mujoco_py/pxd/mjdata.pxd

cdef extern from "mjdata.h" nogil: #---------------------------- primitive types (mjt) ------------------------------------ ctypedef enum mjtWarning: # warning types mjWARN_INERTIA = 0, # (near) singular inertia matrix mjWARN_CONTACTFULL, # too many contacts in contact list mjWARN_CNSTRFULL, # too many constraints mjWARN_VGEOMFULL, # too many visual geoms mjWARN_BADQPOS, # bad number in qpos mjWARN_BADQVEL, # bad number in qvel mjWARN_BADQACC, # bad number in qacc mjWARN_BADCTRL, # bad number in ctrl enum: mjNWARNING # number of warnings ctypedef enum mjtTimer: # main api mjTIMER_STEP = 0, # step mjTIMER_FORWARD, # forward mjTIMER_INVERSE, # inverse # breakdown of step/forward mjTIMER_POSITION, # fwdPosition mjTIMER_VELOCITY, # fwdVelocity mjTIMER_ACTUATION, # fwdActuation mjTIMER_ACCELERATION, # fwdAcceleration mjTIMER_CONSTRAINT, # fwdConstraint # breakdown of fwdPosition mjTIMER_POS_KINEMATICS, # kinematics, com, tendon, transmission mjTIMER_POS_INERTIA, # inertia computations mjTIMER_POS_COLLISION, # collision detection mjTIMER_POS_MAKE, # make constraints mjTIMER_POS_PROJECT, # project constraints enum: mjNTIMER # number of timers #------------------------------ mjContact ---------------------------------------------- ctypedef struct mjContact: # result of collision detection functions # contact parameters set by geom-specific collision detector mjtNum dist # distance between nearest points; neg: penetration mjtNum pos[3] # position of contact point: midpoint between geoms mjtNum frame[9] # normal is in [0-2] # contact parameters set by mj_collideGeoms mjtNum includemargin # include if dist<includemargin=margin-gap mjtNum friction[5] # tangent1, 2, spin, roll1, 2 mjtNum solref[mjNREF] # constraint solver reference mjtNum solimp[mjNIMP] # constraint solver impedance # storage used internally by constraint solver mjtNum mu # friction of regularized cone mjtNum H[36] # cone Hessian, set by mj_updateConstraint # contact descriptors set by mj_collideGeoms int dim # contact space dimensionality: 1, 3, 4 or 6 int geom1 # id of geom 1 int geom2 # id of geom 2 # flag set by mj_fuseContact or mj_instantianteEquality int exclude # 0: include, 1: in gap, 2: fused, 3: equality # address computed by mj_instantiateContact int efc_address # address in efc; -1: not included, -2-i: distance constraint i ??? #------------------------------ diagnostics -------------------------------------------- ctypedef struct mjWarningStat: # warning statistics int lastinfo # info from last warning int number # how many times was warning raised ctypedef struct mjTimerStat: # timer statistics mjtNum duration # cumulative duration int number # how many times was timer called ctypedef struct mjSolverStat: # per-iteration solver statistics mjtNum improvement # cost reduction, scaled by 1/trace(M(qpos0)) mjtNum gradient # gradient norm (primal only, scaled) mjtNum lineslope # slope in linesearch int nactive # number of active constraints int nchange # number of constraint state changes int neval # number of cost evaluations in line search int nupdate # number of Cholesky updates in line search #---------------------------------- mjData --------------------------------------------- ctypedef struct mjData: # constant sizes int nstack # number of mjtNums that can fit in stack int nbuffer # size of main buffer in bytes # stack pointer int pstack # first available mjtNum address in stack # memory utilization stats int maxuse_stack # maximum stack allocation int maxuse_con # maximum number of contacts int maxuse_efc # maximum number of scalar constraints # diagnostics mjWarningStat warning[mjNWARNING] # warning statistics mjTimerStat timer[mjNTIMER] # timer statistics mjSolverStat solver[mjNSOLVER] # solver statistics per iteration int solver_iter # number of solver iterations int solver_nnz # number of non-zeros in Hessian or efc_AR mjtNum solver_fwdinv[2] # forward-inverse comparison: qfrc, efc # variable sizes int ne # number of equality constraints int nf # number of friction constraints int nefc # number of constraints int ncon # number of detected contacts # global properties mjtNum time # simulation time mjtNum energy[2] # potential, kinetic energy #-------------------------------- end of info header # buffers void* buffer # main buffer; all pointers point in it (nbuffer bytes) mjtNum* stack # stack buffer (nstack mjtNums) #-------------------------------- main inputs and outputs of the computation # state mjtNum* qpos # position (nq x 1) mjtNum* qvel # velocity (nv x 1) mjtNum* act # actuator activation (na x 1) mjtNum* qacc_warmstart # acceleration used for warmstart (nv x 1) # control mjtNum* ctrl # control (nu x 1) mjtNum* qfrc_applied # applied generalized force (nv x 1) mjtNum* xfrc_applied # applied Cartesian force/torque (nbody x 6) # dynamics mjtNum* qacc # acceleration (nv x 1) mjtNum* act_dot # time-derivative of actuator activation (na x 1) # mocap data mjtNum* mocap_pos # positions of mocap bodies (nmocap x 3) mjtNum* mocap_quat # orientations of mocap bodies (nmocap x 4) # user data mjtNum* userdata # user data, not touched by engine (nuserdata x 1) # sensors mjtNum* sensordata # sensor data array (nsensordata x 1) #-------------------------------- POSITION dependent # computed by mj_fwdPosition/mj_kinematics mjtNum* xpos # Cartesian position of body frame (nbody x 3) mjtNum* xquat # Cartesian orientation of body frame (nbody x 4) mjtNum* xmat # Cartesian orientation of body frame (nbody x 9) mjtNum* xipos # Cartesian position of body com (nbody x 3) mjtNum* ximat # Cartesian orientation of body inertia (nbody x 9) mjtNum* xanchor # Cartesian position of joint anchor (njnt x 3) mjtNum* xaxis # Cartesian joint axis (njnt x 3) mjtNum* geom_xpos # Cartesian geom position (ngeom x 3) mjtNum* geom_xmat # Cartesian geom orientation (ngeom x 9) mjtNum* site_xpos # Cartesian site position (nsite x 3) mjtNum* site_xmat # Cartesian site orientation (nsite x 9) mjtNum* cam_xpos # Cartesian camera position (ncam x 3) mjtNum* cam_xmat # Cartesian camera orientation (ncam x 9) mjtNum* light_xpos # Cartesian light position (nlight x 3) mjtNum* light_xdir # Cartesian light direction (nlight x 3) # computed by mj_fwdPosition/mj_comPos mjtNum* subtree_com # center of mass of each subtree (nbody x 3) mjtNum* cdof # com-based motion axis of each dof (nv x 6) mjtNum* cinert # com-based body inertia and mass (nbody x 10) # computed by mj_fwdPosition/mj_tendon int* ten_wrapadr # start address of tendon's path (ntendon x 1) int* ten_wrapnum # number of wrap points in path (ntendon x 1) int* ten_J_rownnz # number of non-zeros in Jacobian row (ntendon x 1) int* ten_J_rowadr # row start address in colind array (ntendon x 1) int* ten_J_colind # column indices in sparse Jacobian (ntendon x nv) mjtNum* ten_length # tendon lengths (ntendon x 1) mjtNum* ten_J # tendon Jacobian (ntendon x nv) int* wrap_obj # geom id; -1: site; -2: pulley (nwrap*2 x 1) mjtNum* wrap_xpos # Cartesian 3D points in all path (nwrap*2 x 3) # computed by mj_fwdPosition/mj_transmission mjtNum* actuator_length # actuator lengths (nu x 1) mjtNum* actuator_moment # actuator moment arms (nu x nv) # computed by mj_fwdPosition/mj_crb mjtNum* crb # com-based composite inertia and mass (nbody x 10) mjtNum* qM # total inertia (nM x 1) # computed by mj_fwdPosition/mj_factorM mjtNum* qLD # L'*D*L factorization of M (nM x 1) mjtNum* qLDiagInv # 1/diag(D) (nv x 1) mjtNum* qLDiagSqrtInv # 1/sqrt(diag(D)) (nv x 1) # computed by mj_fwdPosition/mj_collision mjContact* contact # list of all detected contacts (nconmax x 1) # computed by mj_fwdPosition/mj_makeConstraint int* efc_type # constraint type (mjtConstraint) (njmax x 1) int* efc_id # id of object of specified type (njmax x 1) int* efc_J_rownnz # number of non-zeros in Jacobian row (njmax x 1) int* efc_J_rowadr # row start address in colind array (njmax x 1) int* efc_J_rowsuper # number of subsequent rows in supernode (njmax x 1) int* efc_J_colind # column indices in sparse Jacobian (njmax x nv) int* efc_JT_rownnz # number of non-zeros in Jacobian row T (nv x 1) int* efc_JT_rowadr # row start address in colind array T (nv x 1) int* efc_JT_rowsuper # number of subsequent rows in supernode T (nv x 1) int* efc_JT_colind # column indices in sparse Jacobian T (nv x njmax) mjtNum* efc_solref # constraint solver reference (njmax x mjNREF) mjtNum* efc_solimp # constraint solver impedance (njmax x mjNIMP) mjtNum* efc_J # constraint Jacobian (njmax x nv) mjtNum* efc_JT # sparse constraint Jacobian transposed (nv x njmax) mjtNum* efc_pos # constraint position (equality, contact) (njmax x 1) mjtNum* efc_margin # inclusion margin (contact) (njmax x 1) mjtNum* efc_frictionloss # frictionloss (friction) (njmax x 1) mjtNum* efc_diagApprox # approximation to diagonal of A (njmax x 1) mjtNum* efc_KBIP # stiffness, damping, impedance, imp' (njmax x 4) mjtNum* efc_D # constraint mass (njmax x 1) mjtNum* efc_R # inverse constraint mass (njmax x 1) # computed by mj_fwdPosition/mj_projectConstraint int* efc_AR_rownnz # number of non-zeros in AR (njmax x 1) int* efc_AR_rowadr # row start address in colind array (njmax x 1) int* efc_AR_colind # column indices in sparse AR (njmax x njmax) mjtNum* efc_AR # J*inv(M)*J' + R (njmax x njmax) #-------------------------------- POSITION, VELOCITY dependent # computed by mj_fwdVelocity mjtNum* ten_velocity # tendon velocities (ntendon x 1) mjtNum* actuator_velocity # actuator velocities (nu x 1) # computed by mj_fwdVelocity/mj_comVel mjtNum* cvel # com-based velocity [3D rot; 3D tran] (nbody x 6) mjtNum* cdof_dot # time-derivative of cdof (nv x 6) # computed by mj_fwdVelocity/mj_rne (without acceleration) mjtNum* qfrc_bias # C(qpos,qvel) (nv x 1) # computed by mj_fwdVelocity/mj_passive mjtNum* qfrc_passive # passive force (nv x 1) # computed by mj_fwdVelocity/mj_referenceConstraint mjtNum* efc_vel # velocity in constraint space: J*qvel (njmax x 1) mjtNum* efc_aref # reference pseudo-acceleration (njmax x 1) # computed by mj_sensorVel mjtNum* subtree_linvel # linear velocity of subtree com (nbody x 3) mjtNum* subtree_angmom # angular momentum about subtree com (nbody x 3) #-------------------------------- POSITION, VELOCITY, CONTROL/ACCELERATION dependent # computed by mj_fwdActuation mjtNum* actuator_force # actuator force in actuation space (nu x 1) mjtNum* qfrc_actuator # actuator force (nv x 1) # computed by mj_fwdAcceleration mjtNum* qfrc_unc # net unconstrained force (nv x 1) mjtNum* qacc_unc # unconstrained acceleration (nv x 1) # computed by mj_fwdConstraint/mj_inverse mjtNum* efc_b # linear cost term: J*qacc_unc - aref (njmax x 1) mjtNum* efc_force # constraint force in constraint space (njmax x 1) int* efc_state # constraint state (mjtConstraintState) (njmax x 1) mjtNum* qfrc_constraint # constraint force (nv x 1) # computed by mj_inverse mjtNum* qfrc_inverse # net external force; should equal: (nv x 1) # qfrc_applied + J'*xfrc_applied + qfrc_actuator # computed by mj_sensorAcc/mj_rnePostConstraint; rotation:translation format mjtNum* cacc # com-based acceleration (nbody x 6) mjtNum* cfrc_int # com-based interaction force with parent (nbody x 6) mjtNum* cfrc_ext # com-based external force on body (nbody x 6) #---------------------------------- callback function types ---------------------------- # generic MuJoCo function ctypedef void (*mjfGeneric)(const mjModel* m, mjData* d) # sensor simulation ctypedef void (*mjfSensor)(const mjModel* m, mjData* d, int stage) # timer ctypedef long long int (*mjfTime)(); # actuator dynamics, gain, bias ctypedef mjtNum (*mjfAct)(const mjModel* m, const mjData* d, int id); # solver impedance ctypedef mjtNum (*mjfSolImp)(const mjModel* m, const mjData* d, int id, mjtNum distance, mjtNum* constimp); # solver reference ctypedef void (*mjfSolRef)(const mjModel* m, const mjData* d, int id, mjtNum constimp, mjtNum imp, int dim, mjtNum* ref); # collision detection ctypedef int (*mjfCollision)(const mjModel* m, const mjData* d, mjContact* con, int g1, int g2, mjtNum margin);

mujoco_py/pxd/mjdata.pxd (181 lines of code) (raw):