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Mujoco_WASM/python/mujoco/introspect/enums.py
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Yuval Tassa 2f1843f4a7 Redesign the dcmotor controller: setpoint inputs, torque-space gains. 
The dcmotor input block is any subset of the canonical list [pos, vel,
ff, voltage], selected with input="pos vel ff voltage" and recorded as
mjtCtrlInput bits in actuator_ctrlspec like pid. Tokens are required in
canonical order: the attribute denotes a set, the block always packs
canonically, and accepting permutations invites reading the string as a
layout choice. The mode flag in gainprm[8] is retired (reserved,
written 0).

Controller gains are now in torque space, as for pid: the controller
commands tau = kp*(q*-l) + kd*(v*-ldot) + ki*x_I + tau_ff over the
present inputs (absent setpoints frozen at zero) and converts to drive
voltage V = R/K * tau + K*ldot. The second term compensates back-EMF,
as the current loop of a real torque-mode driver does (torque commands
are current commands): commanded torque is delivered exactly until a
limit binds, and the torque-speed envelope emerges from the Vmax clamp.
The map uses the nameplate R: thermal resistance growth is not
compensated, so a hot motor under-delivers by R/R(T). A stateless
setpoint dcmotor now matches <pid> exactly, for any K and R; the old
back-EMF droop remains available as the physical behavior of the raw
voltage path. Voltage-space datasheet gains convert by K/R. Controller
inputs require a positive motor constant (the map divides by K), and
controller gains require a controller input.

ff and voltage are distinct inputs, different in kind: ff is a torque
feedforward added to the controller output, uniform with pid's ff
(feedforward in the actuator's output space), while voltage is the raw
terminal voltage of the physical device, injected downstream of the
controller and its Vmax clamp, unclamped (ctrlrange bounds it if
desired). input="voltage" is the default: the plain voltage-commanded
motor, whose behavior is unchanged by this commit. The integrator
always accumulates position error; the old velocity mode's integral
term, ki*(int(u)dt - theta), which tracked the integral of the velocity
command, is retired without replacement, keeping ki mode-independent --
commanded integrated velocity belongs to an integrator activation
state, not to controller gains. slewmax rate-limits the first controller
input -- position setpoint (rad/s), velocity setpoint (rad/s^2) or torque
feedforward (N*m/s), each a real driver feature (reference ramping,
ramped-velocity and ramped-torque input modes); the raw voltage input
is never rate-limited and slewmax requires a controller input.

input="none" selects the empty signature: the actuator owns no controls
at all (nu = 0 is now legal with actuators present) and is purely
passive -- LuGre friction, cogging and back-EMF braking as passive
joint forces. This exists because auxiliary dynamic states (the LuGre
bristle) attach to actuators, not joints. The terminal voltage is
identically zero, i.e. a shorted motor (dynamic braking); motorconst=0
decouples the electrical branch. mjINPUT_NONE is a distinct enum value
because ctrlspec = 0 means "unset, use the type default". History and
delay require an input; the controller voltage override and input read
in mj_fwdActuation are gated on a nonempty block.

The analytic velocity derivative of the controller becomes
dV/dw = -kd*R/K + K, whose second term cancels the back-EMF bias
exactly: the net damping of an unclipped torque-mode motor is -kd, and
of a voltage-mode or passive motor -K^2/R. Viewers label inputs via
mj_actuatorInputName: pos, vel, ff, voltage.

The dcmotor LaTeX design doc is updated accordingly: torque-space
units, the tau->V map and its saturation-generated envelope, the
input-block pipeline figure, and a Passive Operation section.

PiperOrigin-RevId: 965795351
Change-Id: Ibc308ca21bd6bad014e77f950ee08feaad449b73
2026-08-17 00:43:48 -07:00

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# Copyright 2022 DeepMind Technologies Limited
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ==============================================================================
"""Provides information about MuJoCo API enums.
DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
"""
from typing import Mapping
from .ast_nodes import EnumDecl
ENUMS: Mapping[str, EnumDecl] = dict([
('mjtDisableBit',
EnumDecl(
name='mjtDisableBit',
declname='enum mjtDisableBit',
values=dict([
('mjDSBL_CONSTRAINT', 1),
('mjDSBL_EQUALITY', 2),
('mjDSBL_FRICTIONLOSS', 4),
('mjDSBL_LIMIT', 8),
('mjDSBL_CONTACT', 16),
('mjDSBL_SPRING', 32),
('mjDSBL_DAMPER', 64),
('mjDSBL_GRAVITY', 128),
('mjDSBL_CLAMPCTRL', 256),
('mjDSBL_WARMSTART', 512),
('mjDSBL_FILTERPARENT', 1024),
('mjDSBL_ACTUATION', 2048),
('mjDSBL_REFSAFE', 4096),
('mjDSBL_SENSOR', 8192),
('mjDSBL_MIDPHASE', 16384),
('mjDSBL_EULERDAMP', 32768),
('mjDSBL_AUTORESET', 65536),
('mjDSBL_NATIVECCD', 131072),
('mjDSBL_ISLAND', 262144),
('mjDSBL_MULTICCD', 524288),
('mjNDISABLE', 20),
]),
)),
('mjtEnableBit',
EnumDecl(
name='mjtEnableBit',
declname='enum mjtEnableBit',
values=dict([
('mjENBL_OVERRIDE', 1),
('mjENBL_ENERGY', 2),
('mjENBL_FWDINV', 4),
('mjENBL_INVDISCRETE', 8),
('mjENBL_SLEEP', 16),
('mjENBL_DIAGEXACT', 32),
('mjNENABLE', 6),
]),
)),
('mjtJoint',
EnumDecl(
name='mjtJoint',
declname='enum mjtJoint',
values=dict([
('mjJNT_FREE', 0),
('mjJNT_BALL', 1),
('mjJNT_SLIDE', 2),
('mjJNT_HINGE', 3),
]),
)),
('mjtGeom',
EnumDecl(
name='mjtGeom',
declname='enum mjtGeom',
values=dict([
('mjGEOM_PLANE', 0),
('mjGEOM_HFIELD', 1),
('mjGEOM_SPHERE', 2),
('mjGEOM_CAPSULE', 3),
('mjGEOM_ELLIPSOID', 4),
('mjGEOM_CYLINDER', 5),
('mjGEOM_BOX', 6),
('mjGEOM_MESH', 7),
('mjGEOM_SDF', 8),
('mjNGEOMTYPES', 9),
('mjGEOM_ARROW', 100),
('mjGEOM_ARROW1', 101),
('mjGEOM_ARROW2', 102),
('mjGEOM_LINE', 103),
('mjGEOM_LINEBOX', 104),
('mjGEOM_FLEX', 105),
('mjGEOM_SKIN', 106),
('mjGEOM_LABEL', 107),
('mjGEOM_TRIANGLE', 108),
('mjGEOM_NONE', 1001),
]),
)),
('mjtProjection',
EnumDecl(
name='mjtProjection',
declname='enum mjtProjection',
values=dict([
('mjPROJ_PERSPECTIVE', 0),
('mjPROJ_ORTHOGRAPHIC', 1),
]),
)),
('mjtCamLight',
EnumDecl(
name='mjtCamLight',
declname='enum mjtCamLight',
values=dict([
('mjCAMLIGHT_FIXED', 0),
('mjCAMLIGHT_TRACK', 1),
('mjCAMLIGHT_TRACKCOM', 2),
('mjCAMLIGHT_TARGETBODY', 3),
('mjCAMLIGHT_TARGETBODYCOM', 4),
]),
)),
('mjtLightType',
EnumDecl(
name='mjtLightType',
declname='enum mjtLightType',
values=dict([
('mjLIGHT_SPOT', 0),
('mjLIGHT_DIRECTIONAL', 1),
('mjLIGHT_POINT', 2),
('mjLIGHT_IMAGE', 3),
]),
)),
('mjtTexture',
EnumDecl(
name='mjtTexture',
declname='enum mjtTexture',
values=dict([
('mjTEXTURE_2D', 0),
('mjTEXTURE_CUBE', 1),
('mjTEXTURE_SKYBOX', 2),
]),
)),
('mjtTextureRole',
EnumDecl(
name='mjtTextureRole',
declname='enum mjtTextureRole',
values=dict([
('mjTEXROLE_USER', 0),
('mjTEXROLE_RGB', 1),
('mjTEXROLE_OCCLUSION', 2),
('mjTEXROLE_ROUGHNESS', 3),
('mjTEXROLE_METALLIC', 4),
('mjTEXROLE_NORMAL', 5),
('mjTEXROLE_OPACITY', 6),
('mjTEXROLE_EMISSIVE', 7),
('mjTEXROLE_RGBA', 8),
('mjTEXROLE_ORM', 9),
('mjNTEXROLE', 10),
]),
)),
('mjtColorSpace',
EnumDecl(
name='mjtColorSpace',
declname='enum mjtColorSpace',
values=dict([
('mjCOLORSPACE_AUTO', 0),
('mjCOLORSPACE_LINEAR', 1),
('mjCOLORSPACE_SRGB', 2),
]),
)),
('mjtIntegrator',
EnumDecl(
name='mjtIntegrator',
declname='enum mjtIntegrator',
values=dict([
('mjINT_EULER', 0),
('mjINT_RK4', 1),
('mjINT_IMPLICIT', 2),
('mjINT_IMPLICITFAST', 3),
]),
)),
('mjtCone',
EnumDecl(
name='mjtCone',
declname='enum mjtCone',
values=dict([
('mjCONE_PYRAMIDAL', 0),
('mjCONE_ELLIPTIC', 1),
]),
)),
('mjtJacobian',
EnumDecl(
name='mjtJacobian',
declname='enum mjtJacobian',
values=dict([
('mjJAC_DENSE', 0),
('mjJAC_SPARSE', 1),
('mjJAC_AUTO', 2),
]),
)),
('mjtSolver',
EnumDecl(
name='mjtSolver',
declname='enum mjtSolver',
values=dict([
('mjSOL_PGS', 0),
('mjSOL_CG', 1),
('mjSOL_NEWTON', 2),
]),
)),
('mjtEq',
EnumDecl(
name='mjtEq',
declname='enum mjtEq',
values=dict([
('mjEQ_CONNECT', 0),
('mjEQ_WELD', 1),
('mjEQ_JOINT', 2),
('mjEQ_TENDON', 3),
('mjEQ_FLEX', 4),
('mjEQ_FLEXVERT', 5),
('mjEQ_FLEXSTRAIN', 6),
('mjEQ_DISTANCE', 7),
]),
)),
('mjtWrap',
EnumDecl(
name='mjtWrap',
declname='enum mjtWrap',
values=dict([
('mjWRAP_NONE', 0),
('mjWRAP_JOINT', 1),
('mjWRAP_PULLEY', 2),
('mjWRAP_SITE', 3),
('mjWRAP_SPHERE', 4),
('mjWRAP_CYLINDER', 5),
]),
)),
('mjtTrn',
EnumDecl(
name='mjtTrn',
declname='enum mjtTrn',
values=dict([
('mjTRN_JOINT', 0),
('mjTRN_JOINTINPARENT', 1),
('mjTRN_SLIDERCRANK', 2),
('mjTRN_TENDON', 3),
('mjTRN_SITE', 4),
('mjTRN_BODY', 5),
('mjTRN_SO3', 6),
('mjTRN_UNDEFINED', 1000),
]),
)),
('mjtDyn',
EnumDecl(
name='mjtDyn',
declname='enum mjtDyn',
values=dict([
('mjDYN_NONE', 0),
('mjDYN_INTEGRATOR', 1),
('mjDYN_FILTER', 2),
('mjDYN_FILTEREXACT', 3),
('mjDYN_MUSCLE', 4),
('mjDYN_DCMOTOR', 5),
('mjDYN_PID', 6),
('mjDYN_USER', 7),
]),
)),
('mjtGain',
EnumDecl(
name='mjtGain',
declname='enum mjtGain',
values=dict([
('mjGAIN_FIXED', 0),
('mjGAIN_AFFINE', 1),
('mjGAIN_MUSCLE', 2),
('mjGAIN_DCMOTOR', 3),
('mjGAIN_SO3', 4),
('mjGAIN_PID', 5),
('mjGAIN_USER', 6),
]),
)),
('mjtBias',
EnumDecl(
name='mjtBias',
declname='enum mjtBias',
values=dict([
('mjBIAS_NONE', 0),
('mjBIAS_AFFINE', 1),
('mjBIAS_MUSCLE', 2),
('mjBIAS_DCMOTOR', 3),
('mjBIAS_SO3', 4),
('mjBIAS_USER', 5),
]),
)),
('mjtCtrlChart',
EnumDecl(
name='mjtCtrlChart',
declname='enum mjtCtrlChart',
values=dict([
('mjCHART_EXPMAP', 1),
('mjCHART_QUAT', 2),
]),
)),
('mjtCtrlInput',
EnumDecl(
name='mjtCtrlInput',
declname='enum mjtCtrlInput',
values=dict([
('mjINPUT_POS', 1),
('mjINPUT_VEL', 2),
('mjINPUT_FF', 4),
('mjINPUT_VOLTAGE', 8),
('mjINPUT_NONE', 16),
]),
)),
('mjtObj',
EnumDecl(
name='mjtObj',
declname='enum mjtObj',
values=dict([
('mjOBJ_UNKNOWN', 0),
('mjOBJ_BODY', 1),
('mjOBJ_XBODY', 2),
('mjOBJ_JOINT', 3),
('mjOBJ_DOF', 4),
('mjOBJ_GEOM', 5),
('mjOBJ_SITE', 6),
('mjOBJ_CAMERA', 7),
('mjOBJ_LIGHT', 8),
('mjOBJ_FLEX', 9),
('mjOBJ_MESH', 10),
('mjOBJ_SKIN', 11),
('mjOBJ_HFIELD', 12),
('mjOBJ_TEXTURE', 13),
('mjOBJ_MATERIAL', 14),
('mjOBJ_PAIR', 15),
('mjOBJ_EXCLUDE', 16),
('mjOBJ_EQUALITY', 17),
('mjOBJ_TENDON', 18),
('mjOBJ_ACTUATOR', 19),
('mjOBJ_SENSOR', 20),
('mjOBJ_NUMERIC', 21),
('mjOBJ_TEXT', 22),
('mjOBJ_TUPLE', 23),
('mjOBJ_KEY', 24),
('mjOBJ_PLUGIN', 25),
('mjNOBJECT', 26),
('mjOBJ_FRAME', 100),
('mjOBJ_DEFAULT', 101),
('mjOBJ_MODEL', 102),
]),
)),
('mjtSensor',
EnumDecl(
name='mjtSensor',
declname='enum mjtSensor',
values=dict([
('mjSENS_TOUCH', 0),
('mjSENS_ACCELEROMETER', 1),
('mjSENS_VELOCIMETER', 2),
('mjSENS_GYRO', 3),
('mjSENS_FORCE', 4),
('mjSENS_TORQUE', 5),
('mjSENS_MAGNETOMETER', 6),
('mjSENS_RANGEFINDER', 7),
('mjSENS_CAMPROJECTION', 8),
('mjSENS_JOINTPOS', 9),
('mjSENS_JOINTVEL', 10),
('mjSENS_TENDONPOS', 11),
('mjSENS_TENDONVEL', 12),
('mjSENS_ACTUATORPOS', 13),
('mjSENS_ACTUATORVEL', 14),
('mjSENS_ACTUATORFRC', 15),
('mjSENS_JOINTACTFRC', 16),
('mjSENS_TENDONACTFRC', 17),
('mjSENS_BALLQUAT', 18),
('mjSENS_BALLANGVEL', 19),
('mjSENS_JOINTLIMITPOS', 20),
('mjSENS_JOINTLIMITVEL', 21),
('mjSENS_JOINTLIMITFRC', 22),
('mjSENS_TENDONLIMITPOS', 23),
('mjSENS_TENDONLIMITVEL', 24),
('mjSENS_TENDONLIMITFRC', 25),
('mjSENS_FRAMEPOS', 26),
('mjSENS_FRAMEQUAT', 27),
('mjSENS_FRAMEXAXIS', 28),
('mjSENS_FRAMEYAXIS', 29),
('mjSENS_FRAMEZAXIS', 30),
('mjSENS_FRAMELINVEL', 31),
('mjSENS_FRAMEANGVEL', 32),
('mjSENS_FRAMELINACC', 33),
('mjSENS_FRAMEANGACC', 34),
('mjSENS_SUBTREECOM', 35),
('mjSENS_SUBTREELINVEL', 36),
('mjSENS_SUBTREEANGMOM', 37),
('mjSENS_INSIDESITE', 38),
('mjSENS_GEOMDIST', 39),
('mjSENS_GEOMNORMAL', 40),
('mjSENS_GEOMFROMTO', 41),
('mjSENS_CONTACT', 42),
('mjSENS_E_POTENTIAL', 43),
('mjSENS_E_KINETIC', 44),
('mjSENS_CLOCK', 45),
('mjSENS_TACTILE', 46),
('mjSENS_PLUGIN', 47),
('mjSENS_USER', 48),
]),
)),
('mjtStage',
EnumDecl(
name='mjtStage',
declname='enum mjtStage',
values=dict([
('mjSTAGE_NONE', 0),
('mjSTAGE_POS', 1),
('mjSTAGE_VEL', 2),
('mjSTAGE_ACC', 3),
]),
)),
('mjtDataType',
EnumDecl(
name='mjtDataType',
declname='enum mjtDataType',
values=dict([
('mjDATATYPE_REAL', 0),
('mjDATATYPE_POSITIVE', 1),
('mjDATATYPE_AXIS', 2),
('mjDATATYPE_QUATERNION', 3),
]),
)),
('mjtConDataField',
EnumDecl(
name='mjtConDataField',
declname='enum mjtConDataField',
values=dict([
('mjCONDATA_FOUND', 0),
('mjCONDATA_FORCE', 1),
('mjCONDATA_TORQUE', 2),
('mjCONDATA_DIST', 3),
('mjCONDATA_POS', 4),
('mjCONDATA_NORMAL', 5),
('mjCONDATA_TANGENT', 6),
('mjNCONDATA', 7),
]),
)),
('mjtRayDataField',
EnumDecl(
name='mjtRayDataField',
declname='enum mjtRayDataField',
values=dict([
('mjRAYDATA_DIST', 0),
('mjRAYDATA_DIR', 1),
('mjRAYDATA_ORIGIN', 2),
('mjRAYDATA_POINT', 3),
('mjRAYDATA_NORMAL', 4),
('mjRAYDATA_DEPTH', 5),
('mjNRAYDATA', 6),
]),
)),
('mjtCamOutBit',
EnumDecl(
name='mjtCamOutBit',
declname='enum mjtCamOutBit',
values=dict([
('mjCAMOUT_RGB', 1),
('mjCAMOUT_DEPTH', 2),
('mjCAMOUT_DIST', 4),
('mjCAMOUT_NORMAL', 8),
('mjCAMOUT_SEG', 16),
('mjNCAMOUT', 5),
]),
)),
('mjtSameFrame',
EnumDecl(
name='mjtSameFrame',
declname='enum mjtSameFrame',
values=dict([
('mjSAMEFRAME_NONE', 0),
('mjSAMEFRAME_BODY', 1),
('mjSAMEFRAME_INERTIA', 2),
('mjSAMEFRAME_BODYROT', 3),
('mjSAMEFRAME_INERTIAROT', 4),
]),
)),
('mjtSleepPolicy',
EnumDecl(
name='mjtSleepPolicy',
declname='enum mjtSleepPolicy',
values=dict([
('mjSLEEP_AUTO', 0),
('mjSLEEP_AUTO_NEVER', 1),
('mjSLEEP_AUTO_ALLOWED', 2),
('mjSLEEP_NEVER', 3),
('mjSLEEP_ALLOWED', 4),
('mjSLEEP_INIT', 5),
]),
)),
('mjtLRMode',
EnumDecl(
name='mjtLRMode',
declname='enum mjtLRMode',
values=dict([
('mjLRMODE_NONE', 0),
('mjLRMODE_MUSCLE', 1),
('mjLRMODE_MUSCLEUSER', 2),
('mjLRMODE_ALL', 3),
]),
)),
('mjtFlexSelf',
EnumDecl(
name='mjtFlexSelf',
declname='enum mjtFlexSelf',
values=dict([
('mjFLEXSELF_NONE', 0),
('mjFLEXSELF_NARROW', 1),
('mjFLEXSELF_BVH', 2),
('mjFLEXSELF_SAP', 3),
('mjFLEXSELF_AUTO', 4),
]),
)),
('mjtSDFType',
EnumDecl(
name='mjtSDFType',
declname='enum mjtSDFType',
values=dict([
('mjSDFTYPE_SINGLE', 0),
('mjSDFTYPE_INTERSECTION', 1),
('mjSDFTYPE_MIDSURFACE', 2),
('mjSDFTYPE_COLLISION', 3),
]),
)),
('mjtState',
EnumDecl(
name='mjtState',
declname='enum mjtState',
values=dict([
('mjSTATE_TIME', 1),
('mjSTATE_QPOS', 2),
('mjSTATE_QVEL', 4),
('mjSTATE_ACT', 8),
('mjSTATE_HISTORY', 16),
('mjSTATE_WARMSTART', 32),
('mjSTATE_CTRL', 64),
('mjSTATE_QFRC_APPLIED', 128),
('mjSTATE_XFRC_APPLIED', 256),
('mjSTATE_EQ_ACTIVE', 512),
('mjSTATE_MOCAP_POS', 1024),
('mjSTATE_MOCAP_QUAT', 2048),
('mjSTATE_USERDATA', 4096),
('mjSTATE_PLUGIN', 8192),
('mjNSTATE', 14),
('mjSTATE_PHYSICS', 30),
('mjSTATE_FULLPHYSICS', 8223),
('mjSTATE_USER', 8128),
('mjSTATE_INTEGRATION', 16383),
]),
)),
('mjtConstraint',
EnumDecl(
name='mjtConstraint',
declname='enum mjtConstraint',
values=dict([
('mjCNSTR_EQUALITY', 0),
('mjCNSTR_FRICTION_DOF', 1),
('mjCNSTR_FRICTION_TENDON', 2),
('mjCNSTR_LIMIT_JOINT', 3),
('mjCNSTR_LIMIT_TENDON', 4),
('mjCNSTR_CONTACT_FRICTIONLESS', 5),
('mjCNSTR_CONTACT_PYRAMIDAL', 6),
('mjCNSTR_CONTACT_ELLIPTIC', 7),
]),
)),
('mjtConstraintState',
EnumDecl(
name='mjtConstraintState',
declname='enum mjtConstraintState',
values=dict([
('mjCNSTRSTATE_SATISFIED', 0),
('mjCNSTRSTATE_QUADRATIC', 1),
('mjCNSTRSTATE_LINEARNEG', 2),
('mjCNSTRSTATE_LINEARPOS', 3),
('mjCNSTRSTATE_CONE', 4),
]),
)),
('mjtWarning',
EnumDecl(
name='mjtWarning',
declname='enum mjtWarning',
values=dict([
('mjWARN_INERTIA', 0),
('mjWARN_CONTACTFULL', 1),
('mjWARN_CNSTRFULL', 2),
('mjWARN_BADQPOS', 3),
('mjWARN_BADQVEL', 4),
('mjWARN_BADQACC', 5),
('mjWARN_BADCTRL', 6),
('mjNWARNING', 7),
]),
)),
('mjtTimer',
EnumDecl(
name='mjtTimer',
declname='enum mjtTimer',
values=dict([
('mjTIMER_STEP', 0),
('mjTIMER_FORWARD', 1),
('mjTIMER_INVERSE', 2),
('mjTIMER_POSITION', 3),
('mjTIMER_VELOCITY', 4),
('mjTIMER_ACTUATION', 5),
('mjTIMER_CONSTRAINT', 6),
('mjTIMER_ADVANCE', 7),
('mjTIMER_POS_KINEMATICS', 8),
('mjTIMER_POS_INERTIA', 9),
('mjTIMER_POS_COLLISION', 10),
('mjTIMER_POS_MAKE', 11),
('mjTIMER_POS_PROJECT', 12),
('mjTIMER_COL_BROAD', 13),
('mjTIMER_COL_NARROW', 14),
('mjNTIMER', 15),
]),
)),
('mjtSleepState',
EnumDecl(
name='mjtSleepState',
declname='enum mjtSleepState',
values=dict([
('mjS_STATIC', -1),
('mjS_ASLEEP', 0),
('mjS_AWAKE', 1),
]),
)),
('mjtLogLevel',
EnumDecl(
name='mjtLogLevel',
declname='enum mjtLogLevel',
values=dict([
('mjLOG_DEBUG', 0),
('mjLOG_INFO', 1),
('mjLOG_WARNING', 2),
('mjLOG_ERROR', 3),
]),
)),
('mjtLogTopic',
EnumDecl(
name='mjtLogTopic',
declname='enum mjtLogTopic',
values=dict([
('mjTOPIC_NONE', 0),
('mjTOPIC_TIME_STP', 1),
('mjTOPIC_TIME_CMP', 2),
('mjTOPIC_SLEEP', 3),
('mjNTOPIC', 3),
]),
)),
('mjtGeomInertia',
EnumDecl(
name='mjtGeomInertia',
declname='enum mjtGeomInertia',
values=dict([
('mjINERTIA_VOLUME', 0),
('mjINERTIA_SHELL', 1),
]),
)),
('mjtMeshInertia',
EnumDecl(
name='mjtMeshInertia',
declname='enum mjtMeshInertia',
values=dict([
('mjMESH_INERTIA_CONVEX', 0),
('mjMESH_INERTIA_EXACT', 1),
('mjMESH_INERTIA_LEGACY', 2),
('mjMESH_INERTIA_SHELL', 3),
]),
)),
('mjtMeshBuiltin',
EnumDecl(
name='mjtMeshBuiltin',
declname='enum mjtMeshBuiltin',
values=dict([
('mjMESH_BUILTIN_NONE', 0),
('mjMESH_BUILTIN_SPHERE', 1),
('mjMESH_BUILTIN_HEMISPHERE', 2),
('mjMESH_BUILTIN_CONE', 3),
('mjMESH_BUILTIN_SUPERSPHERE', 4),
('mjMESH_BUILTIN_SUPERTORUS', 5),
('mjMESH_BUILTIN_WEDGE', 6),
('mjMESH_BUILTIN_PLATE', 7),
]),
)),
('mjtBuiltin',
EnumDecl(
name='mjtBuiltin',
declname='enum mjtBuiltin',
values=dict([
('mjBUILTIN_NONE', 0),
('mjBUILTIN_GRADIENT', 1),
('mjBUILTIN_CHECKER', 2),
('mjBUILTIN_FLAT', 3),
]),
)),
('mjtMark',
EnumDecl(
name='mjtMark',
declname='enum mjtMark',
values=dict([
('mjMARK_NONE', 0),
('mjMARK_EDGE', 1),
('mjMARK_CROSS', 2),
('mjMARK_RANDOM', 3),
]),
)),
('mjtLimited',
EnumDecl(
name='mjtLimited',
declname='enum mjtLimited',
values=dict([
('mjLIMITED_FALSE', 0),
('mjLIMITED_TRUE', 1),
('mjLIMITED_AUTO', 2),
]),
)),
('mjtAlignFree',
EnumDecl(
name='mjtAlignFree',
declname='enum mjtAlignFree',
values=dict([
('mjALIGNFREE_FALSE', 0),
('mjALIGNFREE_TRUE', 1),
('mjALIGNFREE_AUTO', 2),
]),
)),
('mjtInertiaFromGeom',
EnumDecl(
name='mjtInertiaFromGeom',
declname='enum mjtInertiaFromGeom',
values=dict([
('mjINERTIAFROMGEOM_FALSE', 0),
('mjINERTIAFROMGEOM_TRUE', 1),
('mjINERTIAFROMGEOM_AUTO', 2),
]),
)),
('mjtOrientation',
EnumDecl(
name='mjtOrientation',
declname='enum mjtOrientation',
values=dict([
('mjORIENTATION_QUAT', 0),
('mjORIENTATION_AXISANGLE', 1),
('mjORIENTATION_XYAXES', 2),
('mjORIENTATION_ZAXIS', 3),
('mjORIENTATION_EULER', 4),
]),
)),
('mjtConflict',
EnumDecl(
name='mjtConflict',
declname='enum mjtConflict',
values=dict([
('mjCONFLICT_WARNING', 0),
('mjCONFLICT_MERGE', 1),
('mjCONFLICT_ERROR', 2),
]),
)),
('mjtCTimer',
EnumDecl(
name='mjtCTimer',
declname='enum mjtCTimer',
values=dict([
('mjCTIMER_TOTAL', 0),
('mjCTIMER_ASSETS', 1),
('mjCTIMER_TEXTURE', 2),
('mjCTIMER_MESH_LOAD', 3),
('mjCTIMER_MESH_HULL', 4),
('mjCTIMER_MESH_POLYGON', 5),
('mjCTIMER_MESH_INERTIA', 6),
('mjCTIMER_MESH_BVH', 7),
('mjCTIMER_MESH_OCTREE', 8),
('mjNCTIMER', 9),
]),
)),
('mjtCatBit',
EnumDecl(
name='mjtCatBit',
declname='enum mjtCatBit_',
values=dict([
('mjCAT_STATIC', 1),
('mjCAT_DYNAMIC', 2),
('mjCAT_DECOR', 4),
('mjCAT_ALL', 7),
]),
)),
('mjtMouse',
EnumDecl(
name='mjtMouse',
declname='enum mjtMouse_',
values=dict([
('mjMOUSE_NONE', 0),
('mjMOUSE_ROTATE_V', 1),
('mjMOUSE_ROTATE_H', 2),
('mjMOUSE_MOVE_V', 3),
('mjMOUSE_MOVE_H', 4),
('mjMOUSE_ZOOM', 5),
('mjMOUSE_MOVE_V_REL', 6),
('mjMOUSE_MOVE_H_REL', 7),
('mjMOUSE_TURN_V', 8),
('mjMOUSE_TURN_H', 9),
]),
)),
('mjtPertBit',
EnumDecl(
name='mjtPertBit',
declname='enum mjtPertBit_',
values=dict([
('mjPERT_TRANSLATE', 1),
('mjPERT_ROTATE', 2),
]),
)),
('mjtCamera',
EnumDecl(
name='mjtCamera',
declname='enum mjtCamera_',
values=dict([
('mjCAMERA_FREE', 0),
('mjCAMERA_TRACKING', 1),
('mjCAMERA_FIXED', 2),
('mjCAMERA_USER', 3),
]),
)),
('mjtLabel',
EnumDecl(
name='mjtLabel',
declname='enum mjtLabel_',
values=dict([
('mjLABEL_NONE', 0),
('mjLABEL_BODY', 1),
('mjLABEL_JOINT', 2),
('mjLABEL_GEOM', 3),
('mjLABEL_SITE', 4),
('mjLABEL_CAMERA', 5),
('mjLABEL_LIGHT', 6),
('mjLABEL_TENDON', 7),
('mjLABEL_ACTUATOR', 8),
('mjLABEL_CONSTRAINT', 9),
('mjLABEL_FLEX', 10),
('mjLABEL_SKIN', 11),
('mjLABEL_SELECTION', 12),
('mjLABEL_SELPNT', 13),
('mjLABEL_CONTACTPOINT', 14),
('mjLABEL_CONTACTFORCE', 15),
('mjLABEL_ISLAND', 16),
('mjNLABEL', 17),
]),
)),
('mjtFrame',
EnumDecl(
name='mjtFrame',
declname='enum mjtFrame_',
values=dict([
('mjFRAME_NONE', 0),
('mjFRAME_BODY', 1),
('mjFRAME_GEOM', 2),
('mjFRAME_SITE', 3),
('mjFRAME_CAMERA', 4),
('mjFRAME_LIGHT', 5),
('mjFRAME_CONTACT', 6),
('mjFRAME_WORLD', 7),
('mjNFRAME', 8),
]),
)),
('mjtVisFlag',
EnumDecl(
name='mjtVisFlag',
declname='enum mjtVisFlag_',
values=dict([
('mjVIS_CONVEXHULL', 0),
('mjVIS_TEXTURE', 1),
('mjVIS_JOINT', 2),
('mjVIS_CAMERA', 3),
('mjVIS_ACTUATOR', 4),
('mjVIS_ACTIVATION', 5),
('mjVIS_LIGHT', 6),
('mjVIS_TENDON', 7),
('mjVIS_RANGEFINDER', 8),
('mjVIS_CONSTRAINT', 9),
('mjVIS_INERTIA', 10),
('mjVIS_SCLINERTIA', 11),
('mjVIS_PERTFORCE', 12),
('mjVIS_PERTOBJ', 13),
('mjVIS_CONTACTPOINT', 14),
('mjVIS_ISLAND', 15),
('mjVIS_CONTACTFORCE', 16),
('mjVIS_CONTACTSPLIT', 17),
('mjVIS_TRANSPARENT', 18),
('mjVIS_AUTOCONNECT', 19),
('mjVIS_COM', 20),
('mjVIS_SELECT', 21),
('mjVIS_STATIC', 22),
('mjVIS_SKIN', 23),
('mjVIS_FLEXVERT', 24),
('mjVIS_FLEXEDGE', 25),
('mjVIS_FLEXFACE', 26),
('mjVIS_FLEXSKIN', 27),
('mjVIS_BODYBVH', 28),
('mjVIS_MESHBVH', 29),
('mjVIS_SDFITER', 30),
('mjNVISFLAG', 31),
]),
)),
('mjtRndFlag',
EnumDecl(
name='mjtRndFlag',
declname='enum mjtRndFlag_',
values=dict([
('mjRND_SHADOW', 0),
('mjRND_WIREFRAME', 1),
('mjRND_REFLECTION', 2),
('mjRND_ADDITIVE', 3),
('mjRND_SKYBOX', 4),
('mjRND_FOG', 5),
('mjRND_HAZE', 6),
('mjRND_DEPTH', 7),
('mjRND_SEGMENT', 8),
('mjRND_IDCOLOR', 9),
('mjRND_CULL_FACE', 10),
('mjNRNDFLAG', 11),
]),
)),
('mjtStereo',
EnumDecl(
name='mjtStereo',
declname='enum mjtStereo_',
values=dict([
('mjSTEREO_NONE', 0),
('mjSTEREO_QUADBUFFERED', 1),
('mjSTEREO_SIDEBYSIDE', 2),
]),
)),
('mjtPluginCapabilityBit',
EnumDecl(
name='mjtPluginCapabilityBit',
declname='enum mjtPluginCapabilityBit_',
values=dict([
('mjPLUGIN_ACTUATOR', 1),
('mjPLUGIN_SENSOR', 2),
('mjPLUGIN_PASSIVE', 4),
('mjPLUGIN_SDF', 8),
]),
)),
('mjtGridPos',
EnumDecl(
name='mjtGridPos',
declname='enum mjtGridPos_',
values=dict([
('mjGRID_TOPLEFT', 0),
('mjGRID_TOPRIGHT', 1),
('mjGRID_BOTTOMLEFT', 2),
('mjGRID_BOTTOMRIGHT', 3),
('mjGRID_TOP', 4),
('mjGRID_BOTTOM', 5),
('mjGRID_LEFT', 6),
('mjGRID_RIGHT', 7),
]),
)),
('mjtFramebuffer',
EnumDecl(
name='mjtFramebuffer',
declname='enum mjtFramebuffer_',
values=dict([
('mjFB_WINDOW', 0),
('mjFB_OFFSCREEN', 1),
]),
)),
('mjtDepthMap',
EnumDecl(
name='mjtDepthMap',
declname='enum mjtDepthMap_',
values=dict([
('mjDEPTH_ZERONEAR', 0),
('mjDEPTH_ZEROFAR', 1),
]),
)),
('mjtFontScale',
EnumDecl(
name='mjtFontScale',
declname='enum mjtFontScale_',
values=dict([
('mjFONTSCALE_50', 50),
('mjFONTSCALE_100', 100),
('mjFONTSCALE_150', 150),
('mjFONTSCALE_200', 200),
('mjFONTSCALE_250', 250),
('mjFONTSCALE_300', 300),
]),
)),
('mjtFont',
EnumDecl(
name='mjtFont',
declname='enum mjtFont_',
values=dict([
('mjFONT_NORMAL', 0),
('mjFONT_SHADOW', 1),
('mjFONT_BIG', 2),
]),
)),
('mjrPixelFormat',
EnumDecl(
name='mjrPixelFormat',
declname='enum mjrPixelFormat_',
values=dict([
('mjPIXEL_FORMAT_UNKNOWN', 0),
('mjPIXEL_FORMAT_R8', 1),
('mjPIXEL_FORMAT_RGB8', 2),
('mjPIXEL_FORMAT_RGBA8', 3),
('mjPIXEL_FORMAT_R32F', 4),
('mjPIXEL_FORMAT_DEPTH32F', 5),
('mjPIXEL_FORMAT_KTX', 6),
]),
)),
('mjrVertexAttributeUsage',
EnumDecl(
name='mjrVertexAttributeUsage',
declname='enum mjrVertexAttributeUsage_',
values=dict([
('mjVERTEX_ATTRIBUTE_USAGE_POSITION', 0),
('mjVERTEX_ATTRIBUTE_USAGE_NORMAL', 1),
('mjVERTEX_ATTRIBUTE_USAGE_TANGENTS', 2),
('mjVERTEX_ATTRIBUTE_USAGE_UV', 3),
('mjVERTEX_ATTRIBUTE_USAGE_COLOR', 4),
]),
)),
('mjrVertexAttributeType',
EnumDecl(
name='mjrVertexAttributeType',
declname='enum mjrVertexAttributeType_',
values=dict([
('mjVERTEX_ATTRIBUTE_TYPE_FLOAT2', 0),
('mjVERTEX_ATTRIBUTE_TYPE_FLOAT3', 1),
('mjVERTEX_ATTRIBUTE_TYPE_FLOAT4', 2),
('mjVERTEX_ATTRIBUTE_TYPE_UBYTE4', 3),
]),
)),
('mjrIndexType',
EnumDecl(
name='mjrIndexType',
declname='enum mjrIndexType_',
values=dict([
('mjINDEX_TYPE_U16', 0),
('mjINDEX_TYPE_U32', 1),
]),
)),
('mjrMeshPrimitiveType',
EnumDecl(
name='mjrMeshPrimitiveType',
declname='enum mjrMeshPrimitiveType_',
values=dict([
('mjMESH_PRIMITIVE_TYPE_TRIANGLES', 0),
('mjMESH_PRIMITIVE_TYPE_LINES', 1),
]),
)),
('mjtButton',
EnumDecl(
name='mjtButton',
declname='enum mjtButton',
values=dict([
('mjBUTTON_NONE', 0),
('mjBUTTON_LEFT', 1),
('mjBUTTON_RIGHT', 2),
('mjBUTTON_MIDDLE', 3),
]),
)),
('mjtEvent',
EnumDecl(
name='mjtEvent',
declname='enum mjtEvent',
values=dict([
('mjEVENT_NONE', 0),
('mjEVENT_MOVE', 1),
('mjEVENT_PRESS', 2),
('mjEVENT_RELEASE', 3),
('mjEVENT_SCROLL', 4),
('mjEVENT_KEY', 5),
('mjEVENT_RESIZE', 6),
('mjEVENT_REDRAW', 7),
('mjEVENT_FILESDROP', 8),
]),
)),
('mjtItem',
EnumDecl(
name='mjtItem',
declname='enum mjtItem',
values=dict([
('mjITEM_END', -2),
('mjITEM_SECTION', -1),
('mjITEM_SEPARATOR', 0),
('mjITEM_STATIC', 1),
('mjITEM_BUTTON', 2),
('mjITEM_CHECKINT', 3),
('mjITEM_CHECKBYTE', 4),
('mjITEM_RADIO', 5),
('mjITEM_RADIOLINE', 6),
('mjITEM_SELECT', 7),
('mjITEM_SLIDERINT', 8),
('mjITEM_SLIDERNUM', 9),
('mjITEM_EDITINT', 10),
('mjITEM_EDITNUM', 11),
('mjITEM_EDITFLOAT', 12),
('mjITEM_EDITTXT', 13),
('mjNITEM', 14),
]),
)),
('mjtSection',
EnumDecl(
name='mjtSection',
declname='enum mjtSection',
values=dict([
('mjSECT_CLOSED', 0),
('mjSECT_OPEN', 1),
('mjSECT_FIXED', 2),
]),
)),
])
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