mujoco_py/pxd/mjmodel.pxd

cdef struct mjVisual_global_: # global parameters float fovy # y-field of view (deg) for free camera float ipd # inter-pupilary distance for free camera float linewidth # line width for wireframe rendering float glow # glow coefficient for selected body int offwidth # width of offscreen buffer int offheight # height of offscreen buffer cdef struct mjVisual_quality: # rendering quality int shadowsize # size of shadowmap texture int offsamples # number of multisamples for offscreen rendering int numslices # number of slices for Glu drawing int numstacks # number of stacks for Glu drawing int numquads # number of quads for box rendering cdef struct mjVisual_headlight: # head light float ambient[3] # ambient rgb (alpha=1) float diffuse[3] # diffuse rgb (alpha=1) float specular[3] # specular rgb (alpha=1) int active # is headlight active cdef struct mjVisual_map: # mapping float stiffness # mouse perturbation stiffness (space->force) float stiffnessrot # mouse perturbation stiffness (space->torque) float force # from force units to space units float torque # from torque units to space units float alpha # scale geom alphas when transparency is enabled float fogstart # OpenGL fog starts at fogstart * mjModel.stat.extent float fogend # OpenGL fog ends at fogend * mjModel.stat.extent float znear # near clipping plane = znear * mjModel.stat.extent float zfar # far clipping plane = zfar * mjModel.stat.extent float haze # haze ratio float shadowclip # directional light: shadowclip * mjModel.stat.extent float shadowscale # spot light: shadowscale * light.cutoff float actuatortendon # scale tendon width cdef struct mjVisual_scale: # scale of decor elements relative to mean body size float forcewidth # width of force arrow float contactwidth # contact width float contactheight # contact height float connect # autoconnect capsule width float com # com radius float camera # camera object float light # light object float selectpoint # selection point float jointlength # joint length float jointwidth # joint width float actuatorlength # actuator length float actuatorwidth # actuator width float framelength # bodyframe axis length float framewidth # bodyframe axis width float constraint # constraint width float slidercrank # slidercrank width cdef struct mjVisual_rgba: # color of decor elements float fog[4] # external force float haze[4] # haze float force[4] # external force float inertia[4] # inertia box float joint[4] # joint float actuator[4] # actuator float actuatornegative[4] # actuator, negative limit float actuatorpositive[4] # actuator, positive limit float com[4] # center of mass float camera[4] # camera object float light[4] # light object float selectpoint[4] # selection point float connect[4] # auto connect float contactpoint[4] # contact point float contactforce[4] # contact force float contactfriction[4] # contact friction force float contacttorque[4] # contact torque float contactgap[4] # contact point in gap float rangefinder[4] # rangefinder ray float constraint[4] # constraint float slidercrank[4] # slidercrank float crankbroken[4] # used when crank must be stretched/broken cdef extern from "mjmodel.h" nogil: # ---------------------------- floating-point definitions ------------------------------- ctypedef double mjtNum # global constants enum: mjPI enum: mjMAXVAL enum: mjMINMU enum: mjMINIMP enum: mjMAXIMP enum: mjMAXCONPAIR enum: mjMAXVFS enum: mjMAXVFSNAME # ---------------------------- sizes ---------------------------------------------------- enum: mjNEQDATA enum: mjNDYN enum: mjNGAIN enum: mjNBIAS enum: mjNREF enum: mjNIMP enum: mjNSOLVER # ---------------------------- primitive types (mjt) ------------------------------------ ctypedef unsigned char mjtByte # used for true/false ctypedef enum mjtDisableBit: # disable default feature bitflags mjDSBL_CONSTRAINT # entire constraint solver mjDSBL_EQUALITY # equality constraints mjDSBL_FRICTIONLOSS # joint and tendon frictionloss constraints mjDSBL_LIMIT # joint and tendon limit constraints mjDSBL_CONTACT # contact constraints mjDSBL_PASSIVE # passive forces mjDSBL_GRAVITY # gravitational forces mjDSBL_CLAMPCTRL # clamp control to specified range mjDSBL_WARMSTART # warmstart constraint solver mjDSBL_FILTERPARENT # remove collisions with parent body mjDSBL_ACTUATION # apply actuation forces mjDSBL_REFSAFE # integrator safety: make ref[0]>=2*timestep enum: mjNDISABLE # number of disable flags ctypedef enum mjtEnableBit: # enable optional feature bitflags mjENBL_OVERRIDE # override contact parameters mjENBL_ENERGY # energy computation mjENBL_FWDINV # record solver statistics mjENBL_SENSORNOISE # add noise to sensor data enum: mjNENABLE # number of enable flags ctypedef enum mjtJoint: # type of degree of freedom mjJNT_FREE = 0, # global position and orientation (quat) (7) mjJNT_BALL, # orientation (quat) relative to parent (4) mjJNT_SLIDE, # sliding distance along body-fixed axis (1) mjJNT_HINGE # rotation angle (rad) around body-fixed axis (1) ctypedef enum mjtGeom: # type of geometric shape # regular geom types mjGEOM_PLANE = 0, # plane mjGEOM_HFIELD, # height field mjGEOM_SPHERE, # sphere mjGEOM_CAPSULE, # capsule mjGEOM_ELLIPSOID, # ellipsoid mjGEOM_CYLINDER, # cylinder mjGEOM_BOX, # box mjGEOM_MESH, # mesh mjNGEOMTYPES, # number of regular geom types # rendering-only geom types: not used in mjModel, not counted in mjNGEOMTYPES mjGEOM_ARROW = 100, # arrow mjGEOM_ARROW1, # arrow without wedges mjGEOM_ARROW2, # arrow in both directions mjGEOM_LABEL, # text label mjGEOM_NONE = 1001 # missing geom type ctypedef enum mjtCamLight: # tracking mode for camera and light mjCAMLIGHT_FIXED = 0, # pos and rot fixed in body mjCAMLIGHT_TRACK, # pos tracks body, rot fixed in global mjCAMLIGHT_TRACKCOM, # pos tracks subtree com, rot fixed in body mjCAMLIGHT_TARGETBODY, # pos fixed in body, rot tracks target body mjCAMLIGHT_TARGETBODYCOM # pos fixed in body, rot tracks target subtree com ctypedef enum mjtTexture: # type of texture mjTEXTURE_2D = 0, # 2d texture, suitable for planes and hfields mjTEXTURE_CUBE, # cube texture, suitable for all other geom types mjTEXTURE_SKYBOX # cube texture used as skybox ctypedef enum mjtIntegrator: # integrator mode mjINT_EULER = 0, # semi-implicit Euler mjINT_RK4 # 4th-order Runge Kutta ctypedef enum mjtCollision: # collision mode for selecting geom pairs mjCOL_ALL = 0, # test precomputed and dynamic pairs mjCOL_PAIR, # test predefined pairs only mjCOL_DYNAMIC # test dynamic pairs only ctypedef enum mjtCone: # type of friction cone mjCONE_PYRAMIDAL = 0, # pyramidal mjCONE_ELLIPTIC # elliptic ctypedef enum mjtJacobian: # type of constraint Jacobian mjJAC_DENSE = 0, # dense mjJAC_SPARSE, # sparse mjJAC_AUTO # dense if nv<60, sparse otherwise ctypedef enum mjtSolver: # constraint solver algorithm mjSOL_PGS = 0, # PGS (dual) mjSOL_CG, # CG (primal) mjSOL_NEWTON # Newton (primal) ctypedef enum mjtImp: # how to interpret solimp parameters mjIMP_CONSTANT = 0, # constant solimp[1] mjIMP_SIGMOID, # sigmoid from solimp[0] to solimp[1], width solimp[2] mjIMP_LINEAR, # piece-wise linear sigmoid mjIMP_USER # impedance computed by callback ctypedef enum mjtRef: # how to interpret solref parameters mjREF_SPRING = 0, # spring-damper: timeconst=solref[0], dampratio=solref[1] mjREF_USER # reference computed by callback ctypedef enum mjtEq: # type of equality constraint mjEQ_CONNECT = 0, # connect two bodies at a point (ball joint) mjEQ_WELD, # fix relative position and orientation of two bodies mjEQ_JOINT, # couple the values of two scalar joints with cubic mjEQ_TENDON, # couple the lengths of two tendons with cubic mjEQ_DISTANCE # fix the contact distance betweent two geoms ctypedef enum mjtWrap: # type of tendon wrap object mjWRAP_NONE = 0, # null object mjWRAP_JOINT, # constant moment arm mjWRAP_PULLEY, # pulley used to split tendon mjWRAP_SITE, # pass through site mjWRAP_SPHERE, # wrap around sphere mjWRAP_CYLINDER # wrap around (infinite) cylinder ctypedef enum mjtTrn: # type of actuator transmission mjTRN_JOINT = 0, # force on joint mjTRN_JOINTINPARENT, # force on joint, expressed in parent frame mjTRN_SLIDERCRANK, # force via slider-crank linkage mjTRN_TENDON, # force on tendon mjTRN_SITE, # force on site mjTRN_UNDEFINED = 1000 # undefined transmission type ctypedef enum mjtDyn: # type of actuator dynamics mjDYN_NONE = 0, # no internal dynamics; ctrl specifies force mjDYN_INTEGRATOR, # integrator: da/dt = u mjDYN_FILTER, # linear filter: da/dt = (u-a) / tau mjDYN_USER # user-defined dynamics type ctypedef enum mjtGain: # type of actuator gain mjGAIN_FIXED = 0, # fixed gain mjGAIN_USER # user-defined gain type ctypedef enum mjtBias: # type of actuator bias mjBIAS_NONE = 0, # no bias mjBIAS_AFFINE, # const + kp*length + kv*velocity mjBIAS_USER # user-defined bias type ctypedef enum mjtObj: # type of MujoCo object mjOBJ_UNKNOWN = 0, # unknown object type mjOBJ_BODY, # body mjOBJ_XBODY, # body, used to access regular frame instead of i-frame mjOBJ_JOINT, # joint mjOBJ_DOF, # dof mjOBJ_GEOM, # geom mjOBJ_SITE, # site mjOBJ_CAMERA, # camera mjOBJ_LIGHT, # light mjOBJ_MESH, # mesh mjOBJ_HFIELD, # heightfield mjOBJ_TEXTURE, # texture mjOBJ_MATERIAL, # material for rendering mjOBJ_PAIR, # geom pair to include mjOBJ_EXCLUDE, # body pair to exclude mjOBJ_EQUALITY, # equality constraint mjOBJ_TENDON, # tendon mjOBJ_ACTUATOR, # actuator mjOBJ_SENSOR, # sensor mjOBJ_NUMERIC, # numeric mjOBJ_TEXT, # text mjOBJ_TUPLE, # tuple mjOBJ_KEY # keyframe ctypedef enum mjtConstraint: # type of constraint mjCNSTR_EQUALITY = 0, # equality constraint mjCNSTR_FRICTION_DOF, # dof friction mjCNSTR_FRICTION_TENDON, # tendon friction mjCNSTR_LIMIT_JOINT, # joint limit mjCNSTR_LIMIT_TENDON, # tendon limit mjCNSTR_CONTACT_FRICTIONLESS, # frictionless contact mjCNSTR_CONTACT_PYRAMIDAL, # frictional contact, pyramidal friction cone mjCNSTR_CONTACT_ELLIPTIC # frictional contact, elliptic friction cone ctypedef enum mjtConstraintState: # constraint state mjCNSTRSTATE_SATISFIED = 0, # constraint satisfied, zero cost (limit, contact) mjCNSTRSTATE_QUADRATIC, # quadratic cost (equality, friction, limit, contact) mjCNSTRSTATE_LINEARNEG, # linear cost, negative side (friction) mjCNSTRSTATE_LINEARPOS, # linear cost, positive side (friction) mjCNSTRSTATE_CONE # squared distance to cone cost (elliptic contact) ctypedef enum mjtSensor: # type of sensor # common robotic sensors, attached to a site mjSENS_TOUCH = 0, # scalar contact normal forces summed over sensor zone mjSENS_ACCELEROMETER, # 3D linear acceleration, in local frame mjSENS_VELOCIMETER, # 3D linear velocity, in local frame mjSENS_GYRO, # 3D angular velocity, in local frame mjSENS_FORCE, # 3D force between site's body and its parent body mjSENS_TORQUE, # 3D torque between site's body and its parent body mjSENS_MAGNETOMETER, # 3D magnetometer mjSENS_RANGEFINDER, # scalar distance to nearest geom or site along z-axis # sensors related to scalar joints, tendons, actuators mjSENS_JOINTPOS, # scalar joint position (hinge and slide only) mjSENS_JOINTVEL, # scalar joint velocity (hinge and slide only) mjSENS_TENDONPOS, # scalar tendon position mjSENS_TENDONVEL, # scalar tendon velocity mjSENS_ACTUATORPOS, # scalar actuator position mjSENS_ACTUATORVEL, # scalar actuator velocity mjSENS_ACTUATORFRC, # scalar actuator force # sensors related to ball joints mjSENS_BALLQUAT, # 4D ball joint quaterion mjSENS_BALLANGVEL, # 3D ball joint angular velocity # sensors attached to an object with spatial frame: (x)body, geom, site, camera mjSENS_FRAMEPOS, # 3D position mjSENS_FRAMEQUAT, # 4D unit quaternion orientation mjSENS_FRAMEXAXIS, # 3D unit vector: x-axis of object's frame mjSENS_FRAMEYAXIS, # 3D unit vector: y-axis of object's frame mjSENS_FRAMEZAXIS, # 3D unit vector: z-axis of object's frame mjSENS_FRAMELINVEL, # 3D linear velocity mjSENS_FRAMEANGVEL, # 3D angular velocity mjSENS_FRAMELINACC, # 3D linear acceleration mjSENS_FRAMEANGACC, # 3D angular acceleration # sensors related to kinematic subtrees; attached to a body (which is the subtree root) mjSENS_SUBTREECOM, # 3D center of mass of subtree mjSENS_SUBTREELINVEL, # 3D linear velocity of subtree mjSENS_SUBTREEANGMOM, # 3D angular momentum of subtree # user-defined sensor mjSENS_USER # sensor data provided by mjcb_sensor callback ctypedef enum mjtStage: # computation stage mjSTAGE_NONE = 0, # no computations mjSTAGE_POS, # position-dependent computations mjSTAGE_VEL, # velocity-dependent computations mjSTAGE_ACC # acceleration/force-dependent computations ctypedef enum mjtDataType: # data type for sensors mjDATATYPE_REAL = 0, # real values, no constraints mjDATATYPE_POSITIVE, # positive values; 0 or negative: inactive mjDATATYPE_AXIS, # 3D unit vector mjDATATYPE_QUAT # unit quaternion #------------------------------ mjVFS -------------------------------------------------- ctypedef struct mjVFS: # virtual file system for loading from memory int nfile # number of files present char filename[mjMAXVFS][mjMAXVFSNAME] # file name without path int filesize[mjMAXVFS] # file size in bytes void* filedata[mjMAXVFS] # buffer with file data #------------------------------ mjOption ----------------------------------------------- ctypedef struct mjOption: # physics options # timing parameters mjtNum timestep # timestep mjtNum apirate # update rate for remote API (Hz) # solver parameters mjtNum impratio # ratio of friction-to-normal contact impedance mjtNum tolerance # solver convergence tolerance mjtNum noslip_tolerance # noslip solver tolerance mjtNum mpr_tolerance # MPR solver tolerance # physical constants mjtNum gravity[3] # gravitational acceleration mjtNum wind[3] # wind (for lift, drag and viscosity) mjtNum magnetic[3] # global magnetic flux mjtNum density # density of medium mjtNum viscosity # viscosity of medium # override contact solver parameters (if enabled) mjtNum o_margin # margin mjtNum o_solref[mjNREF] # solref mjtNum o_solimp[mjNIMP] # solimp # discrete settings int integrator # integration mode (mjtIntegrator) int collision # collision mode (mjtCollision) int cone # type of friction cone (mjtCone) int jacobian # type of Jacobian (mjtJacobian) int solver # solver mode (mjtSolver) int iterations # maximum number of solver iterations int noslip_iterations # maximum number of noslip solver iterations int mpr_iterations # maximum number of MPR solver iterations int disableflags # bit flags for disabling standard features int enableflags # bit flags for enabling optional features #------------------------------ mjLROpt ------------------------------------------------ ctypedef struct mjLROpt: # flags int mode # which actuators to process (mjtLRMode) int useexisting # use existing length range if available int uselimit # use joint and tendon limits if available # algorithm parameters mjtNum accel # target acceleration used to compute force mjtNum maxforce # maximum force; 0: no limit mjtNum timeconst # time constant for velocity reduction; min 0.01 mjtNum timestep # simulation timestep; 0: use mjOption.timestep mjtNum inttotal # total simulation time interval mjtNum inteval # evaluation time interval (at the end) mjtNum tolrange # convergence tolerance (relative to range) #------------------------------ mjVisual ----------------------------------------------- ctypedef struct mjVisual: mjVisual_global_ global_ "global" mjVisual_quality quality mjVisual_headlight headlight mjVisual_map map mjVisual_scale scale mjVisual_rgba rgba #------------------------------ mjStatistic -------------------------------------------- ctypedef struct mjStatistic: # model statistics (in qpos0) mjtNum meaninertia # mean diagonal inertia mjtNum meanmass # mean body mass mjtNum meansize # mean body size mjtNum extent # spatial extent mjtNum center[3] # center of model # ---------------------------------- mjModel -------------------------------------------- ctypedef struct mjModel: # ------------------------------- sizes # sizes needed at mjModel construction int nq # number of generalized coordinates = dim(qpos) int nv # number of degrees of freedom = dim(qvel) int nu # number of actuators/controls = dim(ctrl) int na # number of activation states = dim(act) int nbody # number of bodies int njnt # number of joints int ngeom # number of geoms int nsite # number of sites int ncam # number of cameras int nlight # number of lights int nmesh # number of meshes int nmeshvert # number of vertices in all meshes int nmeshtexvert; # number of vertices with texcoords in all meshes int nmeshface # number of triangular faces in all meshes int nmeshgraph # number of ints in mesh auxiliary data int nskin # number of skins int nskinvert # number of vertices in all skins int nskintexvert # number of vertiex with texcoords in all skins int nskinface # number of triangular faces in all skins int nskinbone # number of bones in all skins int nskinbonevert # number of vertices in all skin bones int nhfield # number of heightfields int nhfielddata # number of data points in all heightfields int ntex # number of textures int ntexdata # number of bytes in texture rgb data int nmat # number of materials int npair # number of predefined geom pairs int nexclude # number of excluded geom pairs int neq # number of equality constraints int ntendon # number of tendons int nwrap # number of wrap objects in all tendon paths int nsensor # number of sensors int nnumeric # number of numeric custom fields int nnumericdata # number of mjtNums in all numeric fields int ntext # number of text custom fields int ntextdata # number of mjtBytes in all text fields int ntuple # number of tuple custom fields int ntupledata # number of objects in all tuple fields int nkey # number of keyframes int nmocap # number of mocap bodies int nuser_body # number of mjtNums in body_user int nuser_jnt # number of mjtNums in jnt_user int nuser_geom # number of mjtNums in geom_user int nuser_site # number of mjtNums in site_user int nuser_cam # number of mjtNums in cam_user int nuser_tendon # number of mjtNums in tendon_user int nuser_actuator # number of mjtNums in actuator_user int nuser_sensor # number of mjtNums in sensor_user int nnames # number of chars in all names # sizes set after jModel construction (only affect mjData) int nM # number of non-zeros in sparse inertia matrix int nemax # number of potential equality-constraint rows int njmax # number of available rows in constraint Jacobian int nconmax # number of potential contacts in contact list int nstack # number of fields in mjData stack int nuserdata # number of extra fields in mjData int nsensordata # number of fields in sensor data vector int nbuffer # number of bytes in buffer # ------------------------------- options and statistics mjOption opt # physics options mjVisual vis # visualization options mjStatistic stat # model statistics # ------------------------------- buffers # main buffer void* buffer # main buffer; all pointers point in it (nbuffer) # default generalized coordinates mjtNum* qpos0 # qpos values at default pose (nq x 1) mjtNum* qpos_spring # reference pose for springs (nq x 1) # bodies int* body_parentid # id of body's parent (nbody x 1) int* body_rootid # id of root above body (nbody x 1) int* body_weldid # id of body that this body is welded to (nbody x 1) int* body_mocapid # id of mocap data; -1: none (nbody x 1) int* body_jntnum # number of joints for this body (nbody x 1) int* body_jntadr # start addr of joints; -1: no joints (nbody x 1) int* body_dofnum # number of motion degrees of freedom (nbody x 1) int* body_dofadr # start addr of dofs; -1: no dofs (nbody x 1) int* body_geomnum # number of geoms (nbody x 1) int* body_geomadr # start addr of geoms; -1: no geoms (nbody x 1) mjtByte* body_simple # body is simple (has diagonal M) (nbody x 1) mjtByte* body_sameframe # inertial frame is same as body frame (nbody x 1) mjtNum* body_pos # position offset rel. to parent body (nbody x 3) mjtNum* body_quat # orientation offset rel. to parent body (nbody x 4) mjtNum* body_ipos # local position of center of mass (nbody x 3) mjtNum* body_iquat # local orientation of inertia ellipsoid (nbody x 4) mjtNum* body_mass # mass (nbody x 1) mjtNum* body_subtreemass # mass of subtree starting at this body (nbody x 1) mjtNum* body_inertia # diagonal inertia in ipos/iquat frame (nbody x 3) mjtNum* body_invweight0 # mean inv inert in qpos0 (trn, rot) (nbody x 2) mjtNum* body_user # user data (nbody x nuser_body) # joints int* jnt_type # type of joint (mjtJoint) (njnt x 1) int* jnt_qposadr # start addr in 'qpos' for joint's data (njnt x 1) int* jnt_dofadr # start addr in 'qvel' for joint's data (njnt x 1) int* jnt_bodyid # id of joint's body (njnt x 1) int* jnt_group # group for visibility (njnt x 1) mjtByte* jnt_limited # does joint have limits (njnt x 1) mjtNum* jnt_solref # constraint solver reference: limit (njnt x mjNREF) mjtNum* jnt_solimp # constraint solver impedance: limit (njnt x mjNIMP) mjtNum* jnt_pos # local anchor position (njnt x 3) mjtNum* jnt_axis # local joint axis (njnt x 3) mjtNum* jnt_stiffness # stiffness coefficient (njnt x 1) mjtNum* jnt_range # joint limits (njnt x 2) mjtNum* jnt_margin # min distance for limit detection (njnt x 1) mjtNum* jnt_user # user data (njnt x nuser_jnt) # dofs int* dof_bodyid # id of dof's body (nv x 1) int* dof_jntid # id of dof's joint (nv x 1) int* dof_parentid # id of dof's parent; -1: none (nv x 1) int* dof_Madr # dof address in M-diagonal (nv x 1) int* dof_simplenum # number of consecutive simple dofs (nv x 1) mjtNum* dof_solref # constraint solver reference:frictionloss (nv x mjNREF) mjtNum* dof_solimp # constraint solver impedance:frictionloss (nv x mjNIMP) mjtNum* dof_frictionloss # dof friction loss (nv x 1) mjtNum* dof_armature # dof armature inertia/mass (nv x 1) mjtNum* dof_damping # damping coefficient (nv x 1) mjtNum* dof_invweight0 # inv. diag. inertia in qpos0 (nv x 1) mjtNum* dof_M0 # diag. inertia in qpos0 (nv x 1) # geoms int* geom_type # geometric type (mjtGeom) (ngeom x 1) int* geom_contype # geom contact type (ngeom x 1) int* geom_conaffinity # geom contact affinity (ngeom x 1) int* geom_condim # contact dimensionality (1, 3, 4, 6) (ngeom x 1) int* geom_bodyid # id of geom's body (ngeom x 1) int* geom_dataid # id of geom's mesh/hfield (-1: none) (ngeom x 1) int* geom_matid # material id for rendering (ngeom x 1) int* geom_group # group for visibility (ngeom x 1) int* geom_priority # geom contact priority (ngeom x 1) mjtByte* geom_sameframe # same as body frame (1) or iframe (2) (ngeom x 1) mjtNum* geom_solmix # mixing coef for solref/imp in geom pair (ngeom x 1) mjtNum* geom_solref # constraint solver reference: contact (ngeom x mjNREF) mjtNum* geom_solimp # constraint solver impedance: contact (ngeom x mjNIMP) mjtNum* geom_size # geom-specific size parameters (ngeom x 3) mjtNum* geom_rbound # radius of bounding sphere (ngeom x 1) mjtNum* geom_pos # local position offset rel. to body (ngeom x 3) mjtNum* geom_quat # local orientation offset rel. to body (ngeom x 4) mjtNum* geom_friction # friction for (slide, spin, roll) (ngeom x 3) mjtNum* geom_margin # detect contact if dist<margin (ngeom x 1) mjtNum* geom_gap # include in solver if dist<margin-gap (ngeom x 1) mjtNum* geom_user # user data (ngeom x nuser_geom) float* geom_rgba # rgba when material is omitted (ngeom x 4) # sites int* site_type # geom type for rendering (mjtGeom) (nsite x 1) int* site_bodyid # id of site's body (nsite x 1) int* site_matid # material id for rendering (nsite x 1) int* site_group # group for visibility (nsite x 1) mjtByte* site_sameframe # same as body frame (1) or iframe (2) (nsite x 1) mjtNum* site_size # geom size for rendering (nsite x 3) mjtNum* site_pos # local position offset rel. to body (nsite x 3) mjtNum* site_quat # local orientation offset rel. to body (nsite x 4) mjtNum* site_user # user data (nsite x nuser_site) float* site_rgba # rgba when material is omitted (nsite x 4) # cameras int* cam_mode # camera tracking mode (mjtCamLight) (ncam x 1) int* cam_bodyid # id of camera's body (ncam x 1) int* cam_targetbodyid # id of targeted body; -1: none (ncam x 1) mjtNum* cam_pos # position rel. to body frame (ncam x 3) mjtNum* cam_quat # orientation rel. to body frame (ncam x 4) mjtNum* cam_poscom0 # global position rel. to sub-com in qpos0 (ncam x 3) mjtNum* cam_pos0 # global position rel. to body in qpos0 (ncam x 3) mjtNum* cam_mat0 # global orientation in qpos0 (ncam x 9) mjtNum* cam_fovy # y-field of view (deg) (ncam x 1) mjtNum* cam_ipd # inter-pupilary distance (ncam x 1) mjtNum* cam_user # user data (ncam x nuser_cam) # lights int* light_mode # light tracking mode (mjtCamLight) (nlight x 1) int* light_bodyid # id of light's body (nlight x 1) int* light_targetbodyid # id of targeted body; -1: none (nlight x 1) mjtByte* light_directional # directional light (nlight x 1) mjtByte* light_castshadow # does light cast shadows (nlight x 1) mjtByte* light_active # is light on (nlight x 1) mjtNum* light_pos # position rel. to body frame (nlight x 3) mjtNum* light_dir # direction rel. to body frame (nlight x 3) mjtNum* light_poscom0 # global position rel. to sub-com in qpos0 (nlight x 3) mjtNum* light_pos0 # global position rel. to body in qpos0 (nlight x 3) mjtNum* light_dir0 # global direction in qpos0 (nlight x 3) float* light_attenuation # OpenGL attenuation (quadratic model) (nlight x 3) float* light_cutoff # OpenGL cutoff (nlight x 1) float* light_exponent # OpenGL exponent (nlight x 1) float* light_ambient # ambient rgb (alpha=1) (nlight x 3) float* light_diffuse # diffuse rgb (alpha=1) (nlight x 3) float* light_specular # specular rgb (alpha=1) (nlight x 3) # meshes int* mesh_vertadr # first vertex address (nmesh x 1) int* mesh_vertnum # number of vertices (nmesh x 1) int* mesh_texcoordadr # texcoord data address; -1: no texcoord (nmesh x 1) int* mesh_faceadr # first face address (nmesh x 1) int* mesh_facenum # number of faces (nmesh x 1) int* mesh_graphadr # graph data address; -1: no graph (nmesh x 1) float* mesh_vert # vertex data for all meshes (nmeshvert x 3) float* mesh_normal # vertex normal data for all meshes (nmeshvert x 3) float* mesh_texcoord # vertex texcoords for all meshes (nmeshtexvert x 2) int* mesh_face # triangle face data (nmeshface x 3) int* mesh_graph # convex graph data (nmeshgraph x 1) # skins int* skin_matid # skin material id; -1: none (nskin x 1) float* skin_rgba # skin rgba (nskin x 4) float* skin_inflate # inflate skin in normal direction (nskin x 1) int* skin_vertadr # first vertex address (nskin x 1) int* skin_vertnum # number of vertices (nskin x 1) int* skin_texcoordadr # texcoord data address; -1: no texcoord (nskin x 1) int* skin_faceadr # first face address (nskin x 1) int* skin_facenum # number of faces (nskin x 1) int* skin_boneadr # first bone in skin (nskin x 1) int* skin_bonenum # number of bones in skin (nskin x 1) float* skin_vert # vertex positions for all skin meshes (nskinvert x 3) float* skin_texcoord # vertex texcoords for all skin meshes (nskintexvert x 2) int* skin_face # triangle faces for all skin meshes (nskinface x 3) int* skin_bonevertadr # first vertex in each bone (nskinbone x 1) int* skin_bonevertnum # number of vertices in each bone (nskinbone x 1) float* skin_bonebindpos # bind pos of each bone (nskinbone x 3) float* skin_bonebindquat # bind quat of each bone (nskinbone x 4) int* skin_bonebodyid # body id of each bone (nskinbone x 1) int* skin_bonevertid # mesh ids of vertices in each bone (nskinbonevert x 1) float* skin_bonevertweight # weights of vertices in each bone (nskinbonevert x 1) # height fields mjtNum* hfield_size # (x, y, z_top, z_bottom) (nhfield x 4) int* hfield_nrow # number of rows in grid (nhfield x 1) int* hfield_ncol # number of columns in grid (nhfield x 1) int* hfield_adr # address in hfield_data (nhfield x 1) float* hfield_data # elevation data (nhfielddata x 1) # textures int* tex_type # texture type (mjtTexture) (ntex x 1) int* tex_height # number of rows in texture image (ntex x 1) int* tex_width # number of columns in texture image (ntex x 1) int* tex_adr # address in rgb (ntex x 1) mjtByte* tex_rgb # rgb (alpha = 1) (ntexdata x 1) # materials int* mat_texid # texture id; -1: none (nmat x 1) mjtByte* mat_texuniform # make texture cube uniform (nmat x 1) float* mat_texrepeat # texture repetition for 2d mapping (nmat x 2) float* mat_emission # emission (x rgb) (nmat x 1) float* mat_specular # specular (x white) (nmat x 1) float* mat_shininess # shininess coef (nmat x 1) float* mat_reflectance # reflectance (0: disable) (nmat x 1) float* mat_rgba # rgba (nmat x 4) # predefined geom pairs for collision detection; has precedence over exclude int* pair_dim # contact dimensionality (npair x 1) int* pair_geom1 # id of geom1 (npair x 1) int* pair_geom2 # id of geom2 (npair x 1) int* pair_signature # (body1+1)<<16 + body2+1 (npair x 1) mjtNum* pair_solref # constraint solver reference: contact (npair x mjNREF) mjtNum* pair_solimp # constraint solver impedance: contact (npair x mjNIMP) mjtNum* pair_margin # detect contact if dist<margin (npair x 1) mjtNum* pair_gap # include in solver if dist<margin-gap (npair x 1) mjtNum* pair_friction # tangent1, 2, spin, roll1, 2 (npair x 5) # excluded body pairs for collision detection int* exclude_signature # (body1+1)<<16 + body2+1 (nexclude x 1) # equality constraints int* eq_type # constraint type (mjtEq) (neq x 1) int* eq_obj1id # id of object 1 (neq x 1) int* eq_obj2id # id of object 2 (neq x 1) mjtByte* eq_active # enable/disable constraint (neq x 1) mjtNum* eq_solref # constraint solver reference (neq x mjNREF) mjtNum* eq_solimp # constraint solver impedance (neq x mjNIMP) mjtNum* eq_data # numeric data for constraint (neq x mjNEQDATA) # tendons int* tendon_adr # address of first object in tendon's path (ntendon x 1) int* tendon_num # number of objects in tendon's path (ntendon x 1) int* tendon_matid # material id for rendering (ntendon x 1) int* tendon_group # group for visibility (ntendon x 1) mjtByte* tendon_limited # does tendon have length limits (ntendon x 1) mjtNum* tendon_width # width for rendering (ntendon x 1) mjtNum* tendon_solref_lim # constraint solver reference: limit (ntendon x mjNREF) mjtNum* tendon_solimp_lim # constraint solver impedance: limit (ntendon x mjNIMP) mjtNum* tendon_solref_fri # constraint solver reference: friction (ntendon x mjNREF) mjtNum* tendon_solimp_fri # constraint solver impedance: friction (ntendon x mjNIMP) mjtNum* tendon_range # tendon length limits (ntendon x 2) mjtNum* tendon_margin # min distance for limit detection (ntendon x 1) mjtNum* tendon_stiffness # stiffness coefficient (ntendon x 1) mjtNum* tendon_damping # damping coefficient (ntendon x 1) mjtNum* tendon_frictionloss; # loss due to friction (ntendon x 1) mjtNum* tendon_lengthspring; # tendon length in qpos_spring (ntendon x 1) mjtNum* tendon_length0 # tendon length in qpos0 (ntendon x 1) mjtNum* tendon_invweight0 # inv. weight in qpos0 (ntendon x 1) mjtNum* tendon_user # user data (ntendon x nuser_tendon) float* tendon_rgba # rgba when material is omitted (ntendon x 4) # list of all wrap objects in tendon paths int* wrap_type # wrap object type (mjtWrap) (nwrap x 1) int* wrap_objid # object id: geom, site, joint (nwrap x 1) mjtNum* wrap_prm # divisor, joint coef, or site id (nwrap x 1) # actuators int* actuator_trntype # transmission type (mjtTrn) (nu x 1) int* actuator_dyntype # dynamics type (mjtDyn) (nu x 1) int* actuator_gaintype # gain type (mjtGain) (nu x 1) int* actuator_biastype # bias type (mjtBias) (nu x 1) int* actuator_trnid # transmission id: joint, tendon, site (nu x 2) int* actuator_group # group for visibility (nu x 1) mjtByte* actuator_ctrllimited; # is control limited (nu x 1) mjtByte* actuator_forcelimited;# is force limited (nu x 1) mjtNum* actuator_dynprm # dynamics parameters (nu x mjNDYN) mjtNum* actuator_gainprm # gain parameters (nu x mjNGAIN) mjtNum* actuator_biasprm # bias parameters (nu x mjNBIAS) mjtNum* actuator_ctrlrange # range of controls (nu x 2) mjtNum* actuator_forcerange; # range of forces (nu x 2) mjtNum* actuator_gear # scale length and transmitted force (nu x 6) mjtNum* actuator_cranklength; # crank length for slider-crank (nu x 1) mjtNum* actuator_acc0 # acceleration from unit force in qpos0 (nu x 1) mjtNum* actuator_length0 # actuator length in qpos0 (nu x 1) mjtNum* actuator_lengthrange # ... not yet implemented ??? (nu x 2) mjtNum* actuator_user # user data (nu x nuser_actuator) # sensors int* sensor_type # sensor type (mjtSensor) (nsensor x 1) int* sensor_datatype # numeric data type (mjtDataType) (nsensor x 1) int* sensor_needstage # required compute stage (mjtStage) (nsensor x 1) int* sensor_objtype # type of sensorized object (mjtObj) (nsensor x 1) int* sensor_objid # id of sensorized object (nsensor x 1) int* sensor_dim # number of scalar outputs (nsensor x 1) int* sensor_adr # address in sensor array (nsensor x 1) mjtNum* sensor_cutoff # cutoff for real and positive; 0: ignore (nsensor x 1) mjtNum* sensor_noise # noise standard deviation (nsensor x 1) mjtNum* sensor_user # user data (nsensor x nuser_sensor) # custom numeric fields int* numeric_adr # address of field in numeric_data (nnumeric x 1) int* numeric_size # size of numeric field (nnumeric x 1) mjtNum* numeric_data # array of all numeric fields (nnumericdata x 1) # custom text fields int* text_adr # address of text in text_data (ntext x 1) int* text_size # size of text field (strlen+1) (ntext x 1) char* text_data # array of all text fields (0-terminated) (ntextdata x 1) # custom tuple fields int* tuple_adr # address of text in text_data (ntuple x 1) int* tuple_size # number of objects in tuple (ntuple x 1) int* tuple_objtype # array of object types in all tuples (ntupledata x 1) int* tuple_objid # array of object ids in all tuples (ntupledata x 1) mjtNum* tuple_objprm # array of object params in all tuples (ntupledata x 1) # keyframes mjtNum* key_time # key time (nkey x 1) mjtNum* key_qpos # key position (nkey x nq) mjtNum* key_qvel # key velocity (nkey x nv) mjtNum* key_act # key activation (nkey x na) mjtNum* key_mpos # key mocap position (nkey x 3*nmocap) mjtNum* key_mquat # key mocap quaternion (nkey x 4*nmocap) # names int* name_bodyadr # body name pointers (nbody x 1) int* name_jntadr # joint name pointers (njnt x 1) int* name_geomadr # geom name pointers (ngeom x 1) int* name_siteadr # site name pointers (nsite x 1) int* name_camadr # camera name pointers (ncam x 1) int* name_lightadr # light name pointers (nlight x 1) int* name_meshadr # mesh name pointers (nmesh x 1) int* name_skinadr # skin name pointers (nskin x 1) int* name_hfieldadr # hfield name pointers (nhfield x 1) int* name_texadr # texture name pointers (ntex x 1) int* name_matadr # material name pointers (nmat x 1) int* name_pairadr # geom pair name pointers (npair x 1) int* name_excludeadr # exclude name pointers (nexclude x 1) int* name_eqadr # equality constraint name pointers (neq x 1) int* name_tendonadr # tendon name pointers (ntendon x 1) int* name_actuatoradr # actuator name pointers (nu x 1) int* name_sensoradr # sensor name pointers (nsensor x 1) int* name_numericadr # numeric name pointers (nnumeric x 1) int* name_textadr # text name pointers (ntext x 1) int* name_tupleadr # tuple name pointers (ntuple x 1) int* name_keyadr # keyframe name pointers (nkey x 1) char* names # names of all objects, 0-terminated (nnames x 1)

mujoco_py/pxd/mjmodel.pxd (660 lines of code) (raw):