Yuval Tassa
cf433a4ad9
PiperOrigin-RevId: 627413508 Change-Id: I9f1a682a1533e1a3fa3cac0a462f28ce9b0fa192
426 lines
9.6 KiB
C++
426 lines
9.6 KiB
C++
// Copyright 2024 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <cstring>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mujoco.h>
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#include "cc/array_safety.h"
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#include "user/user_api.h"
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#include "user/user_util.h"
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// default model attributes
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void mjs_defaultSpec(mjSpec& model) {
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memset(&model, 0, sizeof(mjSpec));
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// default statistics
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model.stat.meaninertia = mjNAN;
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model.stat.meanmass = mjNAN;
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model.stat.meansize = mjNAN;
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model.stat.extent = mjNAN;
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model.stat.center[0] = mjNAN;
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// compiler settings
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model.autolimits = true;
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model.boundmass = 0;
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model.boundinertia = 0;
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model.settotalmass = -1;
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model.balanceinertia = false;
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model.strippath = false;
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model.fitaabb = false;
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model.degree = true;
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model.euler[0] = 'x';
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model.euler[1] = 'y';
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model.euler[2] = 'z';
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model.discardvisual = false;
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model.convexhull = true;
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model.usethread = true;
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model.fusestatic = false;
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model.inertiafromgeom = mjINERTIAFROMGEOM_AUTO;
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model.inertiagrouprange[0] = 0;
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model.inertiagrouprange[1] = mjNGROUP-1;
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model.exactmeshinertia = false;
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mj_defaultLROpt(&model.LRopt);
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// engine data
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mj_defaultOption(&model.option);
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mj_defaultVisual(&model.visual);
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model.memory = -1;
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model.nemax = 0;
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model.njmax = -1;
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model.nconmax = -1;
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model.nstack = -1;
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model.nuserdata = 0;
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model.nuser_body = -1;
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model.nuser_jnt = -1;
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model.nuser_geom = -1;
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model.nuser_site = -1;
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model.nuser_cam = -1;
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model.nuser_tendon = -1;
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model.nuser_actuator = -1;
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model.nuser_sensor = -1;
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}
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// default orientation attributes
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void mjs_defaultOrientation(mjsOrientation& orient) {
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memset(&orient, 0, sizeof(mjsOrientation));
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}
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// default body attributes
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void mjs_defaultBody(mjsBody& body) {
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memset(&body, 0, sizeof(mjsBody));
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// body frame
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body.pos[0] = mjNAN;
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body.quat[0] = 1;
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mjs_defaultOrientation(body.alt);
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// inertial frame
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body.ipos[0] = mjNAN;
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body.iquat[0] = 1;
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mjs_defaultOrientation(body.ialt);
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body.fullinertia[0] = mjNAN;
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}
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// default frame attributes
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void mjs_defaultFrame(mjsFrame& frame) {
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memset(&frame, 0, sizeof(mjsFrame));
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mju_zero3(frame.pos);
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mjuu_setvec(frame.quat, 1, 0, 0, 0);
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mjs_defaultOrientation(frame.alt);
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}
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// default joint attributes
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void mjs_defaultJoint(mjsJoint& joint) {
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memset(&joint, 0, sizeof(mjsJoint));
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joint.type = mjJNT_HINGE;
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joint.axis[2] = 1;
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joint.limited = mjLIMITED_AUTO;
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joint.actfrclimited = mjLIMITED_AUTO;
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mj_defaultSolRefImp(joint.solref_limit, joint.solimp_limit);
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mj_defaultSolRefImp(joint.solref_friction, joint.solimp_friction);
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joint.urdfeffort = -1;
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}
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// default geom attributes
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void mjs_defaultGeom(mjsGeom& geom) {
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memset(&geom, 0, sizeof(mjsGeom));
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// type
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geom.type = mjGEOM_SPHERE;
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// frame
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geom.quat[0] = 1;
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geom.fromto[0] = mjNAN;
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mjs_defaultOrientation(geom.alt);
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// contact-related
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geom.contype = 1;
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geom.conaffinity = 1;
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geom.condim = 3;
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geom.friction[0] = 1;
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geom.friction[1] = 0.005;
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geom.friction[2] = 0.0001;
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geom.solmix = 1.0;
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mj_defaultSolRefImp(geom.solref, geom.solimp);
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// inertia-related
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geom.mass = mjNAN;
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geom.density = 1000; // water density (1000 Kg / m^3)
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geom.typeinertia = mjINERTIA_VOLUME;
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// color
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geom.rgba[0] = geom.rgba[1] = geom.rgba[2] = 0.5f;
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geom.rgba[3] = 1.0f;
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// fluid forces
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geom.fluid_coefs[0] = 0.5; // blunt drag
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geom.fluid_coefs[1] = 0.25; // slender drag
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geom.fluid_coefs[2] = 1.5; // angular drag
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geom.fluid_coefs[3] = 1.0; // kutta lift
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geom.fluid_coefs[4] = 1.0; // magnus lift
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// other
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geom.fitscale = 1;
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}
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// default site attributes
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void mjs_defaultSite(mjsSite& site) {
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// set everything to 0 / false / NULL
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memset(&site, 0, sizeof(mjsSite));
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// type
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site.type = mjGEOM_SPHERE;
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// frame
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site.quat[0] = 1;
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site.size[0] = site.size[1] = site.size[2] = 0.005;
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site.fromto[0] = mjNAN;
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mjs_defaultOrientation(site.alt);
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// color
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site.rgba[0] = site.rgba[1] = site.rgba[2] = 0.5f;
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site.rgba[3] = 1.0f;
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}
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// default cam attributes
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void mjs_defaultCamera(mjsCamera& cam) {
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memset(&cam, 0, sizeof(mjsCamera));
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// type
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cam.mode = mjCAMLIGHT_FIXED;
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// extrinsics
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cam.quat[0] = 1;
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mjs_defaultOrientation(cam.alt);
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// intrinsics
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cam.fovy = 45;
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cam.ipd = 0.068;
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cam.resolution[0] = cam.resolution[1] = 1;
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}
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// default light attributes
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void mjs_defaultLight(mjsLight& light) {
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memset(&light, 0, sizeof(mjsLight));
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// mode
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light.mode = mjCAMLIGHT_FIXED;
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// intrinsics
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light.castshadow = 1;
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light.bulbradius = 0.02;
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light.active = 1;
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light.dir[2] = -1;
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light.attenuation[0] = 1;
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light.cutoff = 45;
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light.exponent = 10;
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light.diffuse[0] = light.diffuse[1] = light.diffuse[2] = 0.7;
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light.specular[0] = light.specular[1] = light.specular[2] = 0.3;
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}
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// default flex attributes
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void mjs_defaultFlex(mjsFlex& flex) {
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memset(&flex, 0, sizeof(mjsFlex));
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// set contact defaults
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flex.contype = 1;
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flex.conaffinity = 1;
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flex.condim = 3;
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mjuu_setvec(flex.friction, 1, 0.005, 0.0001);
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flex.solmix = 1.0;
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mj_defaultSolRefImp(flex.solref, flex.solimp);
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// set other defaults
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flex.dim = 2;
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flex.radius = 0.005;
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flex.internal = true;
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flex.selfcollide = mjFLEXSELF_AUTO;
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flex.activelayers = 1;
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flex.rgba[0] = flex.rgba[1] = flex.rgba[2] = 0.5f;
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flex.rgba[3] = 1.0f;
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}
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// default mesh attributes
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void mjs_defaultMesh(mjsMesh& mesh) {
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memset(&mesh, 0, sizeof(mjsMesh));
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mjuu_setvec(mesh.refpos, 0, 0, 0);
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mjuu_setvec(mesh.refquat, 1, 0, 0, 0);
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mjuu_setvec(mesh.scale, 1, 1, 1);
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mesh.smoothnormal = false;
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}
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// default height field attributes
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void mjs_defaultHField(mjsHField& hfield) {
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memset(&hfield, 0, sizeof(mjsHField));
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}
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// default skin attributes
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void mjs_defaultSkin(mjsSkin& skin) {
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memset(&skin, 0, sizeof(mjsSkin));
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skin.rgba[0] = skin.rgba[1] = skin.rgba[2] = 0.5f;
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skin.rgba[3] = 1.0f;
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skin.inflate = 0;
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skin.group = 0;
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}
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// default texture attributes
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void mjs_defaultTexture(mjsTexture& texture) {
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memset(&texture, 0, sizeof(mjsTexture));
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texture.type = mjTEXTURE_CUBE;
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mjuu_setvec(texture.rgb1, 0.8, 0.8, 0.8);
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mjuu_setvec(texture.rgb2, 0.5, 0.5, 0.5);
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mjuu_setvec(texture.markrgb, 0, 0, 0);
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texture.random = 0.01;
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texture.gridsize[0] = texture.gridsize[1] = 1;
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mujoco::util::strcpy_arr(texture.gridlayout, "............");
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}
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// default material attributes
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void mjs_defaultMaterial(mjsMaterial& material) {
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memset(&material, 0, sizeof(mjsMaterial));
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material.texuniform = false;
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material.texrepeat[0] = material.texrepeat[1] = 1;
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material.emission = 0;
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material.specular = 0.5;
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material.shininess = 0.5;
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material.reflectance = 0;
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material.metallic = 1.0;
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material.roughness = 1.0;
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material.rgba[0] = material.rgba[1] = material.rgba[2] = material.rgba[3] = 1;
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}
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// default pair attributes
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void mjs_defaultPair(mjsPair& pair) {
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memset(&pair, 0, sizeof(mjsPair));
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pair.condim = 3;
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mj_defaultSolRefImp(pair.solref, pair.solimp);
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pair.friction[0] = 1;
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pair.friction[1] = 1;
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pair.friction[2] = 0.005;
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pair.friction[3] = 0.0001;
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pair.friction[4] = 0.0001;
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}
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// default equality attributes
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void mjs_defaultEquality(mjsEquality& equality) {
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memset(&equality, 0, sizeof(mjsEquality));
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equality.type = mjEQ_CONNECT;
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equality.active = 1;
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mj_defaultSolRefImp(equality.solref, equality.solimp);
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equality.data[1] = 1;
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equality.data[10] = 1; // torque:force ratio
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}
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// default tendon attributes
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void mjs_defaultTendon(mjsTendon& tendon) {
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memset(&tendon, 0, sizeof(mjsTendon));
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tendon.limited = mjLIMITED_AUTO;
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tendon.springlength[0] = tendon.springlength[1] = -1;
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mj_defaultSolRefImp(tendon.solref_limit, tendon.solimp_limit);
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mj_defaultSolRefImp(tendon.solref_friction, tendon.solimp_friction);
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tendon.width = 0.003;
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tendon.rgba[0] = tendon.rgba[1] = tendon.rgba[2] = 0.5f;
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tendon.rgba[3] = 1.0f;
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}
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// default actuator attributes
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void mjs_defaultActuator(mjsActuator& actuator) {
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memset(&actuator, 0, sizeof(mjsActuator));
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// gain, bias
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actuator.gaintype = mjGAIN_FIXED;
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actuator.gainprm[0] = 1;
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actuator.biastype = mjBIAS_NONE;
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// activation state
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actuator.dyntype = mjDYN_NONE;
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actuator.dynprm[0] = 1;
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actuator.actdim = -1;
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// transmission
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actuator.trntype = mjTRN_UNDEFINED;
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actuator.gear[0] = 1;
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// input/output clamping
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actuator.ctrllimited = mjLIMITED_AUTO;
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actuator.forcelimited = mjLIMITED_AUTO;
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actuator.actlimited = mjLIMITED_AUTO;
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}
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// default sensor attributes
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void mjs_defaultSensor(mjsSensor& sensor) {
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memset(&sensor, 0, sizeof(mjsSensor));
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sensor.type = mjSENS_TOUCH;
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sensor.datatype = mjDATATYPE_REAL;
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sensor.needstage = mjSTAGE_ACC;
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}
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// Default numeric attributes.
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void mjs_defaultNumeric(mjsNumeric& numeric) {
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memset(&numeric, 0, sizeof(mjsNumeric));
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}
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// Default text attributes.
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void mjs_defaultText(mjsText& text) {
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memset(&text, 0, sizeof(mjsText));
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}
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// Default tuple attributes.
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void mjs_defaultTuple(mjsTuple& tuple) {
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memset(&tuple, 0, sizeof(mjsTuple));
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}
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// Default keyframe attributes.
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void mjs_defaultKey(mjsKey& key) {
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memset(&key, 0, sizeof(mjsKey));
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}
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// default plugin attributes
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void mjs_defaultPlugin(mjsPlugin& plugin) {
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memset(&plugin, 0, sizeof(mjsPlugin));
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plugin.plugin_slot = -1;
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}
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