Yuval Tassa
ab209c41be
PiperOrigin-RevId: 606214754 Change-Id: I4d5ddd98baf52fc71acc1bfca0b345cafda4ce7f
555 lines
21 KiB
C
555 lines
21 KiB
C
// Copyright 2024 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_SRC_USER_USER_API_H_
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#define MUJOCO_SRC_USER_USER_API_H_
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#include <mujoco/mjexport.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjtnum.h>
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// this is a C-API
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#ifdef __cplusplus
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extern "C" {
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#endif
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//---------------------------------- handles to internal objects -----------------------------------
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typedef struct _mjElement* mjElement;
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typedef struct _mjString* mjString;
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typedef struct _mjDouble* mjDouble;
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//---------------------------------- enum types (mjt) ----------------------------------------------
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typedef enum _mjtGeomInertia { // type of inertia inference
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mjINERTIA_VOLUME, // mass distributed in the volume
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mjINERTIA_SHELL, // mass distributed on the surface
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} mjtGeomInertia;
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//---------------------------------- attribute structs (mjm) ---------------------------------------
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typedef struct _mjmOrientation { // alternative orientation specifiers
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double axisangle[4]; // rotation axis and angle
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double xyaxes[6]; // x and y axes
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double zaxis[3]; // z axis (use minimal rotation)
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double euler[3]; // euler angles
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} mjmOrientation;
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typedef struct _mjmPlugin { // plugin specification
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mjElement instance; // internal, do not modify
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mjString name; // name
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mjString instance_name; // instance name
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bool active; // is the plugin active
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} mjmPlugin;
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typedef struct _mjmBody { // body specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // childclass name
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// body frame
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double pos[3]; // frame position
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double quat[4]; // frame orientation
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mjmOrientation alt; // frame alternative orientation
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// inertial frame
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double mass; // mass
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double ipos[3]; // inertial frame position
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double iquat[4]; // inertial frame orientation
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double inertia[3]; // diagonal inertia (in i-frame)
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mjmOrientation ialt; // inertial frame alternative orientation
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double fullinertia[6]; // non-axis-aligned inertia matrix
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// other
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mjtByte mocap; // is this a mocap body
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double gravcomp; // gravity compensation
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mjDouble userdata; // user data
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mjtByte explicitinertial; // whether to save the body with explicit inertial clause
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mjmPlugin plugin; // passive force plugin
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mjString info; // message appended to compiler errors
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} mjmBody;
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typedef struct _mjmFrame { // frame specification
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mjElement element; // internal, do not modify
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double pos[3]; // position
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double quat[4]; // orientation
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mjmOrientation alt; // alternative orientation
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mjString info; // message appended to compiler errors
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} mjmFrame;
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typedef struct _mjmJoint { // joint specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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mjtJoint type; // joint type
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// kinematics
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double pos[3]; // anchor position
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double axis[3]; // joint axis
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double ref; // value at reference configuration: qpos0
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// stiffness
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double stiffness; // stiffness coefficient
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double springref; // spring reference value: qpos_spring
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double springdamper[2]; // timeconst, dampratio
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// limits
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int limited; // does joint have limits
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double range[2]; // joint limits
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double margin; // margin value for joint limit detection
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mjtNum solref_limit[mjNREF]; // solver reference: joint limits
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mjtNum solimp_limit[mjNIMP]; // solver impedance: joint limits
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int actfrclimited; // are actuator forces on joint limited
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double actfrcrange[2]; // actuator force limits
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// dof properties
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double armature; // armature inertia (mass for slider)
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double damping; // damping coefficient
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double frictionloss; // friction loss
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mjtNum solref_friction[mjNREF]; // solver reference: dof friction
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mjtNum solimp_friction[mjNIMP]; // solver impedance: dof friction
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// other
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int group; // group
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double urdfeffort; // effort (urdf)
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mjDouble userdata; // user data
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mjString info; // message appended to compiler errors
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} mjmJoint;
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typedef struct _mjmGeom { // geom specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // classname
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mjtGeom type; // geom type
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// frame, size
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double pos[3]; // position
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double quat[4]; // orientation
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mjmOrientation alt; // alternative orientation
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double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
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double size[3]; // type-specific size
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// contact related
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int contype; // contact type
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int conaffinity; // contact affinity
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int condim; // contact dimensionality
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int priority; // contact priority
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double friction[3]; // one-sided friction coefficients: slide, roll, spin
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double solmix; // solver mixing for contact pairs
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mjtNum solref[mjNREF]; // solver reference
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mjtNum solimp[mjNIMP]; // solver impedance
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double margin; // margin for contact detection
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double gap; // include in solver if dist < margin-gap
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// inertia inference
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double mass; // used to compute density
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double density; // used to compute mass and inertia from volume or surface
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mjtGeomInertia typeinertia; // selects between surface and volume inertia
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// fluid forces
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mjtNum fluid_ellipsoid; // whether ellipsoid-fluid model is active
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mjtNum fluid_coefs[5]; // ellipsoid-fluid interaction coefs
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// visual
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mjString material; // name of material
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float rgba[4]; // rgba when material is omitted
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int group; // group
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// other
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mjString hfieldname; // heightfield attached to geom
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mjString meshname; // mesh attached to geom
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double fitscale; // scale mesh uniformly
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mjDouble userdata; // user data
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mjmPlugin plugin; // sdf plugin
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mjString info; // message appended to compiler errors
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} mjmGeom;
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typedef struct _mjmSite { // site specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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// frame, size
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double pos[3]; // position
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double quat[4]; // orientation
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mjmOrientation alt; // alternative orientation
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double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
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double size[3]; // geom size
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// visual
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mjtGeom type; // geom type
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mjString material; // name of material
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int group; // group
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float rgba[4]; // rgba when material is omitted
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// other
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mjDouble userdata; // user data
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mjString info; // message appended to compiler errors
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} mjmSite;
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typedef struct _mjmCamera { // camera specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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// extrinsics
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double pos[3]; // position
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double quat[4]; // orientation
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mjmOrientation alt; // alternative orientation
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mjtCamLight mode; // tracking mode
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mjString targetbody; // target body for tracking/targeting
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// intrinsics
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double fovy; // y-field of view
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double ipd; // inter-pupilary distance
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float intrinsic[4]; // camera intrinsics (length)
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float sensor_size[2]; // sensor size (length)
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float resolution[2]; // resolution (pixel)
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float focal_length[2]; // focal length (length)
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float focal_pixel[2]; // focal length (pixel)
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float principal_length[2]; // principal point (length)
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float principal_pixel[2]; // principal point (pixel)
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// other
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mjDouble userdata; // user data
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mjString info; // message appended to compiler errors
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} mjmCamera;
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typedef struct _mjmLight { // light specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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// frame
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double pos[3]; // position
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double dir[3]; // direction
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mjtCamLight mode; // tracking mode
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mjString targetbody; // target body for targeting
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// intrinsics
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mjtByte active; // is light active
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mjtByte directional; // is light directional or spot
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mjtByte castshadow; // does light cast shadows
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float attenuation[3]; // OpenGL attenuation (quadratic model)
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float cutoff; // OpenGL cutoff
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float exponent; // OpenGL exponent
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float ambient[3]; // ambient color
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float diffuse[3]; // diffuse color
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float specular[3]; // specular color
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// other
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mjString info; // message appended to compiler errors
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} mjmLight;
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typedef struct _mjmMaterial { // material specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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mjString texture; // name of texture (empty: none)
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bool texuniform; // make texture cube uniform
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float texrepeat[2]; // texture repetition for 2D mapping
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float emission; // emission
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float specular; // specular
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float shininess; // shininess
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float reflectance; // reflectance
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float rgba[4]; // rgba
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mjString info; // message appended to compiler errors
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} mjmMaterial;
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typedef struct _mjmEquality { // equality specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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mjtEq type; // constraint type
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double data[mjNEQDATA]; // type-dependent data
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mjtByte active; // is equality initially active
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mjString name1; // name of object 1
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mjString name2; // name of object 2
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mjtNum solref[mjNREF]; // solver reference
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mjtNum solimp[mjNIMP]; // solver impedance
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mjString info; // message appended to errors
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} mjmEquality;
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typedef struct _mjmTendon { // tendon specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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// stiffness, damping, friction
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double stiffness; // stiffness coefficient
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double springlength[2]; // spring resting length; {-1, -1}: use qpos_spring
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double damping; // damping coefficient
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double frictionloss; // friction loss
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mjtNum solref_friction[mjNREF]; // solver reference: tendon friction
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mjtNum solimp_friction[mjNIMP]; // solver impedance: tendon friction
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// length range
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int limited; // does tendon have limits: 0 false, 1 true, 2 auto
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double range[2]; // length limits
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double margin; // margin value for tendon limit detection
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mjtNum solref_limit[mjNREF]; // solver reference: tendon limits
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mjtNum solimp_limit[mjNIMP]; // solver impedance: tendon limits
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// visual
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mjString material; // name of material for rendering
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double width; // width for rendering
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float rgba[4]; // rgba when material is omitted
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int group; // group
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// other
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mjDouble userdata; // user data
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mjString info; // message appended to errors
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} mjmTendon;
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typedef struct _mjmWrap { // wrapping object specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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mjString info; // message appended to errors
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} mjmWrap;
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typedef struct _mjmActuator { // actuator specification
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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// gain, bias
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mjtGain gaintype; // gain type
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double gainprm[mjNGAIN]; // gain parameters
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mjtBias biastype; // bias type
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double biasprm[mjNGAIN]; // bias parameters
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// activation state
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mjtDyn dyntype; // dynamics type
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double dynprm[mjNDYN]; // dynamics parameters
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int actdim; // number of activation variables
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int plugin_actdim; // actuator state size for plugins
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mjtByte actearly; // apply next activations to qfrc
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// transmission
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mjtTrn trntype; // transmission type
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double gear[6]; // length and transmitted force scaling
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mjString target; // name of transmission target
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mjString refsite; // reference site, for site transmission
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mjString slidersite; // site defining cylinder, for slider-crank
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double cranklength; // crank length, for slider-crank
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double lengthrange[2]; // transmission length range
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// input/output clamping
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int ctrllimited; // are control limits defined: 0 false, 1 true, 2 auto
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double ctrlrange[2]; // control range
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int forcelimited; // are force limits defined: 0 false, 1 true, 2 auto
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double forcerange[2]; // force range
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int actlimited; // are activation limits defined: 0 false, 1 true, 2 auto
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double actrange[2]; // activation range
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// other
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int group; // group
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mjDouble userdata; // user data
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mjmPlugin plugin; // actuator plugin
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mjString info; // message appended to compiler errors
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} mjmActuator;
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typedef struct _mjmSensor { // sensor specfication
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mjElement element; // internal, do not modify
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mjString name; // name
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mjString classname; // class name
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// sensor defintion
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mjtSensor type; // type of sensor
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mjtObj objtype; // type of sensorized object
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mjString objname; // name of sensorized object
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mjtObj reftype; // type of referenced object
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mjString refname; // name of referenced object
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// user-defined sensors
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mjtDataType datatype; // data type for sensor measurement
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mjtStage needstage; // compute stage needed to simulate sensor
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int dim; // number of scalar outputs
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// output post-processing
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double cutoff; // cutoff for real and positive datatypes
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double noise; // noise stdev
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// other
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mjDouble userdata; // user data
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mjmPlugin plugin; // sensor plugin
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mjString info; // message appended to compiler errors
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} mjmSensor;
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//---------------------------------- API functions -------------------------------------------------
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// Create model.
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MJAPI void* mjm_createModel();
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// Delete model.
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MJAPI void mjm_deleteModel(void* modelspec);
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// Copy spec into private attributes.
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MJAPI void mjm_finalize(mjElement object);
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// Add child body to body, return child spec.
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MJAPI mjmBody* mjm_addBody(mjmBody* body, void* defspec);
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// Add site to body, return site spec.
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MJAPI mjmSite* mjm_addSite(mjmBody* body, void* defspec);
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// Add joint to body.
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MJAPI mjmJoint* mjm_addJoint(mjmBody* body, void* defspec);
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// Add freejoint to body.
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MJAPI mjmJoint* mjm_addFreeJoint(mjmBody* body);
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// Add geom to body.
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MJAPI mjmGeom* mjm_addGeom(mjmBody* body, void* defspec);
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// Add camera to body.
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MJAPI mjmCamera* mjm_addCamera(mjmBody* body, void* defspec);
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// Add light to body.
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MJAPI mjmLight* mjm_addLight(mjmBody* body, void* defspec);
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// Add frame to body.
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MJAPI mjmFrame* mjm_addFrame(mjmBody* body, mjmFrame* parentframe);
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// Add material to model.
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MJAPI mjmMaterial* mjm_addMaterial(void* model, void* defspec);
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// Add equality to model.
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MJAPI mjmEquality* mjm_addEquality(void* model, void* defspec);
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// Add tendon to model.
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MJAPI mjmTendon* mjm_addTendon(void* model, void* defspec);
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// Wrap site using tendon.
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MJAPI mjmWrap* mjm_wrapSite(mjmTendon* tendon, const char* name);
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// Wrap geom using tendon.
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MJAPI mjmWrap* mjm_wrapGeom(mjmTendon* tendon, const char* name, const char* sidesite);
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// Wrap joint using tendon.
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MJAPI mjmWrap* mjm_wrapJoint(mjmTendon* tendon, const char* name, double coef);
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// Wrap pulley using tendon.
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MJAPI mjmWrap* mjm_wrapPulley(mjmTendon* tendon, double divisor);
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// Add actuator to model.
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MJAPI mjmActuator* mjm_addActuator(void* model, void* defspec);
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// Add sensor to model.
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MJAPI mjmSensor* mjm_addSensor(void* model);
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// Add plugin to model.
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MJAPI mjElement mjm_addPlugin(void* model);
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// Get model from body.
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MJAPI void* mjm_getModel(mjmBody* body);
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// Get default corresponding to an mjElement.
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MJAPI void* mjm_getDefault(mjElement element);
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// Find body in model by name.
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MJAPI mjmBody* mjm_findBody(void* modelspec, const char* name);
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// Find child body by name.
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MJAPI mjmBody* mjm_findChild(mjmBody* body, const char* name);
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// Get element id.
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MJAPI int mjm_getId(mjElement element);
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// Copy text to destination string.
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MJAPI void mjm_setString(mjString dest, const char* text);
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// Copy double array to destination vector.
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MJAPI void mjm_setDouble(mjDouble dest, const double* array, int size);
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// Get string contents.
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MJAPI const char* mjm_getString(mjString source);
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// Get double array contents and optionally its size.
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MJAPI const double* mjm_getDouble(mjDouble source, int* size);
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// Set default.
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MJAPI void mjm_setDefault(mjElement element, void* defspec);
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// Set frame.
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MJAPI void mjm_setFrame(mjElement dest, mjmFrame* frame);
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// Compute quat and inertia from body->fullinertia.
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MJAPI const char* mjm_setFullInertia(mjmBody* body, double quat[4], double inertia[3]);
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//---------------------------------- Initialization functions --------------------------------------
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// Default body attributes.
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MJAPI void mjm_defaultBody(mjmBody& body);
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// Default frame attributes.
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MJAPI void mjm_defaultFrame(mjmFrame& frame);
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// Default joint attributes.
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MJAPI void mjm_defaultJoint(mjmJoint& joint);
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// Default geom attributes.
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MJAPI void mjm_defaultGeom(mjmGeom& geom);
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// Default site attributes.
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MJAPI void mjm_defaultSite(mjmSite& site);
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// Default camera attributes.
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MJAPI void mjm_defaultCamera(mjmCamera& camera);
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// Default light attributes.
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MJAPI void mjm_defaultLight(mjmLight& light);
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// Default material attributes.
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MJAPI void mjm_defaultMaterial(mjmMaterial& material);
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// Default equality attributes.
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MJAPI void mjm_defaultEquality(mjmEquality& equality);
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// Default tendon attributes.
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MJAPI void mjm_defaultTendon(mjmTendon& tendon);
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// Default actuator attributes.
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MJAPI void mjm_defaultActuator(mjmActuator& actuator);
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// Default sensor attributes.
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MJAPI void mjm_defaultSensor(mjmSensor& sensor);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_USER_USER_API_H_
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