Yuval Tassa
072e963fa0
https://youtu.be/17XpwnqyCXs New transmission type mjTRN_SO3: a relative orientation, targeting a ball joint or a site+refsite pair. It is the first transmission with more than one force output: its length is the norm of the expmap vector of the relative rotation and its moment axes are the 3 rows of the relative rotational Jacobian, without projecting onto per-actuator gears. New force law mjGAIN_SO3/mjBIAS_SO3: a geodesic PD servo, force = kp * log(q_current^-1 * q_target) - kv * velocity, exact for arbitrary axis combinations with a unique equilibrium at every commanded orientation. Error, moment rows and velocity all live in the child frame (joint or site): the right-difference error is the gradient of the geodesic potential in that frame. The parent-frame (left) error is not: driving child-frame torques with it pumps energy at large angles, settling into steady-spinning limit cycles (the SO3LargeAngleConvergence test). The integrator variant stores the 3D orientation setpoint in act (actnum = 3, re-anchored to a bounded representative at integration time). Exposed in MJCF as <orientation joint=|site=+refsite= kp kv|dampratio>, or via <general gaintype="so3" biastype="so3">. The setpoint input has two charts: an expmap target (3 controls, default) or a quaternion target (4 controls) -- <orientation input="quat">, the first actuator with different input and output widths. The signature is recorded in a new per-actuator field actuator_ctrlspec (mjtCtrlChart), whose meaning is scoped by the gain type the way gain/bias parameters are; ctrlnum is derived from it at compile time and remains the layout authority. An explicit field rather than width inference or a prm slot: width-as-chart cannot express same-width signatures (upcoming servo input subsets), and prm slots are the input_mode pattern this stack retires. The force law normalizes the commanded quaternion, making it scale- and antipodally-invariant. The all-zero ctrl still maps to the identity via mju_normalize4, but it is a degenerate point (a nudge of any component commands a half-turn), so quat inputs reset to the identity quaternion: new mj_resetCtrl sets neutral ctrl values (zero, except qw = 1), called by mj_resetData and the viewers' Clear All. The quat chart is restricted to dyntype 'none': integrating a quaternion setpoint linearly is not meaningful on the manifold. New mjsActuator.ctrlspec field carries the signature through the spec and XML round-trip. Actuator sensors (actuatorpos/vel/frc) now report one value per force output; dim = 3 on an SO3 actuator. As the first actuator with nu != nactuator, this commit also makes the viewers multi-input aware: the control sliders in simulate and studio, which indexed per-actuator arrays by control index (out of bounds on this model class), are generated per control and labeled with the actuator name plus an input suffix ("orient/qw"), via the new introspection helper mj_actuatorInputName -- the single source of truth for input names, extended by each new multi-input type (quaternion components are w-first: qw, qx, qy, qz). Slider ranges now honor a defined ctrlrange even when ctrllimited is false: range is the UI hint, limited is the clamp -- wrapped and expmap setpoints are unbounded but still want finite sliders, while quat components are truly bounded. The rotational demo model is orientation.xml under test/engine/testdata/actuation/, upgraded to a three-way contrast: per-axis wrapped servos vs an expmap-commanded vs a quat-commanded orientation actuator, on identical checker-textured boxes. It is loaded by the mixed-axis contrast and input-name tests, and doubles as the viewer test model (slider groups of 3 independent, 3 grouped, 4 grouped). PiperOrigin-RevId: 951607063 Change-Id: If235dba8e2f2ca72672e7c62531a27e967c6a373
610 lines
26 KiB
C
610 lines
26 KiB
C
// Copyright 2026 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_MJSPECMACRO_H_
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#define MUJOCO_MJSPECMACRO_H_
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//-------------------------------- mjsElement ------------------------------------------------------
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#define MJSELEMENT_FIELDS \
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X( mjtObj, elemtype, 1 ) \
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X( uint64_t, signature, 1 )
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//-------------------------------- mjsCompiler -----------------------------------------------------
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#define MJSCOMPILER_FIELDS \
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X(mjtBool, autolimits, 1) \
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X(double, boundmass, 1) \
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X(double, boundinertia, 1) \
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X(double, settotalmass, 1) \
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X(mjtBool, balanceinertia, 1) \
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X(mjtBool, fitaabb, 1) \
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X(mjtBool, degree, 1) \
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XVEC(char, eulerseq, 3) \
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X(mjtBool, discardvisual, 1) \
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X(mjtBool, usethread, 1) \
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X(mjtBool, fusestatic, 1) \
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X(mjtInertiaFromGeom, inertiafromgeom, 1) \
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XVEC(int, inertiagrouprange, 2) \
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X(mjtBool, saveinertial, 1) \
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X(mjtBool, alignfree, 1) \
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X(mjtConflict, conflict, 1) \
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X(mjLROpt, LRopt, 1) \
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X(mjString*, meshdir, 1) \
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X(mjString*, texturedir, 1) \
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X(uint64_t, authored, 1)
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//-------------------------------- mjSpec ----------------------------------------------------------
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#define MJSPEC_FIELDS \
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X( mjsElement*, element, 1 ) \
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X( mjString*, modelname, 1 ) \
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X( mjsCompiler, compiler, 1 ) \
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X( mjtBool, strippath, 1 ) \
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X( mjOption, option, 1 ) \
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X( mjVisual, visual, 1 ) \
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X( mjStatistic, stat, 1 ) \
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X( mjtSize, memory, 1 ) \
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X( int, nemax, 1 ) \
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X( int, nuserdata, 1 ) \
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X( int, nuser_body, 1 ) \
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X( int, nuser_jnt, 1 ) \
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X( int, nuser_geom, 1 ) \
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X( int, nuser_site, 1 ) \
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X( int, nuser_cam, 1 ) \
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X( int, nuser_tendon, 1 ) \
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X( int, nuser_actuator, 1 ) \
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X( int, nuser_sensor, 1 ) \
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X( int, nkey, 1 ) \
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X( int, njmax, 1 ) \
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X( int, nconmax, 1 ) \
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X( mjtSize, nstack, 1 ) \
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X( mjString*, comment, 1 ) \
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X( mjString*, modelfiledir, 1 ) \
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X( mjtBool, hasImplicitPluginElem, 1 )
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//-------------------------------- mjsOrientation --------------------------------------------------
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#define MJSORIENTATION_FIELDS \
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X ( mjtOrientation, type, 1 ) \
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XVEC( double, axisangle, 4 ) \
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XVEC( double, xyaxes, 6 ) \
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XVEC( double, zaxis, 3 ) \
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XVEC( double, euler, 3 )
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//-------------------------------- mjsPlugin -------------------------------------------------------
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#define MJSPLUGIN_FIELDS \
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X( mjsElement*, element, 1 ) \
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X( mjString*, name, 1 ) \
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X( mjString*, plugin_name, 1 ) \
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X( mjtBool, active, 1 ) \
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X( mjString*, info, 1 )
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//-------------------------------- mjsBody ---------------------------------------------------------
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#define MJSBODY_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjString*, childclass, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, quat, 4 ) \
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X ( mjsOrientation, alt, 1 ) \
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X ( double, mass, 1 ) \
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XVEC( double, ipos, 3 ) \
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XVEC( double, iquat, 4 ) \
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XVEC( double, inertia, 3 ) \
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X ( mjsOrientation, ialt, 1 ) \
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XVEC( double, fullinertia, 6 ) \
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X ( mjtBool, mocap, 1 ) \
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X ( double, gravcomp, 1 ) \
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X ( mjtSleepPolicy, sleep, 1 ) \
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X ( mjtByte, simple, 1 ) \
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X ( mjDoubleVec*, userdata, 1 ) \
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X ( mjtBool, explicitinertial, 1 ) \
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X ( mjsPlugin, plugin, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsFrame --------------------------------------------------------
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#define MJSFRAME_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjString*, childclass, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, quat, 4 ) \
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X ( mjsOrientation, alt, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsJoint --------------------------------------------------------
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#define MJSJOINT_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjtJoint, type, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, axis, 3 ) \
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X ( double, ref, 1 ) \
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X ( mjtAlignFree, align, 1 ) \
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XVEC( double, stiffness, mjNPOLY+1 ) \
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X ( double, springref, 1 ) \
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XVEC( double, springdamper, 2 ) \
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X ( mjtLimited, limited, 1 ) \
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XVEC( double, range, 2 ) \
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X ( double, margin, 1 ) \
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XVEC( mjtNum, solref_limit, mjNREF ) \
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XVEC( mjtNum, solimp_limit, mjNIMP ) \
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X ( mjtLimited, actfrclimited, 1 ) \
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XVEC( double, actfrcrange, 2 ) \
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X ( double, armature, 1 ) \
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XVEC( double, damping, mjNPOLY+1 ) \
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X ( double, frictionloss, 1 ) \
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XVEC( mjtNum, solref_friction, mjNREF ) \
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XVEC( mjtNum, solimp_friction, mjNIMP ) \
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X ( int, group, 1 ) \
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X ( mjtBool, actgravcomp, 1 ) \
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X ( mjDoubleVec*, userdata, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsGeom ---------------------------------------------------------
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#define MJSGEOM_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjtGeom, type, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, quat, 4 ) \
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X ( mjsOrientation, alt, 1 ) \
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XVEC( double, fromto, 6 ) \
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XVEC( double, size, 3 ) \
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X ( int, contype, 1 ) \
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X ( int, conaffinity, 1 ) \
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X ( int, condim, 1 ) \
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X ( int, priority, 1 ) \
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XVEC( double, friction, 3 ) \
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X ( double, solmix, 1 ) \
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XVEC( mjtNum, solref, mjNREF ) \
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XVEC( mjtNum, solimp, mjNIMP ) \
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X ( double, margin, 1 ) \
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X ( double, gap, 1 ) \
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XVEC( double, surfacevel, 6 ) \
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X ( double, adhesion, 1 ) \
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X ( double, mass, 1 ) \
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X ( double, density, 1 ) \
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X ( mjtGeomInertia, typeinertia, 1 ) \
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X ( mjtNum, fluid_ellipsoid, 1 ) \
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XVEC( mjtNum, fluid_coefs, 5 ) \
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X ( mjString*, material, 1 ) \
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XVEC( float, rgba, 4 ) \
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X ( int, group, 1 ) \
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X ( mjString*, hfieldname, 1 ) \
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X ( mjString*, meshname, 1 ) \
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X ( double, fitscale, 1 ) \
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X ( mjDoubleVec*, userdata, 1 ) \
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X ( mjsPlugin, plugin, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsSite ---------------------------------------------------------
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#define MJSSITE_FIELDS \
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X ( mjsElement*, element, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, quat, 4 ) \
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X ( mjsOrientation, alt, 1 ) \
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XVEC( double, fromto, 6 ) \
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XVEC( double, size, 3 ) \
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X ( mjtGeom, type, 1 ) \
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X ( mjString*, material, 1 ) \
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X ( int, group, 1 ) \
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XVEC( float, rgba, 4 ) \
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X ( mjDoubleVec*, userdata, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsCamera -------------------------------------------------------
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#define MJSCAMERA_FIELDS \
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X ( mjsElement*, element, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, quat, 4 ) \
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X ( mjsOrientation, alt, 1 ) \
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X ( mjtCamLight, mode, 1 ) \
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X ( mjString*, targetbody, 1 ) \
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X ( mjtProjection, proj, 1 ) \
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XVEC( int, resolution, 2 ) \
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X ( int, output, 1 ) \
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X ( double, fovy, 1 ) \
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X ( double, ipd, 1 ) \
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XVEC( float, intrinsic, 4 ) \
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XVEC( float, sensor_size, 2 ) \
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XVEC( float, focal_length, 2 ) \
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XVEC( float, focal_pixel, 2 ) \
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XVEC( float, principal_length, 2 ) \
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XVEC( float, principal_pixel, 2 ) \
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X ( mjDoubleVec*, userdata, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsLight --------------------------------------------------------
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#define MJSLIGHT_FIELDS \
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X ( mjsElement*, element, 1 ) \
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XVEC( double, pos, 3 ) \
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XVEC( double, dir, 3 ) \
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X ( mjtCamLight, mode, 1 ) \
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X ( mjString*, targetbody, 1 ) \
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X ( mjtBool, active, 1 ) \
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X ( mjtLightType, type, 1 ) \
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X ( mjString*, texture, 1 ) \
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X ( mjtBool, castshadow, 1 ) \
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X ( float, bulbradius, 1 ) \
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X ( float, intensity, 1 ) \
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X ( float, range, 1 ) \
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XVEC( float, attenuation, 3 ) \
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X ( float, cutoff, 1 ) \
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X ( float, exponent, 1 ) \
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XVEC( float, ambient, 3 ) \
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XVEC( float, diffuse, 3 ) \
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XVEC( float, specular, 3 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsFlex ---------------------------------------------------------
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#define MJSFLEX_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( int, contype, 1 ) \
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X ( int, conaffinity, 1 ) \
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X ( int, condim, 1 ) \
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X ( int, priority, 1 ) \
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XVEC( double, friction, 3 ) \
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X ( double, solmix, 1 ) \
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XVEC( mjtNum, solref, mjNREF ) \
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XVEC( mjtNum, solimp, mjNIMP ) \
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X ( double, margin, 1 ) \
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X ( double, gap, 1 ) \
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X ( int, dim, 1 ) \
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X ( double, radius, 1 ) \
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XVEC( double, size, 3 ) \
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X ( mjtBool, internal, 1 ) \
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X ( mjtBool, flatskin, 1 ) \
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X ( mjtFlexSelf, selfcollide, 1 ) \
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X ( int, passive, 1 ) \
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X ( int, activelayers, 1 ) \
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X ( int, group, 1 ) \
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X ( double, edgestiffness, 1 ) \
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X ( double, edgedamping, 1 ) \
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XVEC( float, rgba, 4 ) \
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X ( mjString*, material, 1 ) \
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X ( double, young, 1 ) \
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X ( double, poisson, 1 ) \
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X ( double, damping, 1 ) \
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X ( double, thickness, 1 ) \
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X ( int, elastic2d, 1 ) \
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XVEC( int, cellcount, 3 ) \
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X ( int, order, 1 ) \
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X ( mjStringVec*, nodebody, 1 ) \
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X ( mjStringVec*, vertbody, 1 ) \
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X ( mjDoubleVec*, node, 1 ) \
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X ( mjDoubleVec*, vert, 1 ) \
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X ( mjIntVec*, elem, 1 ) \
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X ( mjFloatVec*, texcoord, 1 ) \
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X ( mjIntVec*, elemtexcoord, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsMesh ---------------------------------------------------------
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#define MJSMESH_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjString*, content_type, 1 ) \
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X ( mjString*, file, 1 ) \
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XVEC( double, refpos, 3 ) \
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XVEC( double, refquat, 4 ) \
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XVEC( double, scale, 3 ) \
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X ( mjtMeshInertia, inertia, 1 ) \
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X ( mjtBool, smoothnormal, 1 ) \
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X ( mjtBool, needsdf, 1 ) \
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X ( int, maxhullvert, 1 ) \
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X ( mjFloatVec*, uservert, 1 ) \
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X ( mjFloatVec*, usernormal, 1 ) \
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X ( mjFloatVec*, usertexcoord, 1 ) \
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X ( mjIntVec*, userface, 1 ) \
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X ( mjIntVec*, userfacenormal, 1 ) \
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X ( mjIntVec*, userfacetexcoord, 1 ) \
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X ( mjsPlugin, plugin, 1 ) \
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X ( mjString*, material, 1 ) \
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X ( int, octree_maxdepth, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsHField -------------------------------------------------------
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#define MJSHFIELD_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjString*, content_type, 1 ) \
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X ( mjString*, file, 1 ) \
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XVEC( double, size, 4 ) \
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X ( int, nrow, 1 ) \
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X ( int, ncol, 1 ) \
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X ( mjFloatVec*, userdata, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsSkin ---------------------------------------------------------
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#define MJSSKIN_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjString*, file, 1 ) \
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X ( mjString*, material, 1 ) \
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XVEC( float, rgba, 4 ) \
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X ( float, inflate, 1 ) \
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X ( int, group, 1 ) \
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X ( mjFloatVec*, vert, 1 ) \
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X ( mjFloatVec*, texcoord, 1 ) \
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X ( mjIntVec*, face, 1 ) \
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X ( mjStringVec*, bodyname, 1 ) \
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X ( mjFloatVec*, bindpos, 1 ) \
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X ( mjFloatVec*, bindquat, 1 ) \
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X ( mjIntVecVec*, vertid, 1 ) \
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X ( mjFloatVecVec*, vertweight, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsTexture ------------------------------------------------------
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#define MJSTEXTURE_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjtTexture, type, 1 ) \
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X ( mjtColorSpace, colorspace, 1 ) \
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X ( mjtBuiltin, builtin, 1 ) \
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X ( mjtMark, mark, 1 ) \
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XVEC( double, rgb1, 3 ) \
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XVEC( double, rgb2, 3 ) \
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XVEC( double, markrgb, 3 ) \
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X ( double, random, 1 ) \
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X ( int, height, 1 ) \
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X ( int, width, 1 ) \
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X ( int, nchannel, 1 ) \
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X ( mjString*, content_type, 1 ) \
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X ( mjString*, file, 1 ) \
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XVEC( int, gridsize, 2 ) \
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XVEC( char, gridlayout, 12 ) \
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X ( mjStringVec*, cubefiles, 1 ) \
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X ( mjByteVec*, data, 1 ) \
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X ( mjtBool, hflip, 1 ) \
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X ( mjtBool, vflip, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsMaterial -----------------------------------------------------
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#define MJSMATERIAL_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjStringVec*, textures, 1 ) \
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X ( mjtBool, texuniform, 1 ) \
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XVEC( float, texrepeat, 2 ) \
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X ( float, emission, 1 ) \
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X ( float, specular, 1 ) \
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X ( float, shininess, 1 ) \
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X ( float, reflectance, 1 ) \
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X ( float, metallic, 1 ) \
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X ( float, roughness, 1 ) \
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XVEC( float, rgba, 4 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsPair ---------------------------------------------------------
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#define MJSPAIR_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjString*, geomname1, 1 ) \
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X ( mjString*, geomname2, 1 ) \
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X ( int, condim, 1 ) \
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XVEC( mjtNum, solref, mjNREF ) \
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XVEC( mjtNum, solreffriction, mjNREF ) \
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XVEC( mjtNum, solimp, mjNIMP ) \
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X ( double, margin, 1 ) \
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X ( double, gap, 1 ) \
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X ( double, adhesion, 1 ) \
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XVEC( double, friction, 5 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsExclude ------------------------------------------------------
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#define MJSEXCLUDE_FIELDS \
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X( mjsElement*, element, 1 ) \
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X( mjString*, bodyname1, 1 ) \
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X( mjString*, bodyname2, 1 ) \
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X( mjString*, info, 1 )
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//-------------------------------- mjsEquality -----------------------------------------------------
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#define MJSEQUALITY_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjtEq, type, 1 ) \
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XVEC( double, data, mjNEQDATA ) \
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X ( mjtBool, active, 1 ) \
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X ( mjString*, name1, 1 ) \
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X ( mjString*, name2, 1 ) \
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X ( mjtObj, objtype, 1 ) \
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XVEC( mjtNum, solref, mjNREF ) \
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XVEC( mjtNum, solimp, mjNIMP ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsTendon -------------------------------------------------------
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#define MJSTENDON_FIELDS \
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X ( mjsElement*, element, 1 ) \
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XVEC( double, stiffness, mjNPOLY+1 ) \
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XVEC( double, springlength, 2 ) \
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XVEC( double, damping, mjNPOLY+1 ) \
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X ( double, frictionloss, 1 ) \
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XVEC( mjtNum, solref_friction, mjNREF ) \
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XVEC( mjtNum, solimp_friction, mjNIMP ) \
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X ( double, armature, 1 ) \
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X ( mjtLimited, limited, 1 ) \
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X ( mjtLimited, actfrclimited, 1 ) \
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XVEC( double, range, 2 ) \
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XVEC( double, actfrcrange, 2 ) \
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X ( double, margin, 1 ) \
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XVEC( mjtNum, solref_limit, mjNREF ) \
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XVEC( mjtNum, solimp_limit, mjNIMP ) \
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X ( mjString*, material, 1 ) \
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X ( double, width, 1 ) \
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XVEC( float, rgba, 4 ) \
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X ( int, group, 1 ) \
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X ( mjDoubleVec*, userdata, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsWrap ---------------------------------------------------------
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#define MJSWRAP_FIELDS \
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X( mjsElement*, element, 1 ) \
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X( mjtWrap, type, 1 ) \
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X( mjString*, info, 1 )
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//-------------------------------- mjsActuator -----------------------------------------------------
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#define MJSACTUATOR_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjtGain, gaintype, 1 ) \
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XVEC( double, gainprm, mjNGAIN ) \
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X ( mjtBias, biastype, 1 ) \
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XVEC( double, biasprm, mjNGAIN ) \
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X ( mjtDyn, dyntype, 1 ) \
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XVEC( double, dynprm, mjNDYN ) \
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X ( int, actdim, 1 ) \
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X ( int, ctrlspec, 1 ) \
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X ( mjtBool, actearly, 1 ) \
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X ( mjtTrn, trntype, 1 ) \
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XVEC( double, gear, 6 ) \
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X ( mjString*, target, 1 ) \
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X ( mjString*, refsite, 1 ) \
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X ( mjString*, slidersite, 1 ) \
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X ( double, cranklength, 1 ) \
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XVEC( double, lengthrange, 2 ) \
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X ( double, inheritrange, 1 ) \
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XVEC( double, damping, mjNPOLY+1 ) \
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X ( double, armature, 1 ) \
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X ( mjtLimited, ctrllimited, 1 ) \
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XVEC( double, ctrlrange, 2 ) \
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X ( mjtLimited, forcelimited, 1 ) \
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XVEC( double, forcerange, 2 ) \
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X ( mjtLimited, actlimited, 1 ) \
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XVEC( double, actrange, 2 ) \
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X ( int, group, 1 ) \
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X ( int, nsample, 1 ) \
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X ( int, interp, 1 ) \
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X ( double, delay, 1 ) \
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X ( mjDoubleVec*, userdata, 1 ) \
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X ( mjsPlugin, plugin, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsSensor -------------------------------------------------------
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#define MJSSENSOR_FIELDS \
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X ( mjsElement*, element, 1 ) \
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X ( mjtSensor, type, 1 ) \
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X ( mjtObj, objtype, 1 ) \
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X ( mjString*, objname, 1 ) \
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X ( mjtObj, reftype, 1 ) \
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X ( mjString*, refname, 1 ) \
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XVEC( int, intprm, mjNSENS ) \
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X ( mjtDataType, datatype, 1 ) \
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X ( mjtStage, needstage, 1 ) \
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X ( int, dim, 1 ) \
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X ( double, cutoff, 1 ) \
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X ( double, noise, 1 ) \
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X ( int, nsample, 1 ) \
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X ( int, interp, 1 ) \
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X ( double, delay, 1 ) \
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XVEC( double, interval, 2 ) \
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X ( mjDoubleVec*, userdata, 1 ) \
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X ( mjsPlugin, plugin, 1 ) \
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X ( mjString*, info, 1 )
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//-------------------------------- mjsNumeric ------------------------------------------------------
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#define MJSNUMERIC_FIELDS \
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X( mjsElement*, element, 1 ) \
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X( mjDoubleVec*, data, 1 ) \
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X( int, size, 1 ) \
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X( mjString*, info, 1 )
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//-------------------------------- mjsText ---------------------------------------------------------
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#define MJSTEXT_FIELDS \
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X( mjsElement*, element, 1 ) \
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X( mjString*, data, 1 ) \
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X( mjString*, info, 1 )
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//-------------------------------- mjsTuple --------------------------------------------------------
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#define MJSTUPLE_FIELDS \
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X( mjsElement*, element, 1 ) \
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X( mjIntVec*, objtype, 1 ) \
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X( mjStringVec*, objname, 1 ) \
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X( mjDoubleVec*, objprm, 1 ) \
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X( mjString*, info, 1 )
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//-------------------------------- mjsKey ----------------------------------------------------------
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#define MJSKEY_FIELDS \
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X( mjsElement*, element, 1 ) \
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X( double, time, 1 ) \
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X( mjDoubleVec*, qpos, 1 ) \
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X( mjDoubleVec*, qvel, 1 ) \
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X( mjDoubleVec*, act, 1 ) \
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X( mjDoubleVec*, mpos, 1 ) \
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X( mjDoubleVec*, mquat, 1 ) \
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X( mjDoubleVec*, ctrl, 1 ) \
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X( mjString*, info, 1 )
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//-------------------------------- mjsDefault ------------------------------------------------------
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#define MJSDEFAULT_FIELDS \
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X( mjsElement*, element, 1 ) \
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X( mjsJoint*, joint, 1 ) \
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X( mjsGeom*, geom, 1 ) \
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X( mjsSite*, site, 1 ) \
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X( mjsCamera*, camera, 1 ) \
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X( mjsLight*, light, 1 ) \
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X( mjsFlex*, flex, 1 ) \
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X( mjsMesh*, mesh, 1 ) \
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X( mjsMaterial*, material, 1 ) \
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X( mjsPair*, pair, 1 ) \
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X( mjsEquality*, equality, 1 ) \
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X( mjsTendon*, tendon, 1 ) \
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X( mjsActuator*, actuator, 1 )
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#endif // MUJOCO_MJSPECMACRO_H_
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