Saran Tunyasuvunakool
b362cb4972
This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData. To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData. Fixes https://github.com/deepmind/mujoco/issues/796 PiperOrigin-RevId: 525723636 Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
3193 lines
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ReStructuredText
3193 lines
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ReStructuredText
..
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AUTOGENERATE: DO NOT EDIT
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.. _Parseandcompile:
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Parse and compile
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^^^^^^^^^^^^^^^^^
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The key function here is :ref:`mj_loadXML`. It invokes the built-in parser and compiler, and either returns a pointer to
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a valid mjModel, or NULL - in which case the user should check the error information in the user-provided string.
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The model and all files referenced in it can be loaded from disk or from a VFS when provided.
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.. _mj_loadXML:
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mj_loadXML
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~~~~~~~~~~
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.. mujoco-include:: mj_loadXML
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Parse XML file in MJCF or URDF format, compile it, return low-level model.
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If vfs is not NULL, look up files in vfs before reading from disk.
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If error is not NULL, it must have size error_sz.
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.. _mj_saveLastXML:
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mj_saveLastXML
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~~~~~~~~~~~~~~
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.. mujoco-include:: mj_saveLastXML
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Update XML data structures with info from low-level model, save as MJCF.
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If error is not NULL, it must have size error_sz.
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.. _mj_freeLastXML:
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mj_freeLastXML
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~~~~~~~~~~~~~~
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.. mujoco-include:: mj_freeLastXML
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Free last XML model if loaded. Called internally at each load.
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.. _mj_printSchema:
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mj_printSchema
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~~~~~~~~~~~~~~
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.. mujoco-include:: mj_printSchema
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Print internal XML schema as plain text or HTML, with style-padding or `` ``.
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.. _Mainsimulation:
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Main simulation
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^^^^^^^^^^^^^^^
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These are the main entry points to the simulator. Most users will only need to call :ref:`mj_step`, which computes
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everything and advanced the simulation state by one time step. Controls and applied forces must either be set in advance
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(in mjData.{ctrl, qfrc_applied, xfrc_applied}), or a control callback :ref:`mjcb_control` must be installed which will be
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called just before the controls and applied forces are needed. Alternatively, one can use :ref:`mj_step1` and
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:ref:`mj_step2` which break down the simulation pipeline into computations that are executed before and after the
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controls are needed; in this way one can set controls that depend on the results from :ref:`mj_step1`. Keep in mind
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though that the RK4 solver does not work with mj_step1/2.
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mj_forward performs the same computations as :ref:`mj_step` but without the integration. It is useful after loading or
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resetting a model (to put the entire mjData in a valid state), and also for out-of-order computations that involve
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sampling or finite-difference approximations.
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mj_inverse runs the inverse dynamics, and writes its output in ``mjData.qfrc_inverse``. Note that ``mjData.qacc`` must
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be set before calling this function. Given the state (qpos, qvel, act), mj_forward maps from force to acceleration,
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while mj_inverse maps from acceleration to force. Mathematically these functions are inverse of each other, but
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numerically this may not always be the case because the forward dynamics rely on a constraint optimization algorithm
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which is usually terminated early. The difference between the results of forward and inverse dynamics can be computed
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with the function :ref:`mj_compareFwdInv`, which can be though of as another solver accuracy check (as well as a general
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sanity check).
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The skip version of :ref:`mj_forward` and :ref:`mj_inverse` are useful for example when qpos was unchanged but qvel was
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changed (usually in the context of finite differencing). Then there is no point repeating the computations that only
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depend on qpos. Calling the dynamics with skipstage = mjSTAGE_POS will achieve these savings.
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.. _mj_step:
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mj_step
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~~~~~~~
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.. mujoco-include:: mj_step
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Advance simulation, use control callback to obtain external force and control.
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.. _mj_step1:
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mj_step1
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~~~~~~~~
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.. mujoco-include:: mj_step1
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Advance simulation in two steps: before external force and control is set by user.
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.. _mj_step2:
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mj_step2
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~~~~~~~~
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.. mujoco-include:: mj_step2
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Advance simulation in two steps: after external force and control is set by user.
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.. _mj_forward:
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mj_forward
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~~~~~~~~~~
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.. mujoco-include:: mj_forward
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Forward dynamics: same as mj_step but do not integrate in time.
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.. _mj_inverse:
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mj_inverse
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~~~~~~~~~~
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.. mujoco-include:: mj_inverse
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Inverse dynamics: qacc must be set before calling.
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.. _mj_forwardSkip:
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mj_forwardSkip
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~~~~~~~~~~~~~~
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.. mujoco-include:: mj_forwardSkip
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Forward dynamics with skip; skipstage is mjtStage.
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.. _mj_inverseSkip:
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mj_inverseSkip
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~~~~~~~~~~~~~~
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.. mujoco-include:: mj_inverseSkip
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Inverse dynamics with skip; skipstage is mjtStage.
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.. _Support:
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Support
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^^^^^^^
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These are support functions that need access to :ref:`mjModel` and :ref:`mjData`, unlike the utility functions which do
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not need such access. Support functions are called within the simulator but some of them can also be useful for custom
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computations, and are documented in more detail below.
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.. _mj_addContact:
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mj_addContact
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~~~~~~~~~~~~~
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.. mujoco-include:: mj_addContact
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Add contact to d->contact list; return 0 if success; 1 if buffer full.
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.. _mj_isPyramidal:
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mj_isPyramidal
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~~~~~~~~~~~~~~
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.. mujoco-include:: mj_isPyramidal
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Determine type of friction cone.
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.. _mj_isSparse:
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mj_isSparse
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~~~~~~~~~~~
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.. mujoco-include:: mj_isSparse
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Determine type of constraint Jacobian.
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.. _mj_isDual:
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mj_isDual
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~~~~~~~~~
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.. mujoco-include:: mj_isDual
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Determine type of solver (PGS is dual, CG and Newton are primal).
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.. _mj_mulJacVec:
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mj_mulJacVec
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~~~~~~~~~~~~
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.. mujoco-include:: mj_mulJacVec
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This function multiplies the constraint Jacobian :ref:`mjData`.efc_J by a vector. Note that the Jacobian can be either dense or
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sparse; the function is aware of this setting. Multiplication by J maps velocities from joint space to constraint space.
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.. _mj_mulJacTVec:
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mj_mulJacTVec
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~~~~~~~~~~~~~
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.. mujoco-include:: mj_mulJacTVec
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Same as mj_mulJacVec but multiplies by the transpose of the Jacobian. This maps forces from constraint space to joint
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space.
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.. _mj_jac:
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mj_jac
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~~~~~~
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.. mujoco-include:: mj_jac
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This function computes an "end-effector" Jacobian, which is unrelated to the constraint Jacobian above. Any MuJoCo body
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can be treated as end-effector, and the point for which the Jacobian is computed can be anywhere in space (it is treated
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as attached to the body). The Jacobian has translational (jacp) and rotational (jacr) components. Passing NULL for
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either pointer will skip part of the computation. Each component is a 3-by-nv matrix. Each row of this matrix is the
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gradient of the corresponding 3D coordinate of the specified point with respect to the degrees of freedom. The ability
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to compute end-effector Jacobians analytically is one of the advantages of working in minimal coordinates - so use it!
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.. _mj_jacBody:
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mj_jacBody
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~~~~~~~~~~
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.. mujoco-include:: mj_jacBody
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This and the remaining variants of the Jacobian function call mj_jac internally, with the center of the body, geom or
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site. They are just shortcuts; the same can be achieved by calling mj_jac directly.
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.. _mj_jacBodyCom:
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mj_jacBodyCom
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~~~~~~~~~~~~~
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.. mujoco-include:: mj_jacBodyCom
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Compute body center-of-mass end-effector Jacobian.
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.. _mj_jacSubtreeCom:
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mj_jacSubtreeCom
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~~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_jacSubtreeCom
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Compute subtree center-of-mass end-effector Jacobian.
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.. _mj_jacGeom:
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mj_jacGeom
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~~~~~~~~~~
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.. mujoco-include:: mj_jacGeom
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Compute geom end-effector Jacobian.
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.. _mj_jacSite:
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mj_jacSite
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~~~~~~~~~~
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.. mujoco-include:: mj_jacSite
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Compute site end-effector Jacobian.
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.. _mj_jacPointAxis:
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mj_jacPointAxis
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~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_jacPointAxis
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Compute translation end-effector Jacobian of point, and rotation Jacobian of axis.
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.. _mj_name2id:
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mj_name2id
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~~~~~~~~~~
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.. mujoco-include:: mj_name2id
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Get id of object with the specified mjtObj type and name, returns -1 if id not found.
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.. _mj_id2name:
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mj_id2name
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~~~~~~~~~~
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.. mujoco-include:: mj_id2name
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Get name of object with the specified mjtObj type and id, returns NULL if name not found.
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.. _mj_fullM:
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mj_fullM
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~~~~~~~~
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.. mujoco-include:: mj_fullM
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Convert sparse inertia matrix M into full (i.e. dense) matrix.
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.. _mj_mulM:
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mj_mulM
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~~~~~~~
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.. mujoco-include:: mj_mulM
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This function multiplies the joint-space inertia matrix stored in :ref:`mjData`.qM by a vector. qM has a custom sparse format
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that the user should not attempt to manipulate directly. Alternatively one can convert qM to a dense matrix with
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mj_fullM and then user regular matrix-vector multiplication, but this is slower because it no longer benefits from
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sparsity.
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.. _mj_mulM2:
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mj_mulM2
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~~~~~~~~
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.. mujoco-include:: mj_mulM2
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Multiply vector by (inertia matrix)^(1/2).
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.. _mj_addM:
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mj_addM
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~~~~~~~
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.. mujoco-include:: mj_addM
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Add inertia matrix to destination matrix.
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Destination can be sparse uncompressed, or dense when all int* are NULL
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.. _mj_applyFT:
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mj_applyFT
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~~~~~~~~~~
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.. mujoco-include:: mj_applyFT
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This function can be used to apply a Cartesian force and torque to a point on a body, and add the result to the vector
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:ref:`mjData`.qfrc_applied of all applied forces. Note that the function requires a pointer to this vector, because sometimes
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we want to add the result to a different vector.
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.. _mj_objectVelocity:
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mj_objectVelocity
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~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_objectVelocity
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Compute object 6D velocity (rot:lin) in object-centered frame, world/local orientation.
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.. _mj_objectAcceleration:
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mj_objectAcceleration
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~~~~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_objectAcceleration
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Compute object 6D acceleration (rot:lin) in object-centered frame, world/local orientation.
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.. _mj_contactForce:
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mj_contactForce
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~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_contactForce
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Extract 6D force:torque given contact id, in the contact frame.
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.. _mj_differentiatePos:
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mj_differentiatePos
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~~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_differentiatePos
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This function subtracts two vectors in the format of qpos (and divides the result by dt), while respecting the
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properties of quaternions. Recall that unit quaternions represent spatial orientations. They are points on the unit
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sphere in 4D. The tangent to that sphere is a 3D plane of rotational velocities. Thus when we subtract two quaternions
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in the right way, the result is a 3D vector and not a 4D vector. This the output qvel has dimensionality nv while the
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inputs have dimensionality nq.
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.. _mj_integratePos:
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mj_integratePos
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~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_integratePos
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This is the opposite of mj_differentiatePos. It adds a vector in the format of qvel (scaled by dt) to a vector in the
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format of qpos.
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.. _mj_normalizeQuat:
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mj_normalizeQuat
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~~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_normalizeQuat
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Normalize all quaternions in qpos-type vector.
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.. _mj_local2Global:
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mj_local2Global
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~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_local2Global
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Map from body local to global Cartesian coordinates.
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.. _mj_getTotalmass:
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mj_getTotalmass
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~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_getTotalmass
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Sum all body masses.
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.. _mj_setTotalmass:
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mj_setTotalmass
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~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_setTotalmass
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Scale body masses and inertias to achieve specified total mass.
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.. _mj_getPluginConfig:
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mj_getPluginConfig
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~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_getPluginConfig
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Return a config attribute value of a plugin instance;
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NULL: invalid plugin instance ID or attribute name
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.. _mj_loadPluginLibrary:
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mj_loadPluginLibrary
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~~~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_loadPluginLibrary
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Load a dynamic library. The dynamic library is assumed to register one or more plugins.
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.. _mj_loadAllPluginLibraries:
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mj_loadAllPluginLibraries
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~~~~~~~~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_loadAllPluginLibraries
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Scan a directory and load all dynamic libraries. Dynamic libraries in the specified directory
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are assumed to register one or more plugins. Optionally, if a callback is specified, it is called
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for each dynamic library encountered that registers plugins.
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.. _mj_version:
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mj_version
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~~~~~~~~~~
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.. mujoco-include:: mj_version
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Return version number: 1.0.2 is encoded as 102.
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.. _mj_versionString:
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mj_versionString
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~~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_versionString
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Return the current version of MuJoCo as a null-terminated string.
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.. _Components:
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Components
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^^^^^^^^^^
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These are components of the simulation pipeline, called internally from :ref:`mj_step`, :ref:`mj_forward` and
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:ref:`mj_inverse`. It is unlikely that the user will need to call them.
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.. _mj_fwdPosition:
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mj_fwdPosition
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~~~~~~~~~~~~~~
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.. mujoco-include:: mj_fwdPosition
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Run position-dependent computations.
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.. _mj_fwdVelocity:
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mj_fwdVelocity
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~~~~~~~~~~~~~~
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.. mujoco-include:: mj_fwdVelocity
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Run velocity-dependent computations.
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.. _mj_fwdActuation:
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mj_fwdActuation
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~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_fwdActuation
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Compute actuator force qfrc_actuator.
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.. _mj_fwdAcceleration:
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mj_fwdAcceleration
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~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_fwdAcceleration
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Add up all non-constraint forces, compute qacc_smooth.
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.. _mj_fwdConstraint:
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mj_fwdConstraint
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~~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_fwdConstraint
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Run selected constraint solver.
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.. _mj_Euler:
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mj_Euler
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~~~~~~~~
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.. mujoco-include:: mj_Euler
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Euler integrator, semi-implicit in velocity.
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.. _mj_RungeKutta:
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mj_RungeKutta
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~~~~~~~~~~~~~
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.. mujoco-include:: mj_RungeKutta
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Runge-Kutta explicit order-N integrator.
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.. _mj_invPosition:
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mj_invPosition
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~~~~~~~~~~~~~~
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.. mujoco-include:: mj_invPosition
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Run position-dependent computations in inverse dynamics.
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.. _mj_invVelocity:
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mj_invVelocity
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~~~~~~~~~~~~~~
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.. mujoco-include:: mj_invVelocity
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Run velocity-dependent computations in inverse dynamics.
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.. _mj_invConstraint:
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mj_invConstraint
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~~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_invConstraint
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Apply the analytical formula for inverse constraint dynamics.
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.. _mj_compareFwdInv:
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mj_compareFwdInv
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~~~~~~~~~~~~~~~~
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.. mujoco-include:: mj_compareFwdInv
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Compare forward and inverse dynamics, save results in fwdinv.
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.. _Subcomponents:
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Sub components
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^^^^^^^^^^^^^^
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These are sub-components of the simulation pipeline, called internally from the components above. It is very unlikely
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that the user will need to call them.
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.. _mj_sensorPos:
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mj_sensorPos
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~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_sensorPos
|
|
|
|
Evaluate position-dependent sensors.
|
|
|
|
.. _mj_sensorVel:
|
|
|
|
mj_sensorVel
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_sensorVel
|
|
|
|
Evaluate velocity-dependent sensors.
|
|
|
|
.. _mj_sensorAcc:
|
|
|
|
mj_sensorAcc
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_sensorAcc
|
|
|
|
Evaluate acceleration and force-dependent sensors.
|
|
|
|
.. _mj_energyPos:
|
|
|
|
mj_energyPos
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_energyPos
|
|
|
|
Evaluate position-dependent energy (potential).
|
|
|
|
.. _mj_energyVel:
|
|
|
|
mj_energyVel
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_energyVel
|
|
|
|
Evaluate velocity-dependent energy (kinetic).
|
|
|
|
.. _mj_checkPos:
|
|
|
|
mj_checkPos
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_checkPos
|
|
|
|
Check qpos, reset if any element is too big or nan.
|
|
|
|
.. _mj_checkVel:
|
|
|
|
mj_checkVel
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_checkVel
|
|
|
|
Check qvel, reset if any element is too big or nan.
|
|
|
|
.. _mj_checkAcc:
|
|
|
|
mj_checkAcc
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_checkAcc
|
|
|
|
Check qacc, reset if any element is too big or nan.
|
|
|
|
.. _mj_kinematics:
|
|
|
|
mj_kinematics
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_kinematics
|
|
|
|
Run forward kinematics.
|
|
|
|
.. _mj_comPos:
|
|
|
|
mj_comPos
|
|
~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_comPos
|
|
|
|
Map inertias and motion dofs to global frame centered at CoM.
|
|
|
|
.. _mj_camlight:
|
|
|
|
mj_camlight
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_camlight
|
|
|
|
Compute camera and light positions and orientations.
|
|
|
|
.. _mj_tendon:
|
|
|
|
mj_tendon
|
|
~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_tendon
|
|
|
|
Compute tendon lengths, velocities and moment arms.
|
|
|
|
.. _mj_transmission:
|
|
|
|
mj_transmission
|
|
~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_transmission
|
|
|
|
Compute actuator transmission lengths and moments.
|
|
|
|
.. _mj_crb:
|
|
|
|
mj_crb
|
|
~~~~~~
|
|
|
|
.. mujoco-include:: mj_crb
|
|
|
|
Run composite rigid body inertia algorithm (CRB).
|
|
|
|
.. _mj_factorM:
|
|
|
|
mj_factorM
|
|
~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_factorM
|
|
|
|
Compute sparse :math:`L^T D L` factorizaton of inertia matrix.
|
|
|
|
.. _mj_solveM:
|
|
|
|
mj_solveM
|
|
~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_solveM
|
|
|
|
Solve linear system :math:`M x = y` using factorization: :math:`x = (L^T D L)^{-1} y`
|
|
|
|
.. _mj_solveM2:
|
|
|
|
mj_solveM2
|
|
~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_solveM2
|
|
|
|
Half of linear solve: :math:`x = \sqrt{D^{-1}} (L^T)^{-1} y`
|
|
|
|
.. _mj_comVel:
|
|
|
|
mj_comVel
|
|
~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_comVel
|
|
|
|
Compute cvel, cdof_dot.
|
|
|
|
.. _mj_passive:
|
|
|
|
mj_passive
|
|
~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_passive
|
|
|
|
Compute qfrc_passive from spring-dampers, viscosity and density.
|
|
|
|
.. _mj_subtreeVel:
|
|
|
|
mj_subtreeVel
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_subtreeVel
|
|
|
|
subtree linear velocity and angular momentum
|
|
|
|
.. _mj_rne:
|
|
|
|
mj_rne
|
|
~~~~~~
|
|
|
|
.. mujoco-include:: mj_rne
|
|
|
|
RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term.
|
|
|
|
.. _mj_rnePostConstraint:
|
|
|
|
mj_rnePostConstraint
|
|
~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_rnePostConstraint
|
|
|
|
RNE with complete data: compute cacc, cfrc_ext, cfrc_int.
|
|
|
|
.. _mj_collision:
|
|
|
|
mj_collision
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_collision
|
|
|
|
Run collision detection.
|
|
|
|
.. _mj_makeConstraint:
|
|
|
|
mj_makeConstraint
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_makeConstraint
|
|
|
|
Construct constraints.
|
|
|
|
.. _mj_projectConstraint:
|
|
|
|
mj_projectConstraint
|
|
~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_projectConstraint
|
|
|
|
Compute inverse constraint inertia efc_AR.
|
|
|
|
.. _mj_referenceConstraint:
|
|
|
|
mj_referenceConstraint
|
|
~~~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_referenceConstraint
|
|
|
|
Compute efc_vel, efc_aref.
|
|
|
|
.. _mj_constraintUpdate:
|
|
|
|
mj_constraintUpdate
|
|
~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_constraintUpdate
|
|
|
|
Compute efc_state, efc_force, qfrc_constraint, and (optionally) cone Hessians. If cost is not NULL, set \*cost = s(jar)
|
|
where jar = Jac*qacc-aref.
|
|
|
|
.. _Raycollisions:
|
|
|
|
Ray collisions
|
|
^^^^^^^^^^^^^^
|
|
|
|
Ray collision functionality was added in MuJoCo 1.50. This is a new collision detection module that uses analytical
|
|
formulas to intersect a ray ``(p + x*v, x >= 0)`` with a geom, where p is the origin of the ray and v is the vector
|
|
specifying the direction. All functions in this family return the distance to the nearest geom surface, or -1 if there
|
|
is no intersection. Note that if p is inside a geom, the ray will intersect the surface from the inside which still
|
|
counts as an intersection.
|
|
|
|
All ray collision functions rely on quantities computed by :ref:`mj_kinematics` (see :ref:`mjData`), so must be called
|
|
after :ref:`mj_kinematics`, or functions that call it (e.g. :ref:`mj_fwdPosition`).
|
|
|
|
.. _mj_ray:
|
|
|
|
mj_ray
|
|
~~~~~~
|
|
|
|
.. mujoco-include:: mj_ray
|
|
|
|
Intersect ray ``(pnt+x*vec, x >= 0)`` with visible geoms, except geoms in bodyexclude.
|
|
|
|
Return geomid and distance (x) to nearest surface, or -1 if no intersection.
|
|
|
|
geomgroup is an array of length mjNGROUP, where 1 means the group should be included. Pass geomgroup=NULL to skip
|
|
group exclusion.
|
|
|
|
If flg_static is 0, static geoms will be excluded.
|
|
|
|
bodyexclude=-1 can be used to indicate that all bodies are included.
|
|
|
|
.. _mj_rayHfield:
|
|
|
|
mj_rayHfield
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_rayHfield
|
|
|
|
Intersect ray with hfield, return nearest distance or -1 if no intersection.
|
|
|
|
.. _mj_rayMesh:
|
|
|
|
mj_rayMesh
|
|
~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_rayMesh
|
|
|
|
Intersect ray with mesh, return nearest distance or -1 if no intersection.
|
|
|
|
.. _mju_rayGeom:
|
|
|
|
mju_rayGeom
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_rayGeom
|
|
|
|
Intersect ray with pure geom, return nearest distance or -1 if no intersection.
|
|
|
|
.. _mju_raySkin:
|
|
|
|
mju_raySkin
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_raySkin
|
|
|
|
Intersect ray with skin, return nearest distance or -1 if no intersection,
|
|
and also output nearest vertex id.
|
|
|
|
.. _Printing:
|
|
|
|
Printing
|
|
^^^^^^^^
|
|
|
|
These functions can be used to print various quantities to the screen for debugging purposes.
|
|
|
|
.. _mj_printFormattedModel:
|
|
|
|
mj_printFormattedModel
|
|
~~~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_printFormattedModel
|
|
|
|
Print :ref:`mjModel` to text file, specifying format.
|
|
float_format must be a valid printf-style format string for a single float value.
|
|
|
|
.. _mj_printModel:
|
|
|
|
mj_printModel
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_printModel
|
|
|
|
Print model to text file.
|
|
|
|
.. _mj_printFormattedData:
|
|
|
|
mj_printFormattedData
|
|
~~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_printFormattedData
|
|
|
|
Print :ref:`mjData` to text file, specifying format.
|
|
float_format must be a valid printf-style format string for a single float value
|
|
|
|
.. _mj_printData:
|
|
|
|
mj_printData
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_printData
|
|
|
|
Print data to text file.
|
|
|
|
.. _mju_printMat:
|
|
|
|
mju_printMat
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_printMat
|
|
|
|
Print matrix to screen.
|
|
|
|
.. _mju_printMatSparse:
|
|
|
|
mju_printMatSparse
|
|
~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_printMatSparse
|
|
|
|
Print sparse matrix to screen.
|
|
|
|
.. _Virtualfilesystem:
|
|
|
|
Virtual file system
|
|
^^^^^^^^^^^^^^^^^^^
|
|
|
|
Virtual file system (VFS) functionality was introduced in MuJoCo 1.50. It enables the user to load all necessary files
|
|
in memory, including MJB binary model files, XML files (MJCF, URDF and included files), STL meshes, PNGs for textures
|
|
and height fields, and HF files in our custom height field format. Model and resource files in the VFS can also be
|
|
constructed programmatically (say using a Python library that writes to memory). Once all desired files are in the VFS,
|
|
the user can call :ref:`mj_loadModel` or :ref:`mj_loadXML` with a pointer to the VFS. When this pointer is not NULL, the
|
|
loaders will first check the VFS for any file they are about to load, and only access the disk if the file is not found
|
|
in the VFS. The file names stored in the VFS have their name and extension but the path information is stripped; this
|
|
can be bypassed however by using a custom path symbol in the file names, say "mydir_myfile.xml".
|
|
|
|
The entire VFS is contained in the data structure :ref:`mjVFS`. All utility functions for maintaining the VFS operate on
|
|
this data structure. The common usage pattern is to first clear it with mj_defaultVFS, then add disk files to it with
|
|
mj_addFileVFS (which allocates memory buffers and loads the file content in memory), then call mj_loadXML or
|
|
mj_loadModel, and then clear everything with mj_deleteVFS.
|
|
|
|
.. _mj_defaultVFS:
|
|
|
|
mj_defaultVFS
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_defaultVFS
|
|
|
|
Initialize VFS to empty (no deallocation).
|
|
|
|
.. _mj_addFileVFS:
|
|
|
|
mj_addFileVFS
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_addFileVFS
|
|
|
|
Add file to VFS, return 0: success, 1: full, 2: repeated name, -1: failed to load.
|
|
|
|
.. _mj_makeEmptyFileVFS:
|
|
|
|
mj_makeEmptyFileVFS
|
|
~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_makeEmptyFileVFS
|
|
|
|
Make empty file in VFS, return 0: success, 1: full, 2: repeated name.
|
|
|
|
.. _mj_findFileVFS:
|
|
|
|
mj_findFileVFS
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_findFileVFS
|
|
|
|
Return file index in VFS, or -1 if not found in VFS.
|
|
|
|
.. _mj_deleteFileVFS:
|
|
|
|
mj_deleteFileVFS
|
|
~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_deleteFileVFS
|
|
|
|
Delete file from VFS, return 0: success, -1: not found in VFS.
|
|
|
|
.. _mj_deleteVFS:
|
|
|
|
mj_deleteVFS
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_deleteVFS
|
|
|
|
Delete all files from VFS.
|
|
|
|
.. _Initialization:
|
|
|
|
Initialization
|
|
^^^^^^^^^^^^^^
|
|
|
|
This section contains functions that load/initialize the model or other data structures. Their use is well illustrated
|
|
in the code samples.
|
|
|
|
.. _mj_defaultLROpt:
|
|
|
|
mj_defaultLROpt
|
|
~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_defaultLROpt
|
|
|
|
Set default options for length range computation.
|
|
|
|
.. _mj_defaultSolRefImp:
|
|
|
|
mj_defaultSolRefImp
|
|
~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_defaultSolRefImp
|
|
|
|
Set solver parameters to default values.
|
|
|
|
.. _mj_defaultOption:
|
|
|
|
mj_defaultOption
|
|
~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_defaultOption
|
|
|
|
Set physics options to default values.
|
|
|
|
.. _mj_defaultVisual:
|
|
|
|
mj_defaultVisual
|
|
~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_defaultVisual
|
|
|
|
Set visual options to default values.
|
|
|
|
.. _mj_copyModel:
|
|
|
|
mj_copyModel
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_copyModel
|
|
|
|
Copy :ref:`mjModel`, allocate new if dest is NULL.
|
|
|
|
.. _mj_saveModel:
|
|
|
|
mj_saveModel
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_saveModel
|
|
|
|
Save model to binary MJB file or memory buffer; buffer has precedence when given.
|
|
|
|
.. _mj_loadModel:
|
|
|
|
mj_loadModel
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_loadModel
|
|
|
|
Load model from binary MJB file.
|
|
If vfs is not NULL, look up file in vfs before reading from disk.
|
|
|
|
.. _mj_deleteModel:
|
|
|
|
mj_deleteModel
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_deleteModel
|
|
|
|
Free memory allocation in model.
|
|
|
|
.. _mj_sizeModel:
|
|
|
|
mj_sizeModel
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_sizeModel
|
|
|
|
Return size of buffer needed to hold model.
|
|
|
|
.. _mj_makeData:
|
|
|
|
mj_makeData
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_makeData
|
|
|
|
Allocate :ref:`mjData` corresponding to given model.
|
|
If the model buffer is unallocated the initial configuration will not be set.
|
|
|
|
.. _mj_copyData:
|
|
|
|
mj_copyData
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_copyData
|
|
|
|
Copy :ref:`mjData`.
|
|
m is only required to contain the size fields from MJMODEL_INTS.
|
|
|
|
.. _mj_resetData:
|
|
|
|
mj_resetData
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_resetData
|
|
|
|
Reset data to defaults.
|
|
|
|
.. _mj_resetDataDebug:
|
|
|
|
mj_resetDataDebug
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_resetDataDebug
|
|
|
|
Reset data to defaults, fill everything else with debug_value.
|
|
|
|
.. _mj_resetDataKeyframe:
|
|
|
|
mj_resetDataKeyframe
|
|
~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_resetDataKeyframe
|
|
|
|
Reset data, set fields from specified keyframe.
|
|
|
|
.. _mj_stackAlloc:
|
|
|
|
mj_stackAlloc
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_stackAlloc
|
|
|
|
Allocate array of mjtNums on :ref:`mjData` stack. Call mju_error on stack overflow.
|
|
|
|
.. _mj_stackAllocInt:
|
|
|
|
mj_stackAllocInt
|
|
~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_stackAllocInt
|
|
|
|
Allocate array of ints on :ref:`mjData` stack. Call mju_error on stack overflow.
|
|
|
|
.. _mj_deleteData:
|
|
|
|
mj_deleteData
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_deleteData
|
|
|
|
Free memory allocation in :ref:`mjData`.
|
|
|
|
.. _mj_resetCallbacks:
|
|
|
|
mj_resetCallbacks
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_resetCallbacks
|
|
|
|
Reset all callbacks to NULL pointers (NULL is the default).
|
|
|
|
.. _mj_setConst:
|
|
|
|
mj_setConst
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_setConst
|
|
|
|
Set constant fields of :ref:`mjModel`, corresponding to qpos0 configuration.
|
|
|
|
.. _mj_setLengthRange:
|
|
|
|
mj_setLengthRange
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_setLengthRange
|
|
|
|
Set actuator_lengthrange for specified actuator; return 1 if ok, 0 if error.
|
|
|
|
.. _Interaction:
|
|
|
|
Interaction
|
|
^^^^^^^^^^^
|
|
|
|
These function implement abstract mouse interactions, allowing control over cameras and perturbations. Their use is well
|
|
illustrated in :ref:`simulate<saSimulate>`.
|
|
|
|
.. _mjv_defaultCamera:
|
|
|
|
mjv_defaultCamera
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_defaultCamera
|
|
|
|
Set default camera.
|
|
|
|
.. _mjv_defaultFreeCamera:
|
|
|
|
mjv_defaultFreeCamera
|
|
~~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_defaultFreeCamera
|
|
|
|
Set default free camera.
|
|
|
|
.. _mjv_defaultPerturb:
|
|
|
|
mjv_defaultPerturb
|
|
~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_defaultPerturb
|
|
|
|
Set default perturbation.
|
|
|
|
.. _mjv_room2model:
|
|
|
|
mjv_room2model
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_room2model
|
|
|
|
Transform pose from room to model space.
|
|
|
|
.. _mjv_model2room:
|
|
|
|
mjv_model2room
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_model2room
|
|
|
|
Transform pose from model to room space.
|
|
|
|
.. _mjv_cameraInModel:
|
|
|
|
mjv_cameraInModel
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_cameraInModel
|
|
|
|
Get camera info in model space; average left and right OpenGL cameras.
|
|
|
|
.. _mjv_cameraInRoom:
|
|
|
|
mjv_cameraInRoom
|
|
~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_cameraInRoom
|
|
|
|
Get camera info in room space; average left and right OpenGL cameras.
|
|
|
|
.. _mjv_frustumHeight:
|
|
|
|
mjv_frustumHeight
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_frustumHeight
|
|
|
|
Get frustum height at unit distance from camera; average left and right OpenGL cameras.
|
|
|
|
.. _mjv_alignToCamera:
|
|
|
|
mjv_alignToCamera
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_alignToCamera
|
|
|
|
Rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y).
|
|
|
|
.. _mjv_moveCamera:
|
|
|
|
mjv_moveCamera
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_moveCamera
|
|
|
|
Move camera with mouse; action is mjtMouse.
|
|
|
|
.. _mjv_moveCameraFromState:
|
|
|
|
mjv_moveCameraFromState
|
|
~~~~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_moveCameraFromState
|
|
|
|
Move camera with mouse given a scene state; action is mjtMouse.
|
|
|
|
.. _mjv_movePerturb:
|
|
|
|
mjv_movePerturb
|
|
~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_movePerturb
|
|
|
|
Move perturb object with mouse; action is mjtMouse.
|
|
|
|
.. _mjv_movePerturbFromState:
|
|
|
|
mjv_movePerturbFromState
|
|
~~~~~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_movePerturbFromState
|
|
|
|
Move perturb object with mouse given a scene state; action is mjtMouse.
|
|
|
|
.. _mjv_moveModel:
|
|
|
|
mjv_moveModel
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_moveModel
|
|
|
|
Move model with mouse; action is mjtMouse.
|
|
|
|
.. _mjv_initPerturb:
|
|
|
|
mjv_initPerturb
|
|
~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_initPerturb
|
|
|
|
Copy perturb pos,quat from selected body; set scale for perturbation.
|
|
|
|
.. _mjv_applyPerturbPose:
|
|
|
|
mjv_applyPerturbPose
|
|
~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_applyPerturbPose
|
|
|
|
Set perturb pos,quat in d->mocap when selected body is mocap, and in d->qpos otherwise.
|
|
Write d->qpos only if flg_paused and subtree root for selected body has free joint.
|
|
|
|
.. _mjv_applyPerturbForce:
|
|
|
|
mjv_applyPerturbForce
|
|
~~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_applyPerturbForce
|
|
|
|
Set perturb force,torque in d->xfrc_applied, if selected body is dynamic.
|
|
|
|
.. _mjv_averageCamera:
|
|
|
|
mjv_averageCamera
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_averageCamera
|
|
|
|
Return the average of two OpenGL cameras.
|
|
|
|
.. _mjv_select:
|
|
|
|
mjv_select
|
|
~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_select
|
|
|
|
This function is used for mouse selection. Previously selection was done via OpenGL, but as of MuJoCo 1.50 it relies on
|
|
ray intersections which are much more efficient. aspectratio is the viewport width/height. relx and rely are the
|
|
relative coordinates of the 2D point of interest in the viewport (usually mouse cursor). The function returns the id of
|
|
the geom under the specified 2D point, or -1 if there is no geom (note that they skybox if present is not a model geom).
|
|
The 3D coordinates of the clicked point are returned in selpnt. See :ref:`simulate<saSimulate>` for an illustration.
|
|
|
|
.. _Visualization-api:
|
|
|
|
Visualization
|
|
^^^^^^^^^^^^^
|
|
|
|
The functions in this section implement abstract visualization. The results are used by the OpenGL rendered, and can
|
|
also be used by users wishing to implement their own rendered, or hook up MuJoCo to advanced rendering tools such as
|
|
Unity or Unreal Engine. See :ref:`simulate<saSimulate>` for illustration of how to use these functions.
|
|
|
|
.. _mjv_defaultOption:
|
|
|
|
mjv_defaultOption
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_defaultOption
|
|
|
|
Set default visualization options.
|
|
|
|
.. _mjv_defaultFigure:
|
|
|
|
mjv_defaultFigure
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_defaultFigure
|
|
|
|
Set default figure.
|
|
|
|
.. _mjv_initGeom:
|
|
|
|
mjv_initGeom
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_initGeom
|
|
|
|
Initialize given geom fields when not NULL, set the rest to their default values.
|
|
|
|
.. _mjv_makeConnector:
|
|
|
|
mjv_makeConnector
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_makeConnector
|
|
|
|
Set (type, size, pos, mat) for connector-type geom between given points.
|
|
Assume that mjv_initGeom was already called to set all other properties.
|
|
Width of mjGEOM_LINE is denominated in pixels.
|
|
|
|
.. _mjv_defaultScene:
|
|
|
|
mjv_defaultScene
|
|
~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_defaultScene
|
|
|
|
Set default abstract scene.
|
|
|
|
.. _mjv_makeScene:
|
|
|
|
mjv_makeScene
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_makeScene
|
|
|
|
Allocate resources in abstract scene.
|
|
|
|
.. _mjv_freeScene:
|
|
|
|
mjv_freeScene
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_freeScene
|
|
|
|
Free abstract scene.
|
|
|
|
.. _mjv_updateScene:
|
|
|
|
mjv_updateScene
|
|
~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_updateScene
|
|
|
|
Update entire scene given model state.
|
|
|
|
.. _mjv_updateSceneFromState:
|
|
|
|
mjv_updateSceneFromState
|
|
~~~~~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_updateSceneFromState
|
|
|
|
Update entire scene from a scene state, return the number of new mjWARN_VGEOMFULL warnings.
|
|
|
|
.. _mjv_defaultSceneState:
|
|
|
|
mjv_defaultSceneState
|
|
~~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_defaultSceneState
|
|
|
|
Set default scene state.
|
|
|
|
.. _mjv_makeSceneState:
|
|
|
|
mjv_makeSceneState
|
|
~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_makeSceneState
|
|
|
|
Allocate resources and initialize a scene state object.
|
|
|
|
.. _mjv_freeSceneState:
|
|
|
|
mjv_freeSceneState
|
|
~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_freeSceneState
|
|
|
|
Free scene state.
|
|
|
|
.. _mjv_updateSceneState:
|
|
|
|
mjv_updateSceneState
|
|
~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_updateSceneState
|
|
|
|
Update a scene state from model and data.
|
|
|
|
.. _mjv_addGeoms:
|
|
|
|
mjv_addGeoms
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_addGeoms
|
|
|
|
Add geoms from selected categories.
|
|
|
|
.. _mjv_makeLights:
|
|
|
|
mjv_makeLights
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_makeLights
|
|
|
|
Make list of lights.
|
|
|
|
.. _mjv_updateCamera:
|
|
|
|
mjv_updateCamera
|
|
~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_updateCamera
|
|
|
|
Update camera.
|
|
|
|
.. _mjv_updateSkin:
|
|
|
|
mjv_updateSkin
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjv_updateSkin
|
|
|
|
Update skins.
|
|
|
|
.. _OpenGLrendering:
|
|
|
|
OpenGL rendering
|
|
^^^^^^^^^^^^^^^^
|
|
|
|
These functions expose the OpenGL renderer. See :ref:`simulate<saSimulate>` for an illustration
|
|
of how to use these functions.
|
|
|
|
.. _mjr_defaultContext:
|
|
|
|
mjr_defaultContext
|
|
~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_defaultContext
|
|
|
|
Set default mjrContext.
|
|
|
|
.. _mjr_makeContext:
|
|
|
|
mjr_makeContext
|
|
~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_makeContext
|
|
|
|
Allocate resources in custom OpenGL context; fontscale is mjtFontScale.
|
|
|
|
.. _mjr_changeFont:
|
|
|
|
mjr_changeFont
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_changeFont
|
|
|
|
Change font of existing context.
|
|
|
|
.. _mjr_addAux:
|
|
|
|
mjr_addAux
|
|
~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_addAux
|
|
|
|
Add Aux buffer with given index to context; free previous Aux buffer.
|
|
|
|
.. _mjr_freeContext:
|
|
|
|
mjr_freeContext
|
|
~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_freeContext
|
|
|
|
Free resources in custom OpenGL context, set to default.
|
|
|
|
.. _mjr_resizeOffscreen:
|
|
|
|
mjr_resizeOffscreen
|
|
~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_resizeOffscreen
|
|
|
|
Resize offscreen buffers.
|
|
|
|
.. _mjr_uploadTexture:
|
|
|
|
mjr_uploadTexture
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_uploadTexture
|
|
|
|
Upload texture to GPU, overwriting previous upload if any.
|
|
|
|
.. _mjr_uploadMesh:
|
|
|
|
mjr_uploadMesh
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_uploadMesh
|
|
|
|
Upload mesh to GPU, overwriting previous upload if any.
|
|
|
|
.. _mjr_uploadHField:
|
|
|
|
mjr_uploadHField
|
|
~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_uploadHField
|
|
|
|
Upload height field to GPU, overwriting previous upload if any.
|
|
|
|
.. _mjr_restoreBuffer:
|
|
|
|
mjr_restoreBuffer
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_restoreBuffer
|
|
|
|
Make con->currentBuffer current again.
|
|
|
|
.. _mjr_setBuffer:
|
|
|
|
mjr_setBuffer
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_setBuffer
|
|
|
|
Set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN.
|
|
If only one buffer is available, set that buffer and ignore framebuffer argument.
|
|
|
|
.. _mjr_readPixels:
|
|
|
|
mjr_readPixels
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_readPixels
|
|
|
|
Read pixels from current OpenGL framebuffer to client buffer.
|
|
Viewport is in OpenGL framebuffer; client buffer starts at (0,0).
|
|
|
|
.. _mjr_drawPixels:
|
|
|
|
mjr_drawPixels
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_drawPixels
|
|
|
|
Draw pixels from client buffer to current OpenGL framebuffer.
|
|
Viewport is in OpenGL framebuffer; client buffer starts at (0,0).
|
|
|
|
.. _mjr_blitBuffer:
|
|
|
|
mjr_blitBuffer
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_blitBuffer
|
|
|
|
Blit from src viewpoint in current framebuffer to dst viewport in other framebuffer.
|
|
If src, dst have different size and flg_depth==0, color is interpolated with GL_LINEAR.
|
|
|
|
.. _mjr_setAux:
|
|
|
|
mjr_setAux
|
|
~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_setAux
|
|
|
|
Set Aux buffer for custom OpenGL rendering (call restoreBuffer when done).
|
|
|
|
.. _mjr_blitAux:
|
|
|
|
mjr_blitAux
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_blitAux
|
|
|
|
Blit from Aux buffer to con->currentBuffer.
|
|
|
|
.. _mjr_text:
|
|
|
|
mjr_text
|
|
~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_text
|
|
|
|
Draw text at (x,y) in relative coordinates; font is mjtFont.
|
|
|
|
.. _mjr_overlay:
|
|
|
|
mjr_overlay
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_overlay
|
|
|
|
Draw text overlay; font is mjtFont; gridpos is mjtGridPos.
|
|
|
|
.. _mjr_maxViewport:
|
|
|
|
mjr_maxViewport
|
|
~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_maxViewport
|
|
|
|
Get maximum viewport for active buffer.
|
|
|
|
.. _mjr_rectangle:
|
|
|
|
mjr_rectangle
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_rectangle
|
|
|
|
Draw rectangle.
|
|
|
|
.. _mjr_label:
|
|
|
|
mjr_label
|
|
~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_label
|
|
|
|
Draw rectangle with centered text.
|
|
|
|
.. _mjr_figure:
|
|
|
|
mjr_figure
|
|
~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_figure
|
|
|
|
Draw 2D figure.
|
|
|
|
.. _mjr_render:
|
|
|
|
mjr_render
|
|
~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_render
|
|
|
|
Render 3D scene.
|
|
|
|
.. _mjr_finish:
|
|
|
|
mjr_finish
|
|
~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_finish
|
|
|
|
Call glFinish.
|
|
|
|
.. _mjr_getError:
|
|
|
|
mjr_getError
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_getError
|
|
|
|
Call glGetError and return result.
|
|
|
|
.. _mjr_findRect:
|
|
|
|
mjr_findRect
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjr_findRect
|
|
|
|
Find first rectangle containing mouse, -1: not found.
|
|
|
|
.. _UIframework:
|
|
|
|
UI framework
|
|
^^^^^^^^^^^^
|
|
|
|
.. _mjui_themeSpacing:
|
|
|
|
mjui_themeSpacing
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjui_themeSpacing
|
|
|
|
Get builtin UI theme spacing (ind: 0-1).
|
|
|
|
.. _mjui_themeColor:
|
|
|
|
mjui_themeColor
|
|
~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjui_themeColor
|
|
|
|
Get builtin UI theme color (ind: 0-3).
|
|
|
|
.. _mjui_add:
|
|
|
|
mjui_add
|
|
~~~~~~~~
|
|
|
|
.. mujoco-include:: mjui_add
|
|
|
|
Add definitions to UI.
|
|
|
|
.. _mjui_addToSection:
|
|
|
|
mjui_addToSection
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjui_addToSection
|
|
|
|
Add definitions to UI section.
|
|
|
|
.. _mjui_resize:
|
|
|
|
mjui_resize
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjui_resize
|
|
|
|
Compute UI sizes.
|
|
|
|
.. _mjui_update:
|
|
|
|
mjui_update
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjui_update
|
|
|
|
Update specific section/item; -1: update all.
|
|
|
|
.. _mjui_event:
|
|
|
|
mjui_event
|
|
~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjui_event
|
|
|
|
Handle UI event, return pointer to changed item, NULL if no change.
|
|
|
|
.. _mjui_render:
|
|
|
|
mjui_render
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjui_render
|
|
|
|
Copy UI image to current buffer.
|
|
|
|
.. _Errorandmemory:
|
|
|
|
Error and memory
|
|
^^^^^^^^^^^^^^^^
|
|
|
|
.. _mju_error:
|
|
|
|
mju_error
|
|
~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_error
|
|
|
|
Main error function; does not return to caller.
|
|
|
|
.. _mju_error_i:
|
|
|
|
mju_error_i
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_error_i
|
|
|
|
Deprecated: use mju_error.
|
|
|
|
.. _mju_error_s:
|
|
|
|
mju_error_s
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_error_s
|
|
|
|
Deprecated: use mju_error.
|
|
|
|
.. _mju_warning:
|
|
|
|
mju_warning
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_warning
|
|
|
|
Main warning function; returns to caller.
|
|
|
|
.. _mju_warning_i:
|
|
|
|
mju_warning_i
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_warning_i
|
|
|
|
Deprecated: use mju_warning.
|
|
|
|
.. _mju_warning_s:
|
|
|
|
mju_warning_s
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_warning_s
|
|
|
|
Deprecated: use mju_warning.
|
|
|
|
.. _mju_clearHandlers:
|
|
|
|
mju_clearHandlers
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_clearHandlers
|
|
|
|
Clear user error and memory handlers.
|
|
|
|
.. _mju_malloc:
|
|
|
|
mju_malloc
|
|
~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_malloc
|
|
|
|
Allocate memory; byte-align on 64; pad size to multiple of 64.
|
|
|
|
.. _mju_free:
|
|
|
|
mju_free
|
|
~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_free
|
|
|
|
Free memory, using free() by default.
|
|
|
|
.. _mj_warning:
|
|
|
|
mj_warning
|
|
~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_warning
|
|
|
|
High-level warning function: count warnings in :ref:`mjData`, print only the first.
|
|
|
|
.. _mju_writeLog:
|
|
|
|
mju_writeLog
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_writeLog
|
|
|
|
Write [datetime, type: message] to MUJOCO_LOG.TXT.
|
|
|
|
.. _Activation:
|
|
|
|
Activation
|
|
^^^^^^^^^^
|
|
|
|
The functions in this section are maintained for backward compatibility with the now-removed activation mechanism.
|
|
|
|
.. _mj_activate:
|
|
|
|
mj_activate
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_activate
|
|
|
|
Return 1 (for backward compatibility).
|
|
|
|
.. _mj_deactivate:
|
|
|
|
mj_deactivate
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mj_deactivate
|
|
|
|
Do nothing (for backward compatibility).
|
|
|
|
.. _Standardmath:
|
|
|
|
Standard math
|
|
^^^^^^^^^^^^^
|
|
|
|
The "functions" in this section are preprocessor macros replaced with the corresponding C standard library math
|
|
functions. When MuJoCo is compiled with single precision (which is not currently available to the public, but we
|
|
sometimes use it internally) these macros are replaced with the corresponding single-precision functions (not shown
|
|
here). So one can think of them as having inputs and outputs of type mjtNum, where mjtNum is defined as double or float
|
|
depending on how MuJoCo is compiled. We will not document these functions here; see the C standard library
|
|
specification.
|
|
|
|
mju_sqrt
|
|
~~~~~~~~
|
|
|
|
.. code-block:: C
|
|
|
|
#define mju_sqrt sqrt
|
|
|
|
mju_exp
|
|
~~~~~~~
|
|
|
|
.. code-block:: C
|
|
|
|
#define mju_exp exp
|
|
|
|
mju_sin
|
|
~~~~~~~
|
|
|
|
.. code-block:: C
|
|
|
|
#define mju_sin sin
|
|
|
|
mju_cos
|
|
~~~~~~~
|
|
|
|
.. code-block:: C
|
|
|
|
#define mju_cos cos
|
|
|
|
mju_tan
|
|
~~~~~~~
|
|
|
|
.. code-block:: C
|
|
|
|
#define mju_tan tan
|
|
|
|
mju_asin
|
|
~~~~~~~~
|
|
|
|
.. code-block:: C
|
|
|
|
#define mju_asin asin
|
|
|
|
mju_acos
|
|
~~~~~~~~
|
|
|
|
.. code-block:: C
|
|
|
|
#define mju_acos acos
|
|
|
|
mju_atan2
|
|
~~~~~~~~~
|
|
|
|
.. code-block:: C
|
|
|
|
#define mju_atan2 atan2
|
|
|
|
mju_tanh
|
|
~~~~~~~~
|
|
|
|
.. code-block:: C
|
|
|
|
#define mju_tanh tanh
|
|
|
|
mju_pow
|
|
~~~~~~~
|
|
|
|
.. code-block:: C
|
|
|
|
#define mju_pow pow
|
|
|
|
mju_abs
|
|
~~~~~~~
|
|
|
|
.. code-block:: C
|
|
|
|
#define mju_abs fabs
|
|
|
|
mju_log
|
|
~~~~~~~
|
|
|
|
.. code-block:: C
|
|
|
|
#define mju_log log
|
|
|
|
mju_log10
|
|
~~~~~~~~~
|
|
|
|
.. code-block:: C
|
|
|
|
#define mju_log10 log10
|
|
|
|
mju_floor
|
|
~~~~~~~~~
|
|
|
|
.. code-block:: C
|
|
|
|
#define mju_floor floor
|
|
|
|
mju_ceil
|
|
~~~~~~~~
|
|
|
|
.. code-block:: C
|
|
|
|
#define mju_ceil ceil
|
|
|
|
.. _Vectormath:
|
|
|
|
Vector math
|
|
^^^^^^^^^^^
|
|
|
|
.. _mju_zero3:
|
|
|
|
mju_zero3
|
|
~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_zero3
|
|
|
|
Set res = 0.
|
|
|
|
.. _mju_copy3:
|
|
|
|
mju_copy3
|
|
~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_copy3
|
|
|
|
Set res = vec.
|
|
|
|
.. _mju_scl3:
|
|
|
|
mju_scl3
|
|
~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_scl3
|
|
|
|
Set res = vec*scl.
|
|
|
|
.. _mju_add3:
|
|
|
|
mju_add3
|
|
~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_add3
|
|
|
|
Set res = vec1 + vec2.
|
|
|
|
.. _mju_sub3:
|
|
|
|
mju_sub3
|
|
~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_sub3
|
|
|
|
Set res = vec1 - vec2.
|
|
|
|
.. _mju_addTo3:
|
|
|
|
mju_addTo3
|
|
~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_addTo3
|
|
|
|
Set res = res + vec.
|
|
|
|
.. _mju_subFrom3:
|
|
|
|
mju_subFrom3
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_subFrom3
|
|
|
|
Set res = res - vec.
|
|
|
|
.. _mju_addToScl3:
|
|
|
|
mju_addToScl3
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_addToScl3
|
|
|
|
Set res = res + vec*scl.
|
|
|
|
.. _mju_addScl3:
|
|
|
|
mju_addScl3
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_addScl3
|
|
|
|
Set res = vec1 + vec2*scl.
|
|
|
|
.. _mju_normalize3:
|
|
|
|
mju_normalize3
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_normalize3
|
|
|
|
Normalize vector, return length before normalization.
|
|
|
|
.. _mju_norm3:
|
|
|
|
mju_norm3
|
|
~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_norm3
|
|
|
|
Return vector length (without normalizing the vector).
|
|
|
|
.. _mju_dot3:
|
|
|
|
mju_dot3
|
|
~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_dot3
|
|
|
|
Return dot-product of vec1 and vec2.
|
|
|
|
.. _mju_dist3:
|
|
|
|
mju_dist3
|
|
~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_dist3
|
|
|
|
Return Cartesian distance between 3D vectors pos1 and pos2.
|
|
|
|
.. _mju_rotVecMat:
|
|
|
|
mju_rotVecMat
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_rotVecMat
|
|
|
|
Multiply vector by 3D rotation matrix: res = mat * vec.
|
|
|
|
.. _mju_rotVecMatT:
|
|
|
|
mju_rotVecMatT
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_rotVecMatT
|
|
|
|
Multiply vector by transposed 3D rotation matrix: res = mat' * vec.
|
|
|
|
.. _mju_cross:
|
|
|
|
mju_cross
|
|
~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_cross
|
|
|
|
Compute cross-product: res = cross(a, b).
|
|
|
|
.. _mju_zero4:
|
|
|
|
mju_zero4
|
|
~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_zero4
|
|
|
|
Set res = 0.
|
|
|
|
.. _mju_unit4:
|
|
|
|
mju_unit4
|
|
~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_unit4
|
|
|
|
Set res = (1,0,0,0).
|
|
|
|
.. _mju_copy4:
|
|
|
|
mju_copy4
|
|
~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_copy4
|
|
|
|
Set res = vec.
|
|
|
|
.. _mju_normalize4:
|
|
|
|
mju_normalize4
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_normalize4
|
|
|
|
Normalize vector, return length before normalization.
|
|
|
|
.. _mju_zero:
|
|
|
|
mju_zero
|
|
~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_zero
|
|
|
|
Set res = 0.
|
|
|
|
.. _mju_fill:
|
|
|
|
mju_fill
|
|
~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_fill
|
|
|
|
Set res = val.
|
|
|
|
.. _mju_copy:
|
|
|
|
mju_copy
|
|
~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_copy
|
|
|
|
Set res = vec.
|
|
|
|
.. _mju_sum:
|
|
|
|
mju_sum
|
|
~~~~~~~
|
|
|
|
.. mujoco-include:: mju_sum
|
|
|
|
Return sum(vec).
|
|
|
|
.. _mju_L1:
|
|
|
|
mju_L1
|
|
~~~~~~
|
|
|
|
.. mujoco-include:: mju_L1
|
|
|
|
Return L1 norm: sum(abs(vec)).
|
|
|
|
.. _mju_scl:
|
|
|
|
mju_scl
|
|
~~~~~~~
|
|
|
|
.. mujoco-include:: mju_scl
|
|
|
|
Set res = vec*scl.
|
|
|
|
.. _mju_add:
|
|
|
|
mju_add
|
|
~~~~~~~
|
|
|
|
.. mujoco-include:: mju_add
|
|
|
|
Set res = vec1 + vec2.
|
|
|
|
.. _mju_sub:
|
|
|
|
mju_sub
|
|
~~~~~~~
|
|
|
|
.. mujoco-include:: mju_sub
|
|
|
|
Set res = vec1 - vec2.
|
|
|
|
.. _mju_addTo:
|
|
|
|
mju_addTo
|
|
~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_addTo
|
|
|
|
Set res = res + vec.
|
|
|
|
.. _mju_subFrom:
|
|
|
|
mju_subFrom
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_subFrom
|
|
|
|
Set res = res - vec.
|
|
|
|
.. _mju_addToScl:
|
|
|
|
mju_addToScl
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_addToScl
|
|
|
|
Set res = res + vec*scl.
|
|
|
|
.. _mju_addScl:
|
|
|
|
mju_addScl
|
|
~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_addScl
|
|
|
|
Set res = vec1 + vec2*scl.
|
|
|
|
.. _mju_normalize:
|
|
|
|
mju_normalize
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_normalize
|
|
|
|
Normalize vector, return length before normalization.
|
|
|
|
.. _mju_norm:
|
|
|
|
mju_norm
|
|
~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_norm
|
|
|
|
Return vector length (without normalizing vector).
|
|
|
|
.. _mju_dot:
|
|
|
|
mju_dot
|
|
~~~~~~~
|
|
|
|
.. mujoco-include:: mju_dot
|
|
|
|
Return dot-product of vec1 and vec2.
|
|
|
|
.. _mju_mulMatVec:
|
|
|
|
mju_mulMatVec
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_mulMatVec
|
|
|
|
Multiply matrix and vector: res = mat * vec.
|
|
|
|
.. _mju_mulMatTVec:
|
|
|
|
mju_mulMatTVec
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_mulMatTVec
|
|
|
|
Multiply transposed matrix and vector: res = mat' * vec.
|
|
|
|
.. _mju_mulVecMatVec:
|
|
|
|
mju_mulVecMatVec
|
|
~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_mulVecMatVec
|
|
|
|
Multiply square matrix with vectors on both sides: returns vec1' * mat * vec2.
|
|
|
|
.. _mju_transpose:
|
|
|
|
mju_transpose
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_transpose
|
|
|
|
Transpose matrix: res = mat'.
|
|
|
|
.. _mju_symmetrize:
|
|
|
|
mju_symmetrize
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_symmetrize
|
|
|
|
Symmetrize square matrix :math:`R = \frac{1}{2}(M + M^T)`.
|
|
|
|
.. _mju_eye:
|
|
|
|
mju_eye
|
|
~~~~~~~
|
|
|
|
.. mujoco-include:: mju_eye
|
|
|
|
Set mat to the identity matrix.
|
|
|
|
.. _mju_mulMatMat:
|
|
|
|
mju_mulMatMat
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_mulMatMat
|
|
|
|
Multiply matrices: res = mat1 * mat2.
|
|
|
|
.. _mju_mulMatMatT:
|
|
|
|
mju_mulMatMatT
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_mulMatMatT
|
|
|
|
Multiply matrices, second argument transposed: res = mat1 * mat2'.
|
|
|
|
.. _mju_mulMatTMat:
|
|
|
|
mju_mulMatTMat
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_mulMatTMat
|
|
|
|
Multiply matrices, first argument transposed: res = mat1' * mat2.
|
|
|
|
.. _mju_sqrMatTD:
|
|
|
|
mju_sqrMatTD
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_sqrMatTD
|
|
|
|
Set res = mat' * diag * mat if diag is not NULL, and res = mat' * mat otherwise.
|
|
|
|
.. _mju_transformSpatial:
|
|
|
|
mju_transformSpatial
|
|
~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_transformSpatial
|
|
|
|
Coordinate transform of 6D motion or force vector in rotation:translation format.
|
|
rotnew2old is 3-by-3, NULL means no rotation; flg_force specifies force or motion type.
|
|
|
|
.. _Quaternions:
|
|
|
|
Quaternions
|
|
^^^^^^^^^^^
|
|
|
|
.. _mju_rotVecQuat:
|
|
|
|
mju_rotVecQuat
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_rotVecQuat
|
|
|
|
Rotate vector by quaternion.
|
|
|
|
.. _mju_negQuat:
|
|
|
|
mju_negQuat
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_negQuat
|
|
|
|
Conjugate quaternion, corresponding to opposite rotation.
|
|
|
|
.. _mju_mulQuat:
|
|
|
|
mju_mulQuat
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_mulQuat
|
|
|
|
Multiply quaternions.
|
|
|
|
.. _mju_mulQuatAxis:
|
|
|
|
mju_mulQuatAxis
|
|
~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_mulQuatAxis
|
|
|
|
Multiply quaternion and axis.
|
|
|
|
.. _mju_axisAngle2Quat:
|
|
|
|
mju_axisAngle2Quat
|
|
~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_axisAngle2Quat
|
|
|
|
Convert axisAngle to quaternion.
|
|
|
|
.. _mju_quat2Vel:
|
|
|
|
mju_quat2Vel
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_quat2Vel
|
|
|
|
Convert quaternion (corresponding to orientation difference) to 3D velocity.
|
|
|
|
.. _mju_subQuat:
|
|
|
|
mju_subQuat
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_subQuat
|
|
|
|
Subtract quaternions, express as 3D velocity: qb*quat(res) = qa.
|
|
|
|
.. _mju_quat2Mat:
|
|
|
|
mju_quat2Mat
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_quat2Mat
|
|
|
|
Convert quaternion to 3D rotation matrix.
|
|
|
|
.. _mju_mat2Quat:
|
|
|
|
mju_mat2Quat
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_mat2Quat
|
|
|
|
Convert 3D rotation matrix to quaternion.
|
|
|
|
.. _mju_derivQuat:
|
|
|
|
mju_derivQuat
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_derivQuat
|
|
|
|
Compute time-derivative of quaternion, given 3D rotational velocity.
|
|
|
|
.. _mju_quatIntegrate:
|
|
|
|
mju_quatIntegrate
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_quatIntegrate
|
|
|
|
Integrate quaternion given 3D angular velocity.
|
|
|
|
.. _mju_quatZ2Vec:
|
|
|
|
mju_quatZ2Vec
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_quatZ2Vec
|
|
|
|
Construct quaternion performing rotation from z-axis to given vector.
|
|
|
|
.. _Poses:
|
|
|
|
Poses
|
|
^^^^^
|
|
|
|
.. _mju_mulPose:
|
|
|
|
mju_mulPose
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_mulPose
|
|
|
|
Multiply two poses.
|
|
|
|
.. _mju_negPose:
|
|
|
|
mju_negPose
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_negPose
|
|
|
|
Conjugate pose, corresponding to the opposite spatial transformation.
|
|
|
|
.. _mju_trnVecPose:
|
|
|
|
mju_trnVecPose
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_trnVecPose
|
|
|
|
Transform vector by pose.
|
|
|
|
.. _Decompositions:
|
|
|
|
Decompositions / Solvers
|
|
^^^^^^^^^^^^^^^^^^^^^^^^
|
|
|
|
.. _mju_cholFactor:
|
|
|
|
mju_cholFactor
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_cholFactor
|
|
|
|
Cholesky decomposition: mat = L*L'; return rank, decomposition performed in-place into mat.
|
|
|
|
.. _mju_cholSolve:
|
|
|
|
mju_cholSolve
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_cholSolve
|
|
|
|
Solve mat * res = vec, where mat is Cholesky-factorized
|
|
|
|
.. _mju_cholUpdate:
|
|
|
|
mju_cholUpdate
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_cholUpdate
|
|
|
|
Cholesky rank-one update: L*L' +/- x*x'; return rank.
|
|
|
|
.. _mju_eig3:
|
|
|
|
mju_eig3
|
|
~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_eig3
|
|
|
|
Eigenvalue decomposition of symmetric 3x3 matrix.
|
|
|
|
.. _mju_boxQP:
|
|
|
|
mju_boxQP
|
|
~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_boxQP
|
|
|
|
Minimize :math:`\tfrac{1}{2} x^T H x + x^T g \quad \text{s.t.} \quad l \le x \le u`, return rank or -1 if failed.
|
|
|
|
inputs:
|
|
``n`` - problem dimension
|
|
|
|
``H`` - SPD matrix ``n*n``
|
|
|
|
``g`` - bias vector ``n``
|
|
|
|
``lower`` - lower bounds ``n``
|
|
|
|
``upper`` - upper bounds ``n``
|
|
|
|
``res`` - solution warmstart ``n``
|
|
|
|
return value:
|
|
``nfree <= n`` - rank of unconstrained subspace, -1 if failure
|
|
|
|
outputs (required):
|
|
``res`` - solution ``n``
|
|
|
|
``R`` - subspace Cholesky factor ``nfree*nfree``, allocated: ``n*(n+7)``
|
|
|
|
outputs (optional):
|
|
``index`` - set of free dimensions ``nfree``, allocated: ``n``
|
|
|
|
notes:
|
|
The initial value of ``res`` is used to warmstart the solver.
|
|
``R`` must have allocatd size ``n*(n+7)``, but only ``nfree*nfree`` values are used in output.
|
|
``index`` (if given) must have allocated size ``n``, but only ``nfree`` values are used in output.
|
|
The convenience function :ref:`mju_boxQPmalloc` allocates the required data structures.
|
|
Only the lower triangles of H and R and are read from and written to, respectively.
|
|
|
|
.. _mju_boxQPmalloc:
|
|
|
|
mju_boxQPmalloc
|
|
~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_boxQPmalloc
|
|
|
|
Allocate heap memory for box-constrained Quadratic Program.
|
|
As in :ref:`mju_boxQP`, ``index``, ``lower``, and ``upper`` are optional.
|
|
Free all pointers with ``mju_free()``.
|
|
|
|
.. _Miscellaneous:
|
|
|
|
Miscellaneous
|
|
^^^^^^^^^^^^^
|
|
|
|
.. _mju_muscleGain:
|
|
|
|
mju_muscleGain
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_muscleGain
|
|
|
|
Muscle active force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).
|
|
|
|
.. _mju_muscleBias:
|
|
|
|
mju_muscleBias
|
|
~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_muscleBias
|
|
|
|
Muscle passive force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).
|
|
|
|
.. _mju_muscleDynamics:
|
|
|
|
mju_muscleDynamics
|
|
~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_muscleDynamics
|
|
|
|
Muscle activation dynamics, prm = (tau_act, tau_deact).
|
|
|
|
.. _mju_encodePyramid:
|
|
|
|
mju_encodePyramid
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_encodePyramid
|
|
|
|
Convert contact force to pyramid representation.
|
|
|
|
.. _mju_decodePyramid:
|
|
|
|
mju_decodePyramid
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_decodePyramid
|
|
|
|
Convert pyramid representation to contact force.
|
|
|
|
.. _mju_springDamper:
|
|
|
|
mju_springDamper
|
|
~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_springDamper
|
|
|
|
Integrate spring-damper analytically, return pos(dt).
|
|
|
|
.. _mju_min:
|
|
|
|
mju_min
|
|
~~~~~~~
|
|
|
|
.. mujoco-include:: mju_min
|
|
|
|
Return min(a,b) with single evaluation of a and b.
|
|
|
|
.. _mju_max:
|
|
|
|
mju_max
|
|
~~~~~~~
|
|
|
|
.. mujoco-include:: mju_max
|
|
|
|
Return max(a,b) with single evaluation of a and b.
|
|
|
|
.. _mju_clip:
|
|
|
|
mju_clip
|
|
~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_clip
|
|
|
|
Clip x to the range [min, max].
|
|
|
|
.. _mju_sign:
|
|
|
|
mju_sign
|
|
~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_sign
|
|
|
|
Return sign of x: +1, -1 or 0.
|
|
|
|
.. _mju_round:
|
|
|
|
mju_round
|
|
~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_round
|
|
|
|
Round x to nearest integer.
|
|
|
|
.. _mju_type2Str:
|
|
|
|
mju_type2Str
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_type2Str
|
|
|
|
Convert type id (mjtObj) to type name.
|
|
|
|
.. _mju_str2Type:
|
|
|
|
mju_str2Type
|
|
~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_str2Type
|
|
|
|
Convert type name to type id (mjtObj).
|
|
|
|
.. _mju_writeNumBytes:
|
|
|
|
mju_writeNumBytes
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_writeNumBytes
|
|
|
|
Return human readable number of bytes using standard letter suffix.
|
|
|
|
.. _mju_warningText:
|
|
|
|
mju_warningText
|
|
~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_warningText
|
|
|
|
Construct a warning message given the warning type and info.
|
|
|
|
.. _mju_isBad:
|
|
|
|
mju_isBad
|
|
~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_isBad
|
|
|
|
Return 1 if nan or abs(x)>mjMAXVAL, 0 otherwise. Used by check functions.
|
|
|
|
.. _mju_isZero:
|
|
|
|
mju_isZero
|
|
~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_isZero
|
|
|
|
Return 1 if all elements are 0.
|
|
|
|
.. _mju_standardNormal:
|
|
|
|
mju_standardNormal
|
|
~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_standardNormal
|
|
|
|
Standard normal random number generator (optional second number).
|
|
|
|
.. _mju_f2n:
|
|
|
|
mju_f2n
|
|
~~~~~~~
|
|
|
|
.. mujoco-include:: mju_f2n
|
|
|
|
Convert from float to mjtNum.
|
|
|
|
.. _mju_n2f:
|
|
|
|
mju_n2f
|
|
~~~~~~~
|
|
|
|
.. mujoco-include:: mju_n2f
|
|
|
|
Convert from mjtNum to float.
|
|
|
|
.. _mju_d2n:
|
|
|
|
mju_d2n
|
|
~~~~~~~
|
|
|
|
.. mujoco-include:: mju_d2n
|
|
|
|
Convert from double to mjtNum.
|
|
|
|
.. _mju_n2d:
|
|
|
|
mju_n2d
|
|
~~~~~~~
|
|
|
|
.. mujoco-include:: mju_n2d
|
|
|
|
Convert from mjtNum to double.
|
|
|
|
.. _mju_insertionSort:
|
|
|
|
mju_insertionSort
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_insertionSort
|
|
|
|
Insertion sort, resulting list is in increasing order.
|
|
|
|
.. _mju_insertionSortInt:
|
|
|
|
mju_insertionSortInt
|
|
~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_insertionSortInt
|
|
|
|
Integer insertion sort, resulting list is in increasing order.
|
|
|
|
.. _mju_Halton:
|
|
|
|
mju_Halton
|
|
~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_Halton
|
|
|
|
Generate Halton sequence.
|
|
|
|
.. _mju_strncpy:
|
|
|
|
mju_strncpy
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_strncpy
|
|
|
|
Call strncpy, then set dst[n-1] = 0.
|
|
|
|
.. _mju_sigmoid:
|
|
|
|
mju_sigmoid
|
|
~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mju_sigmoid
|
|
|
|
Sigmoid function over 0<=x<=1 constructed from half-quadratics.
|
|
|
|
.. _Derivatives-api:
|
|
|
|
Derivatives
|
|
^^^^^^^^^^^
|
|
|
|
.. _mjd_transitionFD:
|
|
|
|
mjd_transitionFD
|
|
~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjd_transitionFD
|
|
|
|
Finite differenced transition matrices. Letting :math:`x, u` denote the current :ref:`state<gePhysicsState>` and control
|
|
vectors and letting :math:`y, s` denote the next state and sensor values, the top-level :ref:`mj_step` function computes
|
|
:math:`(x,u) \rightarrow (y,s)`. :ref:`mjd_transitionFD` computes the four associated Jacobians using
|
|
finite-differencing. These matrices and their dimensions are:
|
|
|
|
.. csv-table::
|
|
:header: "matrix", "Jacobian", "dimension"
|
|
:widths: auto
|
|
:align: left
|
|
|
|
``A``, :math:`\partial y / \partial x`, ``2*nv+na x 2*nv+na``
|
|
``B``, :math:`\partial y / \partial u`, ``2*nv+na x nu``
|
|
``C``, :math:`\partial s / \partial x`, ``nsensordata x 2*nv+na``
|
|
``D``, :math:`\partial s / \partial u`, ``nsensordata x nu``
|
|
|
|
- All four matrix outputs are optional (can be NULL).
|
|
- ``eps`` is the finite-differencing epsilon.
|
|
- ``centered`` is a flag denoting whether to use forward (0) or centered (1) differences.
|
|
|
|
.. _Plugins-api:
|
|
|
|
Plugins
|
|
^^^^^^^
|
|
.. _mjp_defaultPlugin:
|
|
|
|
mjp_defaultPlugin
|
|
~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjp_defaultPlugin
|
|
|
|
Set default plugin definition.
|
|
|
|
.. _mjp_registerPlugin:
|
|
|
|
mjp_registerPlugin
|
|
~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjp_registerPlugin
|
|
|
|
Globally register a plugin. This function is thread-safe.
|
|
If an identical mjpPlugin is already registered, this function does nothing.
|
|
If a non-identical mjpPlugin with the same name is already registered, an mju_error is raised.
|
|
Two mjpPlugins are considered identical if all member function pointers and numbers are equal,
|
|
and the name and attribute strings are all identical, however the char pointers to the strings
|
|
need not be the same.
|
|
|
|
.. _mjp_pluginCount:
|
|
|
|
mjp_pluginCount
|
|
~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjp_pluginCount
|
|
|
|
Return the number of globally registered plugins.
|
|
|
|
.. _mjp_getPlugin:
|
|
|
|
mjp_getPlugin
|
|
~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjp_getPlugin
|
|
|
|
Look up a plugin by name. If slot is not NULL, also write its registered slot number into it.
|
|
|
|
.. _mjp_getPluginAtSlot:
|
|
|
|
mjp_getPluginAtSlot
|
|
~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjp_getPluginAtSlot
|
|
|
|
Look up a plugin by the registered slot number that was returned by mjp_registerPlugin.
|
|
|
|
.. _mjp_defaultResourceProvider:
|
|
|
|
mjp_defaultResourceProvider
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjp_defaultResourceProvider
|
|
|
|
Set default resource provider definition.
|
|
|
|
.. _mjp_registerResourceProvider:
|
|
|
|
mjp_registerResourceProvider
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjp_registerResourceProvider
|
|
|
|
Globally register a resource provider in a thread-safe manner. The provider must have a prefix
|
|
that is not a sub-prefix or super-prefix of any current registered providers. This function
|
|
returns a slot number > 0 on success.
|
|
|
|
.. _mjp_resourceProviderCount:
|
|
|
|
mjp_resourceProviderCount
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjp_resourceProviderCount
|
|
|
|
Return the number of globally registered resource providers.
|
|
|
|
.. _mjp_getResourceProvider:
|
|
|
|
mjp_getResourceProvider
|
|
~~~~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjp_getResourceProvider
|
|
|
|
Return the resource provider with the prefix that matches against the resource name.
|
|
If no match, return NULL.
|
|
|
|
.. _mjp_getResourceProviderAtSlot:
|
|
|
|
mjp_getResourceProviderAtSlot
|
|
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
|
|
.. mujoco-include:: mjp_getResourceProviderAtSlot
|
|
|
|
Look up a resource provider by slot number returned by mjp_registerResourceProvider.
|
|
If invalid slot number, return NULL.
|
|
|