes in texture rgb data
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mjtSize nmat; // number of materials
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mjtSize npair; // number of predefined geom pairs
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mjtSize nexclude; // number of excluded geom pairs
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mjtSize neq; // number of equality constraints
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mjtSize ntendon; // number of tendons
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mjtSize nJten; // number of non-zeros in sparse ten_J matrix
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mjtSize nwrap; // number of wrap objects in all tendon paths
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mjtSize nsensor; // number of sensors
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mjtSize nnumeric; // number of numeric custom fields
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mjtSize nnumericdata; // number of mjtNums in all numeric fields
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mjtSize ntext; // number of text custom fields
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mjtSize ntextdata; // number of mjtBytes in all text fields
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mjtSize ntuple; // number of tuple custom fields
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mjtSize ntupledata; // number of objects in all tuple fields
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mjtSize nkey; // number of keyframes
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mjtSize nmocap; // number of mocap bodies
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mjtSize nplugin; // number of plugin instances
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mjtSize npluginattr; // number of chars in all plugin config attributes
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mjtSize nuser_body; // number of mjtNums in body_user
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mjtSize nuser_jnt; // number of mjtNums in jnt_user
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mjtSize nuser_geom; // number of mjtNums in geom_user
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mjtSize nuser_site; // number of mjtNums in site_user
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mjtSize nuser_cam; // number of mjtNums in cam_user
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mjtSize nuser_tendon; // number of mjtNums in tendon_user
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mjtSize nuser_actuator; // number of mjtNums in actuator_user
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mjtSize nuser_sensor; // number of mjtNums in sensor_user
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mjtSize nnames; // number of chars in all names
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mjtSize npaths; // number of chars in all paths
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// sizes set after mjModel construction
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mjtSize nnames_map; // number of slots in the names hash map
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mjtSize nJmom; // number of non-zeros in sparse actuator_moment matrix
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mjtSize ngravcomp; // number of bodies with nonzero gravcomp
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mjtSize nemax; // number of potential equality-constraint rows
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mjtSize njmax; // number of available rows in constraint Jacobian (legacy)
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mjtSize nconmax; // number of potential contacts in contact list (legacy)
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mjtSize npolygonmax; // maximum number of vertices in a mesh polygon
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mjtSize nmeshdegmax; // maximum number of edges adjacent to a mesh vertex
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mjtSize nuserdata; // number of mjtNums reserved for the user
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mjtSize nsensordata; // number of mjtNums in sensor data vector
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mjtSize npluginstate; // number of mjtNums in plugin state vector
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mjtSize nhistory; // number of mjtNums in history buffer
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// buffer sizes
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mjtSize narena; // number of bytes in the mjData arena (inclusive of stack)
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mjtSize nbuffer; // number of bytes in buffer
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// ------------------------------- flags
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mjtBool flg_gravcomp; // whether any body has nonzero gravcomp
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mjtBool flg_surfacevel; // whether any geom has nonzero surfacevel
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mjtBool flg_adhesion; // whether any geom or pair has nonzero adhesion
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// ------------------------------- options and statistics
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mjOption opt; // physics options
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mjVisual vis; // visualization options
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mjStatistic stat; // model statistics
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// ------------------------------- buffers
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// main buffer
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void* buffer; // main buffer; all pointers point in it (nbuffer)
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// default generalized coordinates
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mjtNum* qpos0; // qpos values at default pose (nq x 1)
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mjtNum* qpos_spring; // reference pose for springs (nq x 1)
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// bodies
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int* body_parentid; // id of body's parent (nbody x 1)
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int* body_rootid; // ancestor that is direct child of world (nbody x 1)
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int* body_weldid; // top dof-less ancestor; mocap: own root (nbody x 1)
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int* body_mocapid; // id of mocap data; -1: none (nbody x 1)
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int* body_jntnum; // number of joints for this body (nbody x 1)
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int* body_jntadr; // start addr of joints; -1: no joints (nbody x 1)
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int* body_dofnum; // number of motion degrees of freedom (nbody x 1)
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int* body_dofadr; // start addr of dofs; -1: no dofs (nbody x 1)
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int* body_treeid; // id of body's kinematic tree; -1: static (nbody x 1)
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int* body_geomnum; // number of geoms (nbody x 1)
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int* body_geomadr; // start addr of geoms; -1: no geoms (nbody x 1)
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mjtByte* body_simple; // 1: diag M; 2: diag M, sliders only (nbody x 1)
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mjtByte* body_sameframe; // same frame as inertia (mjtSameframe) (nbody x 1)
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mjtNum* body_pos; // position offset rel. to parent body (nbody x 3)
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mjtNum* body_quat; // orientation offset rel. to parent body (nbody x 4)
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mjtNum* body_ipos; // local position of center of mass (nbody x 3)
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mjtNum* body_iquat; // local orientation of inertia ellipsoid (nbody x 4)
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mjtNum* body_mass; // mass (nbody x 1)
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mjtNum* body_subtreemass; // mass of subtree starting at this body (nbody x 1)
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mjtNum* body_inertia; // diagonal inertia in ipos/iquat frame (nbody x 3)
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mjtNum* body_invweight0; // mean inv inert in qpos0 (trn, rot) (nbody x 2)
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mjtNum* body_gravcomp; // antigravity force, units of body weight (nbody x 1)
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mjtNum* body_margin; // MAX over all geom margins+gaps (nbody x 1)
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mjtNum* body_user; // user data (nbody x nuser_body)
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int* body_plugin; // plugin instance id; -1: not in use (nbody x 1)
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int* body_contype; // OR over all geom contypes (nbody x 1)
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int* body_conaffinity; // OR over all geom conaffinities (nbody x 1)
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int* body_bvhadr; // address of bvh root (nbody x 1)
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int* body_bvhnum; // number of bounding volumes (nbody x 1)
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// bounding volume hierarchy
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int* bvh_depth; // depth in the bounding volume hierarchy (nbvh x 1)
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int* bvh_child; // left and right children in tree (nbvh x 2)
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int* bvh_nodeid; // geom or elem id of node; -1: non-leaf (nbvh x 1)
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mjtNum* bvh_aabb; // local bounding box (center, size) (nbvhstatic x 6)
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// octree spatial partitioning
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int* oct_depth; // depth in the octree (noct x 1)
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int* oct_child; // children of octree node (noct x 8)
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mjtNum* oct_aabb; // octree node bounding box (center, size) (noct x 6)
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mjtNum* oct_coeff; // octree interpolation coefficients (noct x 8)
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// joints
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int* jnt_type; // type of joint (mjtJoint) (njnt x 1)
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int* jnt_qposadr; // start addr in 'qpos' for joint's data (njnt x 1)
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int* jnt_dofadr; // start addr in 'qvel' for joint's data (njnt x 1)
|
|
int* jnt_bodyid; // id of joint's body (njnt x 1)
|
|
int* jnt_actuatorid; // actuator contributing damping / armature (njnt x 1)
|
|
int* jnt_group; // group for visibility (njnt x 1)
|
|
mjtBool* jnt_limited; // does joint have limits (njnt x 1)
|
|
mjtBool* jnt_actfrclimited; // does joint have actuator force limits (njnt x 1)
|
|
mjtBool* jnt_actgravcomp; // is gravcomp force applied via actuators (njnt x 1)
|
|
mjtNum* jnt_solref; // constraint solver reference: limit (njnt x mjNREF)
|
|
mjtNum* jnt_solimp; // constraint solver impedance: limit (njnt x mjNIMP)
|
|
mjtNum* jnt_pos; // local anchor position (njnt x 3)
|
|
mjtNum* jnt_axis; // local joint axis (njnt x 3)
|
|
mjtNum* jnt_stiffness; // linear stiffness coefficient (njnt x 1)
|
|
mjtNum* jnt_stiffnesspoly; // high-order stiffness coefficients (njnt x mjNPOLY)
|
|
mjtNum* jnt_range; // joint limits (njnt x 2)
|
|
mjtNum* jnt_actfrcrange; // range of total actuator force (njnt x 2)
|
|
mjtNum* jnt_margin; // min distance for limit detection (njnt x 1)
|
|
mjtNum* jnt_user; // user data (njnt x nuser_jnt)
|
|
|
|
// dofs
|
|
int* dof_bodyid; // id of dof's body (nv x 1)
|
|
int* dof_jntid; // id of dof's joint (nv x 1)
|
|
int* dof_parentid; // id of dof's parent; -1: none (nv x 1)
|
|
int* dof_treeid; // id of dof's kinematic tree (nv x 1)
|
|
int* dof_Madr; // dof address in M-diagonal (nv x 1)
|
|
int* dof_simplenum; // number of consecutive simple dofs (nv x 1)
|
|
mjtNum* dof_solref; // constraint solver reference:frictionloss (nv x mjNREF)
|
|
mjtNum* dof_solimp; // constraint solver impedance:frictionloss (nv x mjNIMP)
|
|
mjtNum* dof_frictionloss; // dof friction loss (nv x 1)
|
|
mjtNum* dof_armature; // dof armature inertia/mass (nv x 1)
|
|
mjtNum* dof_damping; // linear damping coefficient (nv x 1)
|
|
mjtNum* dof_dampingpoly; // high-order damping coefficients (nv x mjNPOLY)
|
|
mjtNum* dof_invweight0; // diag. inverse inertia in qpos0 (nv x 1)
|
|
mjtNum* dof_M0; // diag. inertia in qpos0 (nv x 1)
|
|
mjtNum* dof_length; // linear: 1; angular: approx. length scale (nv x 1)
|
|
|
|
// trees
|
|
int* tree_bodyadr; // start addr of bodies (ntree x 1)
|
|
int* tree_bodynum; // number of bodies in tree (ntree x 1)
|
|
int* tree_dofadr; // start addr of dofs (ntree x 1)
|
|
int* tree_dofnum; // number of dofs in tree (ntree x 1)
|
|
int* tree_sleep_policy; // sleep policy (mjtSleepPolicy) (ntree x 1)
|
|
|
|
// geoms
|
|
int* geom_type; // geometric type (mjtGeom) (ngeom x 1)
|
|
int* geom_contype; // geom contact type (ngeom x 1)
|
|
int* geom_conaffinity; // geom contact affinity (ngeom x 1)
|
|
int* geom_condim; // contact dimensionality (1, 3, 4, 6) (ngeom x 1)
|
|
int* geom_bodyid; // id of geom's body (ngeom x 1)
|
|
int* geom_dataid; // id of geom's mesh/hfield; -1: none (ngeom x 1)
|
|
int* geom_matid; // material id for rendering; -1: none (ngeom x 1)
|
|
int* geom_group; // group for visibility (ngeom x 1)
|
|
int* geom_priority; // geom contact priority (ngeom x 1)
|
|
int* geom_plugin; // plugin instance id; -1: not in use (ngeom x 1)
|
|
mjtByte* geom_sameframe; // same frame as body (mjtSameframe) (ngeom x 1)
|
|
mjtNum* geom_solmix; // mixing coef for solref/imp in geom pair (ngeom x 1)
|
|
mjtNum* geom_solref; // constraint solver reference: contact (ngeom x mjNREF)
|
|
mjtNum* geom_solimp; // constraint solver impedance: contact (ngeom x mjNIMP)
|
|
mjtNum* geom_size; // geom-specific size parameters (ngeom x 3)
|
|
mjtNum* geom_aabb; // bounding box, (center, size) (ngeom x 6)
|
|
mjtNum* geom_rbound; // radius of bounding sphere (ngeom x 1)
|
|
mjtNum* geom_pos; // local position offset rel. to body (ngeom x 3)
|
|
mjtNum* geom_quat; // local orientation offset rel. to body (ngeom x 4)
|
|
mjtNum* geom_friction; // friction for (slide, spin, roll) (ngeom x 3)
|
|
mjtNum* geom_margin; // geometric inflation for contact (ngeom x 1)
|
|
mjtNum* geom_gap; // additional contact detection buffer (ngeom x 1)
|
|
mjtNum* geom_surfacevel; // surface velocity in local frame: lin,ang (ngeom x 6)
|
|
mjtNum* geom_adhesion; // adhesive force of contacts (ngeom x 1)
|
|
mjtNum* geom_fluid; // fluid interaction parameters (ngeom x mjNFLUID)
|
|
mjtNum* geom_user; // user data (ngeom x nuser_geom)
|
|
float* geom_rgba; // rgba when material is omitted (ngeom x 4)
|
|
|
|
// sites
|
|
int* site_type; // geom type for rendering (mjtGeom) (nsite x 1)
|
|
int* site_bodyid; // id of site's body (nsite x 1)
|
|
int* site_matid; // material id for rendering; -1: none (nsite x 1)
|
|
int* site_group; // group for visibility (nsite x 1)
|
|
mjtByte* site_sameframe; // same frame as body (mjtSameframe) (nsite x 1)
|
|
mjtNum* site_size; // geom size for rendering (nsite x 3)
|
|
mjtNum* site_pos; // local position offset rel. to body (nsite x 3)
|
|
mjtNum* site_quat; // local orientation offset rel. to body (nsite x 4)
|
|
mjtNum* site_user; // user data (nsite x nuser_site)
|
|
float* site_rgba; // rgba when material is omitted (nsite x 4)
|
|
|
|
// cameras
|
|
int* cam_mode; // camera tracking mode (mjtCamLight) (ncam x 1)
|
|
int* cam_bodyid; // id of camera's body (ncam x 1)
|
|
int* cam_targetbodyid; // id of targeted body; -1: none (ncam x 1)
|
|
mjtNum* cam_pos; // position rel. to body frame (ncam x 3)
|
|
mjtNum* cam_quat; // orientation rel. to body frame (ncam x 4)
|
|
mjtNum* cam_poscom0; // global position rel. to sub-com in qpos0 (ncam x 3)
|
|
mjtNum* cam_pos0; // global position rel. to body in qpos0 (ncam x 3)
|
|
mjtNum* cam_mat0; // global orientation in qpos0 (ncam x 9)
|
|
int* cam_projection; // projection type (mjtProjection) (ncam x 1)
|
|
mjtNum* cam_fovy; // y field-of-view (ortho ? len : deg) (ncam x 1)
|
|
mjtNum* cam_ipd; // inter-pupilary distance (ncam x 1)
|
|
int* cam_resolution; // resolution: pixels [width, height] (ncam x 2)
|
|
int* cam_output; // output types (mjtCamOut bit flags) (ncam x 1)
|
|
float* cam_sensorsize; // sensor size: length [width, height] (ncam x 2)
|
|
float* cam_intrinsic; // [focal length; principal point] (ncam x 4)
|
|
mjtNum* cam_user; // user data (ncam x nuser_cam)
|
|
|
|
// lights
|
|
int* light_mode; // light tracking mode (mjtCamLight) (nlight x 1)
|
|
int* light_bodyid; // id of light's body (nlight x 1)
|
|
int* light_targetbodyid; // id of targeted body; -1: none (nlight x 1)
|
|
int* light_type; // spot, directional, etc. (mjtLightType) (nlight x 1)
|
|
int* light_texid; // texture id for image lights (nlight x 1)
|
|
mjtBool* light_castshadow; // does light cast shadows (nlight x 1)
|
|
float* light_bulbradius; // light radius for soft shadows (nlight x 1)
|
|
float* light_intensity; // intensity, in candela (nlight x 1)
|
|
float* light_range; // range of effectiveness (nlight x 1)
|
|
mjtBool* light_active; // is light on (nlight x 1)
|
|
mjtNum* light_pos; // position rel. to body frame (nlight x 3)
|
|
mjtNum* light_dir; // direction rel. to body frame (nlight x 3)
|
|
mjtNum* light_poscom0; // global position rel. to sub-com in qpos0 (nlight x 3)
|
|
mjtNum* light_pos0; // global position rel. to body in qpos0 (nlight x 3)
|
|
mjtNum* light_dir0; // global direction in qpos0 (nlight x 3)
|
|
float* light_attenuation; // OpenGL attenuation (quadratic model) (nlight x 3)
|
|
float* light_cutoff; // OpenGL cutoff (nlight x 1)
|
|
float* light_softness; // spotlight edge softness (nlight x 1)
|
|
float* light_exponent; // OpenGL exponent (nlight x 1)
|
|
float* light_ambient; // ambient rgb (alpha=1) (nlight x 3)
|
|
float* light_diffuse; // diffuse rgb (alpha=1) (nlight x 3)
|
|
float* light_specular; // specular rgb (alpha=1) (nlight x 3)
|
|
|
|
// flexes: contact properties
|
|
int* flex_contype; // flex contact type (nflex x 1)
|
|
int* flex_conaffinity; // flex contact affinity (nflex x 1)
|
|
int* flex_condim; // contact dimensionality (1, 3, 4, 6) (nflex x 1)
|
|
int* flex_priority; // flex contact priority (nflex x 1)
|
|
mjtNum* flex_solmix; // mix coef for solref/imp in contact pair (nflex x 1)
|
|
mjtNum* flex_solref; // constraint solver reference: contact (nflex x mjNREF)
|
|
mjtNum* flex_solimp; // constraint solver impedance: contact (nflex x mjNIMP)
|
|
mjtNum* flex_friction; // friction for (slide, spin, roll) (nflex x 3)
|
|
mjtNum* flex_margin; // geometric inflation for contact (nflex x 1)
|
|
mjtNum* flex_gap; // additional contact detection buffer (nflex x 1)
|
|
mjtBool* flex_internal; // internal flex collision enabled (nflex x 1)
|
|
int* flex_selfcollide; // self collision mode (mjtFlexSelf) (nflex x 1)
|
|
int* flex_activelayers; // number of active element layers, 3D only (nflex x 1)
|
|
int* flex_passive; // passive collisions enabled (nflex x 1)
|
|
|
|
// flexes: other properties
|
|
int* flex_dim; // 1: lines, 2: triangles, 3: tetrahedra (nflex x 1)
|
|
int* flex_matid; // material id for rendering (nflex x 1)
|
|
int* flex_group; // group for visibility (nflex x 1)
|
|
int* flex_interp; // interpolation (0: vertex, 1: nodes) (nflex x 1)
|
|
int* flex_cellnum; // finite cell num per dimension (nflex x 3)
|
|
int* flex_nodeadr; // first node address (nflex x 1)
|
|
int* flex_nodenum; // number of nodes (nflex x 1)
|
|
int* flex_vertadr; // first vertex address (nflex x 1)
|
|
int* flex_vertnum; // number of vertices (nflex x 1)
|
|
int* flex_edgeadr; // first edge address (nflex x 1)
|
|
int* flex_edgenum; // number of edges (nflex x 1)
|
|
int* flex_elemadr; // first element address (nflex x 1)
|
|
int* flex_elemnum; // number of elements (nflex x 1)
|
|
int* flex_elemdataadr; // first element vertex id address (nflex x 1)
|
|
int* flex_stiffnessadr; // stiffness matrix address (nflex x 1)
|
|
int* flex_elemedgeadr; // first element edge id address (nflex x 1)
|
|
int* flex_bendingadr; // first bending data address (nflex x 1)
|
|
int* flex_shellnum; // number of shells (nflex x 1)
|
|
int* flex_shelldataadr; // first shell data address (nflex x 1)
|
|
int* flex_evpairadr; // first evpair address (nflex x 1)
|
|
int* flex_evpairnum; // number of evpairs (nflex x 1)
|
|
int* flex_texcoordadr; // address in flex_texcoord; -1: none (nflex x 1)
|
|
int* flex_nodebodyid; // node body ids (nflexnode x 1)
|
|
int* flex_vertbodyid; // vertex body ids (nflexvert x 1)
|
|
int* flex_vertedgeadr; // first edge address (nflexvert x 1)
|
|
int* flex_vertedgenum; // number of edges (nflexvert x 1)
|
|
int* flex_vertedge; // edge indices (nflexedge x 2)
|
|
int* flex_edge; // edge vertex ids (2 per edge) (nflexedge x 2)
|
|
int* flex_edgeflap; // adjacent vertex ids (dim=2 only) (nflexedge x 2)
|
|
int* flex_elem; // element vertex ids (dim+1 per elem) (nflexelemdata x 1)
|
|
int* flex_elemtexcoord; // element texture coordinates (dim+1) (nflexelemdata x 1)
|
|
int* flex_elemedge; // element edge ids (nflexelemedge x 1)
|
|
int* flex_elemlayer; // element distance from surface, 3D only (nflexelem x 1)
|
|
int* flex_shell; // shell fragment vertex ids (dim per frag) (nflexshelldata x 1)
|
|
int* flex_evpair; // (element, vertex) collision pairs (nflexevpair x 2)
|
|
mjtNum* flex_vert; // vertex positions in local body frames (nflexvert x 3)
|
|
mjtNum* flex_vert0; // vertex positions in qpos0 on [0, 1]^d (nflexvert x 3)
|
|
mjtNum* flex_vertmetric; // inverse of reference shape matrix (nflexvert x 4)
|
|
mjtNum* flex_node; // node positions in local body frames (nflexnode x 3)
|
|
mjtNum* flex_node0; // Cartesian node positions in qpos0 (nflexnode x 3)
|
|
mjtNum* flexedge_length0; // edge lengths in qpos0 (nflexedge x 1)
|
|
mjtNum* flexedge_invweight0; // edge inv. weight in qpos0 (nflexedge x 1)
|
|
mjtNum* flex_radius; // radius around primitive element (nflex x 1)
|
|
mjtNum* flex_size; // vertex bounding box half sizes in qpos0 (nflex x 3)
|
|
mjtNum* flex_stiffness; // finite element stiffness matrix (nflexstiffness x 1)
|
|
mjtNum* flex_bending; // bending stiffness (nflexbending x 1)
|
|
int* efm0_dofid; // constant metric factor row->dof address (nefm0dof x 1)
|
|
int* efm0_L_rownnz; // constant metric factor row nonzeros (nefm0dof x 1)
|
|
int* efm0_L_rowadr; // constant metric factor row addresses (nefm0dof x 1)
|
|
int* efm0_L_colind; // constant metric factor column indices (nefm0L x 1)
|
|
mjtNum* efm0_L; // factor of M + (dt^2+dt*d)*K_bend (nefm0L x 1)
|
|
mjtNum* flex_damping; // Rayleigh's damping coefficient (nflex x 1)
|
|
mjtNum* flex_edgestiffness; // edge stiffness (nflex x 1)
|
|
mjtNum* flex_edgedamping; // edge damping (nflex x 1)
|
|
int* flex_edgeequality; // 0:none, 1:edges, 2:vertices, 3:strain (nflex x 1)
|
|
mjtBool* flex_rigid; // are all vertices in the same body (nflex x 1)
|
|
mjtBool* flexedge_rigid; // are both edge vertices in same body (nflexedge x 1)
|
|
mjtBool* flex_centered; // are all vertex coordinates (0,0,0) (nflex x 1)
|
|
mjtBool* flex_flatskin; // render flex skin with flat shading (nflex x 1)
|
|
int* flex_bvhadr; // address of bvh root; -1: no bvh (nflex x 1)
|
|
int* flex_bvhnum; // number of bounding volumes (nflex x 1)
|
|
int* flexedge_J_rownnz; // number of non-zeros in Jacobian row (nflexedge x 1)
|
|
int* flexedge_J_rowadr; // row start address in colind array (nflexedge x 1)
|
|
int* flexedge_J_colind; // column indices in sparse Jacobian (nJfe x 1)
|
|
int* flexvert_J_rownnz; // number of non-zeros in Jacobian row (nflexvert x 2)
|
|
int* flexvert_J_rowadr; // row start address in colind array (nflexvert x 2)
|
|
int* flexvert_J_colind; // column indices in sparse Jacobian (nJfv x 2)
|
|
float* flex_rgba; // rgba when material is omitted (nflex x 4)
|
|
float* flex_texcoord; // vertex texture coordinates (nflextexcoord x 2)
|
|
|
|
// meshes
|
|
int* mesh_vertadr; // first vertex address (nmesh x 1)
|
|
int* mesh_vertnum; // number of vertices (nmesh x 1)
|
|
int* mesh_faceadr; // first face address (nmesh x 1)
|
|
int* mesh_facenum; // number of faces (nmesh x 1)
|
|
int* mesh_bvhadr; // address of bvh root (nmesh x 1)
|
|
int* mesh_bvhnum; // number of bvh (nmesh x 1)
|
|
int* mesh_octadr; // address of octree root (nmesh x 1)
|
|
int* mesh_octnum; // number of octree nodes (nmesh x 1)
|
|
int* mesh_normaladr; // first normal address (nmesh x 1)
|
|
int* mesh_normalnum; // number of normals (nmesh x 1)
|
|
int* mesh_texcoordadr; // texcoord data address; -1: no texcoord (nmesh x 1)
|
|
int* mesh_texcoordnum; // number of texcoord (nmesh x 1)
|
|
int* mesh_graphadr; // graph data address; -1: no graph (nmesh x 1)
|
|
int* mesh_extrema; // extremum vertices in 3x3x3 directions (nmesh x 27)
|
|
float* mesh_vert; // vertex positions for all meshes (nmeshvert x 3)
|
|
float* mesh_normal; // normals for all meshes (nmeshnormal x 3)
|
|
float* mesh_texcoord; // vertex texcoords for all meshes (nmeshtexcoord x 2)
|
|
int* mesh_face; // vertex face data (nmeshface x 3)
|
|
int* mesh_facenormal; // normal face data (nmeshface x 3)
|
|
int* mesh_facetexcoord; // texture face data (nmeshface x 3)
|
|
int* mesh_graph; // convex graph data (nmeshgraph x 1)
|
|
mjtNum* mesh_scale; // scaling applied to asset vertices (nmesh x 3)
|
|
mjtNum* mesh_pos; // translation applied to asset vertices (nmesh x 3)
|
|
mjtNum* mesh_quat; // rotation applied to asset vertices (nmesh x 4)
|
|
int* mesh_pathadr; // address of asset path for mesh; -1: none (nmesh x 1)
|
|
int* mesh_polynum; // number of polygons per mesh (nmesh x 1)
|
|
int* mesh_polyadr; // first polygon address per mesh (nmesh x 1)
|
|
mjtNum* mesh_polynormal; // all polygon normals (nmeshpoly x 3)
|
|
int* mesh_polyvertadr; // polygon vertex start address (nmeshpoly x 1)
|
|
int* mesh_polyvertnum; // number of vertices per polygon (nmeshpoly x 1)
|
|
int* mesh_polyvert; // all polygon vertices (nmeshpolyvert x 1)
|
|
int* mesh_polymapadr; // first polygon address per vertex (nmeshvert x 1)
|
|
int* mesh_polymapnum; // number of polygons per vertex (nmeshvert x 1)
|
|
int* mesh_polymap; // vertex to polygon map (nmeshpolymap x 1)
|
|
|
|
// skins
|
|
int* skin_matid; // skin material id; -1: none (nskin x 1)
|
|
int* skin_group; // group for visibility (nskin x 1)
|
|
float* skin_rgba; // skin rgba (nskin x 4)
|
|
float* skin_inflate; // inflate skin in normal direction (nskin x 1)
|
|
int* skin_vertadr; // first vertex address (nskin x 1)
|
|
int* skin_vertnum; // number of vertices (nskin x 1)
|
|
int* skin_texcoordadr; // texcoord data address; -1: no texcoord (nskin x 1)
|
|
int* skin_faceadr; // first face address (nskin x 1)
|
|
int* skin_facenum; // number of faces (nskin x 1)
|
|
int* skin_boneadr; // first bone in skin (nskin x 1)
|
|
int* skin_bonenum; // number of bones in skin (nskin x 1)
|
|
float* skin_vert; // vertex positions for all skin meshes (nskinvert x 3)
|
|
float* skin_texcoord; // vertex texcoords for all skin meshes (nskintexvert x 2)
|
|
int* skin_face; // triangle faces for all skin meshes (nskinface x 3)
|
|
int* skin_bonevertadr; // first vertex in each bone (nskinbone x 1)
|
|
int* skin_bonevertnum; // number of vertices in each bone (nskinbone x 1)
|
|
float* skin_bonebindpos; // bind pos of each bone (nskinbone x 3)
|
|
float* skin_bonebindquat; // bind quat of each bone (nskinbone x 4)
|
|
int* skin_bonebodyid; // body id of each bone (nskinbone x 1)
|
|
int* skin_bonevertid; // mesh ids of vertices in each bone (nskinbonevert x 1)
|
|
float* skin_bonevertweight; // weights of vertices in each bone (nskinbonevert x 1)
|
|
int* skin_pathadr; // address of asset path for skin; -1: none (nskin x 1)
|
|
|
|
// height fields
|
|
mjtNum* hfield_size; // (x, y, z_top, z_bottom) (nhfield x 4)
|
|
int* hfield_nrow; // number of rows in grid (nhfield x 1)
|
|
int* hfield_ncol; // number of columns in grid (nhfield x 1)
|
|
int* hfield_adr; // address in hfield_data (nhfield x 1)
|
|
float* hfield_data; // elevation data (nhfielddata x 1)
|
|
int* hfield_pathadr; // address of hfield asset path; -1: none (nhfield x 1)
|
|
|
|
// textures
|
|
int* tex_type; // texture type (mjtTexture) (ntex x 1)
|
|
int* tex_colorspace; // texture colorspace (mjtColorSpace) (ntex x 1)
|
|
int* tex_height; // number of rows in texture image (ntex x 1)
|
|
int* tex_width; // number of columns in texture image (ntex x 1)
|
|
int* tex_nchannel; // number of channels in texture image (ntex x 1)
|
|
mjtSize* tex_adr; // start address in tex_data (ntex x 1)
|
|
mjtByte* tex_data; // pixel values (ntexdata x 1)
|
|
int* tex_pathadr; // address of texture asset path; -1: none (ntex x 1)
|
|
|
|
// materials
|
|
int* mat_texid; // indices of textures; -1: none (nmat x mjNTEXROLE)
|
|
mjtBool* mat_texuniform; // make texture cube uniform (nmat x 1)
|
|
float* mat_texrepeat; // texture repetition for 2d mapping (nmat x 2)
|
|
float* mat_emission; // emission (x rgb) (nmat x 1)
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float* mat_specular; // specular (x white) (nmat x 1)
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float* mat_shininess; // shininess coef (nmat x 1)
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float* mat_reflectance; // reflectance (0: disable) (nmat x 1)
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float* mat_metallic; // metallic coef (nmat x 1)
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float* mat_roughness; // roughness coef (nmat x 1)
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float* mat_rgba; // rgba (nmat x 4)
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// predefined geom pairs for collision detection; has precedence over exclude
|
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int* pair_dim; // contact dimensionality (npair x 1)
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int* pair_geom1; // id of geom1 (npair x 1)
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int* pair_geom2; // id of geom2 (npair x 1)
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int* pair_signature; // body1 << 16 + body2 (npair x 1)
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mjtNum* pair_solref; // solver reference: contact normal (npair x mjNREF)
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mjtNum* pair_solreffriction; // solver reference: contact friction (npair x mjNREF)
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mjtNum* pair_solimp; // solver impedance: contact (npair x mjNIMP)
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mjtNum* pair_margin; // geometric inflation for contact (npair x 1)
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mjtNum* pair_gap; // additional contact detection buffer (npair x 1)
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mjtNum* pair_adhesion; // adhesive force of contacts (npair x 1)
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mjtNum* pair_friction; // tangent1, 2, spin, roll1, 2 (npair x 5)
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// excluded body pairs for collision detection
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int* exclude_signature; // body1 << 16 + body2 (nexclude x 1)
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// equality constraints
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int* eq_type; // constraint type (mjtEq) (neq x 1)
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int* eq_obj1id; // id of object 1 (neq x 1)
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int* eq_obj2id; // id of object 2 (neq x 1)
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int* eq_objtype; // type of both objects (mjtObj) (neq x 1)
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mjtBool* eq_active0; // initial enable/disable constraint state (neq x 1)
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mjtNum* eq_solref; // constraint solver reference (neq x mjNREF)
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mjtNum* eq_solimp; // constraint solver impedance (neq x mjNIMP)
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mjtNum* eq_data; // numeric data for constraint (neq x mjNEQDATA)
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// tendons
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int* tendon_adr; // address of first object in tendon's path (ntendon x 1)
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int* tendon_num; // number of objects in tendon's path (ntendon x 1)
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int* tendon_matid; // material id for rendering (ntendon x 1)
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int* tendon_actuatorid; // actuator contributing damping / armature (ntendon x 1)
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int* tendon_group; // group for visibility (ntendon x 1)
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int* tendon_treenum; // number of trees along tendon's path (ntendon x 1)
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int* tendon_treeid; // first two trees along tendon's path (ntendon x 2)
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int* ten_J_rownnz; // number of non-zeros in Jacobian row (ntendon x 1)
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int* ten_J_rowadr; // row start address in colind array (ntendon x 1)
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int* ten_J_colind; // column indices in sparse Jacobian (nJten x 1)
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mjtBool* tendon_limited; // does tendon have length limits (ntendon x 1)
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mjtBool* tendon_actfrclimited; // does tendon have actuator force limits (ntendon x 1)
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mjtNum* tendon_width; // width for rendering (ntendon x 1)
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mjtNum* tendon_solref_lim; // constraint solver reference: limit (ntendon x mjNREF)
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mjtNum* tendon_solimp_lim; // constraint solver impedance: limit (ntendon x mjNIMP)
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mjtNum* tendon_solref_fri; // constraint solver reference: friction (ntendon x mjNREF)
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mjtNum* tendon_solimp_fri; // constraint solver impedance: friction (ntendon x mjNIMP)
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mjtNum* tendon_range; // tendon length limits (ntendon x 2)
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mjtNum* tendon_actfrcrange; // range of total actuator force (ntendon x 2)
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mjtNum* tendon_margin; // min distance for limit detection (ntendon x 1)
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mjtNum* tendon_stiffness; // linear stiffness coefficient (ntendon x 1)
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mjtNum* tendon_stiffnesspoly; // high-order stiffness coefficients (ntendon x mjNPOLY)
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mjtNum* tendon_damping; // linear damping coefficient (ntendon x 1)
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mjtNum* tendon_dampingpoly; // high-order damping coefficients (ntendon x mjNPOLY)
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mjtNum* tendon_armature; // inertia associated with tendon velocity (ntendon x 1)
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mjtNum* tendon_frictionloss; // loss due to friction (ntendon x 1)
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mjtNum* tendon_lengthspring; // spring resting length range (ntendon x 2)
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mjtNum* tendon_length0; // tendon length in qpos0 (ntendon x 1)
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mjtNum* tendon_invweight0; // inv. weight in qpos0 (ntendon x 1)
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mjtNum* tendon_user; // user data (ntendon x nuser_tendon)
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float* tendon_rgba; // rgba when material is omitted (ntendon x 4)
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// list of all wrap objects in tendon paths
|
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int* wrap_type; // wrap object type (mjtWrap) (nwrap x 1)
|
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int* wrap_objid; // object id: geom, site, joint (nwrap x 1)
|
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mjtNum* wrap_prm; // divisor, joint coef, or site id (nwrap x 1)
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// actuators
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int* actuator_trntype; // transmission type (mjtTrn) (nactuator x 1)
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int* actuator_dyntype; // dynamics type (mjtDyn) (nactuator x 1)
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|
int* actuator_gaintype; // gain type (mjtGain) (nactuator x 1)
|
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int* actuator_biastype; // bias type (mjtBias) (nactuator x 1)
|
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int* actuator_ctrladr; // address of first control (nactuator x 1)
|
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int* actuator_ctrlnum; // number of controls (nactuator x 1)
|
|
int* actuator_ctrlspec; // input signature, scoped by gaintype (nactuator x 1)
|
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int* actuator_outadr; // address of first force output (nactuator x 1)
|
|
int* actuator_outnum; // number of force outputs, from trntype (nactuator x 1)
|
|
int* actuator_actadr; // first activation address; -1: stateless (nactuator x 1)
|
|
int* actuator_actnum; // number of activation variables (nactuator x 1)
|
|
int* actuator_trnid; // transmission id: joint, tendon, site (nactuator x 2)
|
|
mjtNum* actuator_cranklength; // crank length for slider-crank (nactuator x 1)
|
|
mjtNum* actuator_dynprm; // dynamics parameters (nactuator x mjNDYN)
|
|
mjtNum* actuator_gainprm; // gain parameters (nactuator x mjNGAIN)
|
|
mjtNum* actuator_biasprm; // bias parameters (nactuator x mjNBIAS)
|
|
mjtBool* actuator_actlimited; // is activation limited (nactuator x 1)
|
|
mjtNum* actuator_actrange; // range of activations (nactuator x 2)
|
|
mjtBool* actuator_actearly; // step activation before force (nactuator x 1)
|
|
int* actuator_history; // history buffer: [nsample, interp] (nactuator x 2)
|
|
int* actuator_historyadr; // address in history buffer; -1: none (nactuator x 1)
|
|
mjtNum* actuator_delay; // delay time; 0: no delay (nactuator x 1)
|
|
mjtNum* actuator_damping; // linear damping coefficient (nactuator x 1)
|
|
mjtNum* actuator_dampingpoly; // high-order damping coefficients (nactuator x mjNPOLY)
|
|
mjtNum* actuator_armature; // armature added to target (joint, tendon) (nactuator x 1)
|
|
int* actuator_group; // group for visibility (nactuator x 1)
|
|
mjtNum* actuator_user; // user data (nactuator x nuser_actuator)
|
|
int* actuator_plugin; // plugin instance id; -1: not a plugin (nactuator x 1)
|
|
mjtBool* actuator_forcelimited;// is force limited (nactuator x 1)
|
|
mjtNum* actuator_forcerange; // range of forces (nactuator x 2)
|
|
mjtBool* actuator_ctrllimited; // is control limited (nu x 1)
|
|
mjtNum* actuator_ctrlrange; // range of controls (nu x 2)
|
|
mjtNum* actuator_gear; // scale length and transmitted force (nout x 6)
|
|
mjtNum* actuator_acc0; // acceleration from unit force in qpos0 (nout x 1)
|
|
mjtNum* actuator_length0; // actuator length in qpos0 (nout x 1)
|
|
mjtNum* actuator_lengthrange; // feasible actuator length range (nout x 2)
|
|
|
|
// sensors
|
|
int* sensor_type; // sensor type (mjtSensor) (nsensor x 1)
|
|
int* sensor_datatype; // numeric data type (mjtDataType) (nsensor x 1)
|
|
int* sensor_needstage; // required compute stage (mjtStage) (nsensor x 1)
|
|
int* sensor_objtype; // type of sensorized object (mjtObj) (nsensor x 1)
|
|
int* sensor_objid; // id of sensorized object (nsensor x 1)
|
|
int* sensor_reftype; // type of reference frame (mjtObj) (nsensor x 1)
|
|
int* sensor_refid; // id of reference frame; -1: global frame (nsensor x 1)
|
|
int* sensor_intprm; // sensor parameters (nsensor x mjNSENS)
|
|
int* sensor_dim; // number of scalar outputs (nsensor x 1)
|
|
int* sensor_adr; // address in sensor array (nsensor x 1)
|
|
mjtNum* sensor_cutoff; // cutoff for real and positive; 0: ignore (nsensor x 1)
|
|
mjtNum* sensor_noise; // noise standard deviation (nsensor x 1)
|
|
int* sensor_history; // history buffer: [nsample, interp] (nsensor x 2)
|
|
int* sensor_historyadr; // address in history buffer; -1: none (nsensor x 1)
|
|
mjtNum* sensor_delay; // delay time in seconds; 0: no delay (nsensor x 1)
|
|
mjtNum* sensor_interval; // interval: [period, phase] in seconds (nsensor x 2)
|
|
mjtNum* sensor_user; // user data (nsensor x nuser_sensor)
|
|
int* sensor_plugin; // plugin instance id; -1: not a plugin (nsensor x 1)
|
|
|
|
// plugin instances
|
|
int* plugin; // globally registered plugin slot number (nplugin x 1)
|
|
int* plugin_stateadr; // address in the plugin state array (nplugin x 1)
|
|
int* plugin_statenum; // number of states in the plugin instance (nplugin x 1)
|
|
char* plugin_attr; // config attributes of plugin instances (npluginattr x 1)
|
|
int* plugin_attradr; // address to each instance's config attrib (nplugin x 1)
|
|
|
|
// custom numeric fields
|
|
int* numeric_adr; // address of field in numeric_data (nnumeric x 1)
|
|
int* numeric_size; // size of numeric field (nnumeric x 1)
|
|
mjtNum* numeric_data; // array of all numeric fields (nnumericdata x 1)
|
|
|
|
// custom text fields
|
|
int* text_adr; // address of text in text_data (ntext x 1)
|
|
int* text_size; // size of text field (strlen+1) (ntext x 1)
|
|
char* text_data; // array of all text fields (0-terminated) (ntextdata x 1)
|
|
|
|
// custom tuple fields
|
|
int* tuple_adr; // address of text in text_data (ntuple x 1)
|
|
int* tuple_size; // number of objects in tuple (ntuple x 1)
|
|
int* tuple_objtype; // array of object types in all tuples (ntupledata x 1)
|
|
int* tuple_objid; // array of object ids in all tuples (ntupledata x 1)
|
|
mjtNum* tuple_objprm; // array of object params in all tuples (ntupledata x 1)
|
|
|
|
// keyframes
|
|
mjtNum* key_time; // key time (nkey x 1)
|
|
mjtNum* key_qpos; // key position (nkey x nq)
|
|
mjtNum* key_qvel; // key velocity (nkey x nv)
|
|
mjtNum* key_act; // key activation (nkey x na)
|
|
mjtNum* key_mpos; // key mocap position (nkey x nmocap*3)
|
|
mjtNum* key_mquat; // key mocap quaternion (nkey x nmocap*4)
|
|
mjtNum* key_ctrl; // key control (nkey x nu)
|
|
|
|
// names
|
|
int* name_bodyadr; // body name pointers (nbody x 1)
|
|
int* name_jntadr; // joint name pointers (njnt x 1)
|
|
int* name_geomadr; // geom name pointers (ngeom x 1)
|
|
int* name_siteadr; // site name pointers (nsite x 1)
|
|
int* name_camadr; // camera name pointers (ncam x 1)
|
|
int* name_lightadr; // light name pointers (nlight x 1)
|
|
int* name_flexadr; // flex name pointers (nflex x 1)
|
|
int* name_meshadr; // mesh name pointers (nmesh x 1)
|
|
int* name_skinadr; // skin name pointers (nskin x 1)
|
|
int* name_hfieldadr; // hfield name pointers (nhfield x 1)
|
|
int* name_texadr; // texture name pointers (ntex x 1)
|
|
int* name_matadr; // material name pointers (nmat x 1)
|
|
int* name_pairadr; // geom pair name pointers (npair x 1)
|
|
int* name_excludeadr; // exclude name pointers (nexclude x 1)
|
|
int* name_eqadr; // equality constraint name pointers (neq x 1)
|
|
int* name_tendonadr; // tendon name pointers (ntendon x 1)
|
|
int* name_actuatoradr; // actuator name pointers (nactuator x 1)
|
|
int* name_sensoradr; // sensor name pointers (nsensor x 1)
|
|
int* name_numericadr; // numeric name pointers (nnumeric x 1)
|
|
int* name_textadr; // text name pointers (ntext x 1)
|
|
int* name_tupleadr; // tuple name pointers (ntuple x 1)
|
|
int* name_keyadr; // keyframe name pointers (nkey x 1)
|
|
int* name_pluginadr; // plugin instance name pointers (nplugin x 1)
|
|
char* names; // names of all objects, 0-terminated (nnames x 1)
|
|
int* names_map; // internal hash map of names (nnames_map x 1)
|
|
|
|
// paths
|
|
char* paths; // paths to assets, 0-terminated (npaths x 1)
|
|
|
|
// sparse structures
|
|
int* B_rownnz; // body-dof: non-zeros in each row (nbody x 1)
|
|
int* B_rowadr; // body-dof: row addresses (nbody x 1)
|
|
int* B_colind; // body-dof: column indices (nB x 1)
|
|
int* M_rownnz; // reduced inertia: non-zeros in each row (nv x 1)
|
|
int* M_rowadr; // reduced inertia: row addresses (nv x 1)
|
|
int* M_colind; // reduced inertia: column indices (nC x 1)
|
|
int* mapM2M; // index mapping from qM to M (nC x 1)
|
|
int* D_rownnz; // full inertia: non-zeros in each row (nv x 1)
|
|
int* D_rowadr; // full inertia: row addresses (nv x 1)
|
|
int* D_diag; // full inertia: index of diagonal element (nv x 1)
|
|
int* D_colind; // full inertia: column indices (nD x 1)
|
|
int* mapM2D; // index mapping from M to D (nD x 1)
|
|
int* mapD2M; // index mapping from D to M (nC x 1)
|
|
|
|
// compilation signature
|
|
uint64_t signature; // also held by the mjSpec that compiled this model
|
|
} mjModel;
|
|
|
|
#endif // MUJOCO_MJMODEL_H_
|