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fix: ik slover

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lgv 2025-11-24 17:37:32 +08:00
parent 5cee4645b3
commit 8aa5908300
260 changed files with 131257 additions and 247 deletions
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77
config/cabin_robot.xml
View File

@ -32,47 +32,44 @@
<!-- <LeftArm id="left_arm" devtype="ti5Robot" />-->
<!-- <RightArm />-->
<!-- <Neck/>-->
<!-- <Humanoid id="hc01" dof="14"-->
<!-- urdf="/home/tankaitao/cmvr-lgv/cmvr-es/config/robot_description/hc_description/dual_arm.urdf"-->
<!-- baseLink="PELVIS_S"-->
<!-- jointNames="L_SHOULDER_P,L_SHOULDER_R,L_SHOULDER_Y,L_ELBOW_R,L_WRIST_P,L_WRIST_Y,L_WRIST_R,R_SHOULDER_P,R_SHOULDER_R,R_SHOULDER_Y,R_ELBOW_R,R_WRIST_P,R_WRIST_Y,R_WRIST_R"-->
<!-- linkNames="PELVIS_S,L_SHOULDER_P_S,L_SHOULDER_R_S,L_SHOULDER_Y_S,L_ELBOW_R_S,L_WRIST_P_S,L_WRIST_Y_S,L_WRIST_R_S,R_SHOULDER_P_S,R_SHOULDER_R_S,R_SHOULDER_Y_S,R_ELBOW_R_S,R_WRIST_P_S,R_WRIST_Y_S,R_WRIST_R_S,R_FINGER_TIP,R_CAM"-->
<!-- bufferSize="50"-->
<!-- verbose="false">-->
<!-- <CanManger id="" devId="">-->
<!-- <LeftArmCan id = " " devId = " " channelId ="0" enable="false" toolFrame="L_FINGER_TIP">-->
<!-- <Motor id="23" jointName="L_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="24" jointName="L_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="25" jointName="L_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="26" jointName="L_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="27" jointName="L_WRIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="28" jointName="L_WRIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="1" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- </LeftArmCan>-->
<!-- <RightArmCan id = " " devId = " " channelId ="1" enable="false" toolFrame="R_FINGER_TIP">-->
<!-- <Motor id="16" jointName="R_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="17" jointName="R_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="18" jointName="R_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="19" jointName="R_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="20" jointName="R_WRIST_P" limitQLb="-3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="21" jointName="R_WRIST_Y" limitQLb="-1.102" limitQUb="1.02" limitQd="3.0"/>-->
<!-- <Motor id="22" jointName="R_WRIST_R" limitQLb="-0.293" limitQUb="1.57079" limitQd="3.0"/>-->
<!-- </RightArmCan>-->
<!-- <HeadCan id = " " devId = " " channelId ="2" enable="false">-->
<!-- <Motor id="32" jointName="HEAD_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="30" jointName="HEAD_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="31" jointName="HEAD_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- </HeadCan>-->
<!-- <WaistCan id = " " devId = " " channelId ="3" enable="false">-->
<!-- <Motor id="14" jointName="WAIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- <Motor id="15" jointName="WAIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
<!-- </WaistCan>-->
<!-- </CanManger>-->
<Humanoid id="hc01" dof="14"
urdf="/home/lgv/cmvr/cmvr-es/config/robot_description/hc_description/dual_arm.urdf"
baseLink="PELVIS_S"
jointNames="L_SHOULDER_P,L_SHOULDER_R,L_SHOULDER_Y,L_ELBOW_R,L_WRIST_P,L_WRIST_Y,L_WRIST_R,R_SHOULDER_P,R_SHOULDER_R,R_SHOULDER_Y,R_ELBOW_R,R_WRIST_P,R_WRIST_Y,R_WRIST_R"
linkNames="PELVIS_S,L_SHOULDER_P_S,L_SHOULDER_R_S,L_SHOULDER_Y_S,L_ELBOW_R_S,L_WRIST_P_S,L_WRIST_Y_S,L_WRIST_R_S,R_SHOULDER_P_S,R_SHOULDER_R_S,R_SHOULDER_Y_S,R_ELBOW_R_S,R_WRIST_P_S,R_WRIST_Y_S,R_WRIST_R_S,R_FINGER_TIP,R_CAM"
bufferSize="50"
verbose="false">
<CanManger id="" devId="">
<LeftArmCan id = " " devId = " " channelId ="0" enable="false" toolFrame="L_FINGER_TIP">
<Motor id="23" jointName="L_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="24" jointName="L_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="25" jointName="L_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="26" jointName="L_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="27" jointName="L_WRIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="28" jointName="L_WRIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="22" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
</LeftArmCan>
<RightArmCan id = " " devId = " " channelId ="1" enable="true" toolFrame="R_FINGER_TIP">
<Motor id="16" jointName="R_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="17" jointName="R_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="18" jointName="R_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="19" jointName="R_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="20" jointName="R_WRIST_P" limitQLb="-3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="21" jointName="R_WRIST_Y" limitQLb="-1.102" limitQUb="1.02" limitQd="3.0"/>
<Motor id="1" jointName="R_WRIST_R" limitQLb="-0.293" limitQUb="1.57079" limitQd="3.0"/>
</RightArmCan>
<HeadCan id = " " devId = " " channelId ="2" enable="false">
<Motor id="32" jointName="HEAD_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="30" jointName="HEAD_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="31" jointName="HEAD_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
</HeadCan>
<WaistCan id = " " devId = " " channelId ="3" enable="false">
<Motor id="14" jointName="WAIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
<Motor id="15" jointName="WAIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>
</WaistCan>
</CanManger>
<!-- </Humanoid>-->
<!-- <AuboRobot id="hc02" ip="127.0.0.1" port="30004" username="aubo" password="123456">-->
<!-- </AuboRobot>-->
</Humanoid>
</Robot>
<BioHead>

240
data/planner/traj.csv
View File

@ -1,134 +1,110 @@
t,q1,qd1,qdd1
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0.5100000000,-0.5570784597,-1.5000659848,-0.0053852033
0.5200000000,-0.5720789504,-1.5000591832,0.0116064517
0.5300000000,-0.5870793908,-1.5000189548,0.0282953124
0.5400000000,-0.6020797808,-1.5000382186,-0.0217869758
0.5500000000,-0.6170802457,-1.5000652898,-0.0051190608
0.5600000000,-0.6320807334,-1.5000590120,0.0117371194
0.5700000000,-0.6470811772,-1.5000183275,0.0289971921
0.5800000000,-0.6620815779,-1.5000411362,-0.0221300068
0.5900000000,-0.6770820652,-1.5000691816,-0.0043107723
0.6000000000,-0.6920825806,-1.5000599565,0.0144703189
0.6100000000,-0.7070830438,-1.5000094950,0.0344841461
0.6200000000,-0.7220834921,-1.5000550755,-0.0204007575
0.6300000000,-0.7370840458,-1.5000780803,0.0010977386
0.6400000000,-0.7520846130,-1.5000518625,0.0246543532
0.6500000000,-0.7670850940,-1.5000277946,-0.0362960678
0.6600000000,-0.7820856746,-1.5000839673,-0.0101938888
0.6700000000,-0.7970863370,-1.5000768918,0.0192059116
0.6800000000,-0.8120869163,-1.5000079810,-0.0500617756
0.6900000000,-0.8270875558,-1.5000937560,-0.0161395518
0.7000000000,-0.8420883334,-1.5000899803,0.0230861013
0.7100000000,-0.8570890000,-1.5000264122,-0.0561275847
0.7200000000,-0.8720897997,-1.5001202617,-0.0085789842
0.7300000000,-0.8870907129,-1.5000718602,0.0477346007
0.7400000000,-0.9020914935,-1.5001047330,-0.0409993467
0.7500000000,-0.9170925757,-1.5001292996,0.0312149063
0.7600000000,-0.9320934962,-1.5000800883,-0.0699810062
0.7700000000,-0.9470947367,-1.5001636089,0.0266269093
0.7800000000,-0.9620958396,-1.5000957794,-0.0858124395
0.7900000000,-0.9770973277,-1.5001775357,0.0497342643
0.8000000000,-0.9920986393,-1.5001878235,-0.0674476188
0.8100000000,-1.0071004195,-1.5000874072,0.1329867627
0.8200000000,-1.0219392817,-1.4598649714,5.9855481837
0.8300000000,-1.0362386361,-1.4000134628,5.9761092719
0.8400000000,-1.0499395206,-1.3401551196,5.9954386163
0.8500000000,-1.0630417494,-1.2802946681,5.9861781069
0.8600000000,-1.0755452385,-1.2203987456,5.9782697343
0.8700000000,-1.0874498709,-1.1605200735,5.9923908792
0.8800000000,-1.0987555135,-1.1006126206,5.9851787314
0.8900000000,-1.1094621009,-1.0407014354,5.9959626652
0.9000000000,-1.1195694896,-0.9807796092,5.9898010161
0.9100000000,-1.1290776208,-0.9208443071,5.9978168972
0.9200000000,-1.1379863614,-0.8609046692,5.9930906392
0.9300000000,-1.1462956389,-0.8009489668,5.9986985104
0.9400000000,-1.1540053226,-0.7409868136,5.9960412019
0.9500000000,-1.1611153106,-0.6810089169,5.9993530710
0.9600000000,-1.1676254504,-0.6210160321,6.0002469001
0.9700000000,-1.1735356080,-0.5610186206,5.9983480103
0.9800000000,-1.1788458912,-0.5010412674,5.9984313020
0.9900000000,-1.1835565264,-0.4410898752,5.9914009231
1.0000000000,-1.1876678759,-0.3811931772,5.9988240228
1.0100000000,-1.1911804273,-0.3213300729,5.9806076203
1.0200000000,-1.1940950327,-0.2616201787,5.9451605548
1.0300000000,-1.1964133597,-0.2020822778,5.9652439958
1.0400000000,-1.1981383931,-0.1430012424,5.8369634669
1.0500000000,-1.1992783791,-0.0854621410,5.4905248998
1.0600000000,-1.1998598641,-0.0324705716,5.6308791939
1.0700000000,-1.1999956445,-0.0024097970,0.9995966965
1.0772269967,-1.2000000000,0.0000000000,0.0000000000

1 t q1 qd1 qdd1
2 0.0000000000 0.0000000000 0.0000000000 0.0000000000
3 0.0100000000 0.0000406839 -0.0000159557 0.0150597278 -0.0063777738 2.9544225473 -1.9106392001
4 0.0200000000 0.0003318988 -0.0002496495 0.0434389689 -0.0461350389 2.8328411544 -4.8925174498
5 0.0300000000 0.0009089804 -0.0009799863 0.0721925912 -0.1009783500 2.9085974602 -5.7006022582
6 0.0400000000 0.0017753841 -0.0022807296 0.1011555878 -0.1593365091 2.9788370387 -5.9446327575
7 0.0500000000 0.0029332621 -0.0041699534 0.1304223336 -0.2185817120 2.8974621431 -5.9159701967
8 0.0600000000 0.0043835776 -0.0066533315 0.1596780532 -0.2781414650 2.9849342393 -5.9705725375
9 0.0700000000 0.0061276028 -0.0097336379 0.1891399125 -0.3379378160 2.9436385788 -5.9974845155
10 0.0800000000 0.0081659118 -0.0134121852 0.2185494408 -0.3977883838 2.9100229391 -5.9866809788
11 0.0900000000 0.0104989150 -0.0176896602 0.2480391312 -0.4577119179 2.9903919563 -5.9970097232
12 0.1000000000 0.0131273068 -0.0225665586 0.2776386486 -0.5176710831 2.9710319107 -5.9958021374
13 0.1100000000 0.0160514180 -0.0280431623 0.3072295680 -0.5776536328 2.9553609553 -5.9994155793
14 0.1200000000 0.0192715028 -0.0341196983 0.3368228958 -0.6376542617 2.9429784390 -5.9998355059
15 0.1300000000 0.0227878085 -0.0407961934 0.3664259693 -0.6976428031 2.9333976058 -5.9975948022
16 0.1400000000 0.0266005752 -0.0480724867 0.3960787191 -0.7576129914 2.9965532367 -5.9994877401
17 0.1500000000 0.0307100762 -0.0559484540 0.4257870931 -0.8175781906 2.9893875915 -5.9948813054
18 0.1600000000 0.0351164853 -0.0644239673 0.4555002329 -0.8775223553 2.9835420444 -5.9991411360
19 0.1700000000 0.0398199454 -0.0734989367 0.4852198851 -0.9374685960 2.9788128547 -5.9921968215
20 0.1800000000 0.0448205874 -0.0831732416 0.5149470456 -0.9973926934 2.9750155809 -5.9980487477
21 0.1900000000 0.0501185300 -0.0934468113 0.5446821560 -1.0573180377 2.9719877241 -5.9884990499
22 0.2000000000 0.0557138798 -0.1043195108 0.5744252584 -1.1172260364 2.9695884669 -5.9955305424
23 0.2100000000 0.0616067323 -0.1157912824 0.6041761124 -1.1771239542 2.9676970254 -5.9828859374
24 0.2200000000 0.0677971720 -0.1278619739 0.6339342832 -1.2370190713 2.9662104321 -5.9907608055
25 0.2300000000 0.0742852736 -0.1405315123 0.6636992056 -1.2968780749 2.9650411835 -5.9743209965
26 0.2400000000 0.0810711022 -0.1537997689 0.6934702307 -1.3567629311 2.9641149689 -5.9826547281
27 0.2500000000 0.0881547141 -0.1676665996 0.7232466591 -1.4166118373 2.9633685823 -5.9923074269
28 0.2600000000 0.0955361574 -0.1821319218 0.7530277630 -1.4764412133 2.9627480494 -5.9697616364
29 0.2700000000 0.1032154722 -0.1970596457 0.7828128015 -1.5002473361 2.9622069731 0.0171102264
30 0.2800000000 0.1111926914 -0.2120611169 0.8126010294 -1.5001229872 2.9617050786 -0.0936585266
31 0.2900000000 0.1194678407 -0.2270627160 0.8423917022 -1.5001591883 2.9612069361 0.0626046461
32 0.3000000000 0.1280409386 -0.2420638680 0.8721840779 -1.5001494874 2.9606808319 -0.0493634487
33 0.3100000000 0.1369119973 -0.2570652126 0.9019774156 -1.5001168351 2.9600977635 0.0601054870
34 0.3200000000 0.1460810222 -0.2720661740 0.9317709736 -1.5001226497 2.9594305320 -0.0429343553
35 0.3300000000 0.1555480123 -0.2870673191 0.9615640043 -1.5001201883 2.9586529089 0.0376000906
36 0.3400000000 0.1653129605 -0.3020681493 0.9913614506 -1.5000681224 2.9994436646 -0.0536751182
37 0.3500000000 0.1753758533 -0.3170691028 1.0211579226 -1.5001264472 2.9987759136 0.0082265532
38 0.3600000000 0.1857366703 -0.3320699393 1.0509520895 -1.5000247482 2.9980466764 0.0601852966
39 0.3700000000 0.1963953845 -0.3470706417 1.0807433647 -1.5000970260 2.9972296032 -0.0220756027
40 0.3800000000 0.2073519622 -0.3620714540 1.1105311329 -1.5000937922 2.9962959464 0.0202436733
41 0.3900000000 0.2186063626 -0.3770720959 1.1403147437 -1.5000067263 2.9952138015 -0.0509307278
42 0.4000000000 0.2301585380 -0.3920727217 1.1700935028 -1.5000860034 2.9939472846 -0.0153620262
43 0.4100000000 0.2420084329 -0.4070734099 1.1998666617 -1.5000814991 2.9924556275 0.0158196206
44 0.4200000000 0.2541559844 -0.4220739813 1.2296334033 -1.5000096953 2.9906921714 0.0433168602
45 0.4300000000 0.2666011211 -0.4370744971 1.2593928252 -1.5000652115 2.9886032370 -0.0197234398
46 0.4400000000 0.2793437633 -0.4520750926 1.2891439183 -1.5000792039 2.9861268471 0.0048924020
47 0.4500000000 0.2923838217 -0.4670756435 1.3188855399 -1.5000418289 2.9831912740 0.0272059475
48 0.4600000000 0.3057211976 -0.4820760839 1.3486163807 -1.5000304960 2.9797133785 -0.0291077061
49 0.4700000000 0.3193557814 -0.4970765865 1.3783349239 -1.5000689907 2.9755967043 -0.0084527266
50 0.4800000000 0.3332874520 -0.5120771137 1.4080393945 -1.5000650107 2.9707292859 0.0108023623
51 0.4900000000 0.3475160759 -0.5270775833 1.4377276969 -1.5000230438 2.9649811176 0.0289463322
52 0.5000000000 0.3620415055 -0.5420779858 1.4673973379 -1.5000379628 2.9582012286 -0.0229003696
53 0.5100000000 0.3768520933 -0.5570784597 1.4935024462 -1.5000659848 2.3994624602 -0.0053852033
54 0.5200000000 0.3918443109 -0.5720789504 1.5001292329 -1.5000591832 -0.0473926375 0.0116064517
55 0.5300000000 0.4068455345 -0.5870793908 1.5000904478 -1.5000189548 -0.0558181019 0.0282953124
56 0.5400000000 0.4218466876 -0.6020797808 1.5000544796 -1.5000382186 -0.0617672439 -0.0217869758
57 0.5500000000 0.4368477831 -0.6170802457 1.5000228970 -1.5000652898 -0.0657945138 -0.0051190608
58 0.5600000000 0.4518488328 -0.6320807334 1.5000034924 -1.5000590120 0.0646808468 0.0117371194
59 0.5700000000 0.4668498542 -0.6470811772 1.5000225620 -1.5000183275 0.0580673577 0.0289971921
60 0.5800000000 0.4818508530 -0.6620815779 1.5000357501 -1.5000411362 0.0528981018 -0.0221300068
61 0.5900000000 0.4968518295 -0.6770820652 1.5000446841 -1.5000691816 0.0489129125 -0.0043107723
62 0.6000000000 0.5118527850 -0.6920825806 1.5000505493 -1.5000599565 0.0458984781 0.0144703189
63 0.6100000000 0.5268537219 -0.7070830438 1.5000542156 -1.5000094950 0.0436792658 0.0344841461
64 0.6200000000 0.5418546430 -0.7220834921 1.5000563308 -1.5000550755 0.0421099146 -0.0204007575
65 0.6300000000 0.5568555514 -0.7370840458 1.5000573907 -1.5000780803 0.0410687802 0.0010977386
66 0.6400000000 0.5718564501 -0.7520846130 1.5000577910 -1.5000518625 0.0404523670 0.0246543532
67 0.6500000000 0.5868573425 -0.7670850940 1.5000578650 -1.5000277946 0.0401704239 -0.0362960678
68 0.6600000000 0.6018582318 -0.7820856746 1.5000579132 -1.5000839673 0.0401415090 -0.0101938888
69 0.6700000000 0.6168591213 -0.7970863370 1.5000582237 -1.5000768918 0.0402888495 0.0192059116
70 0.6800000000 0.6318600142 -0.8120869163 1.5000590879 -1.5000079810 0.0405363350 -0.0500617756
71 0.6900000000 0.6468609138 -0.8270875558 1.5000608096 -1.5000937560 0.0408044882 -0.0161395518
72 0.7000000000 0.6618618236 -0.8420883334 1.5000637088 -1.5000899803 0.0410062532 0.0230861013
73 0.7100000000 0.6768627471 -0.8570890000 1.5000681192 -1.5000264122 0.0410424371 -0.0561275847
74 0.7200000000 0.6918636881 -0.8720897997 1.5000743763 -1.5001202617 0.0407966178 -0.0085789842
75 0.7300000000 0.7068646509 -0.8870907129 1.5000827939 -1.5000718602 0.0401293113 0.0477346007
76 0.7400000000 0.7218656402 -0.9020914935 1.5000936245 -1.5001047330 0.0388711525 -0.0409993467
77 0.7500000000 0.7368666615 -0.9170925757 1.5001069976 -1.5001292996 0.0368147988 0.0312149063
78 0.7600000000 0.7518677212 -0.9320934962 1.5001228260 -1.5000800883 0.0337052009 -0.0699810062
79 0.7700000000 0.7668688267 -0.9470947367 1.5001406711 -1.5001636089 0.0292278068 0.0266269093
80 0.7800000000 0.7818699858 -0.9620958396 1.5001595500 -1.5000957794 0.0229941581 -0.0858124395
81 0.7900000000 0.7968712072 -0.9770973277 1.5001776641 -1.5001775357 0.0145242063 0.0497342643
82 0.8000000000 0.8118724982 -0.9920986393 1.5001920227 -1.5001878235 0.0032245014 -0.0674476188
83 0.8100000000 0.8268408076 -1.0071004195 1.4875275785 -1.5000874072 -2.4236229211 0.1329867627
84 0.8200000000 0.8415850092 -1.0219392817 1.4600455429 -1.4598649714 -2.9763843157 5.9855481837
85 0.8300000000 0.8560369100 -1.0362386361 1.4303603856 -1.4000134628 -2.9821334464 5.9761092719
86 0.8400000000 0.8701919621 -1.0499395206 1.4006590026 -1.3401551196 -2.9869477296 5.9954386163
87 0.8500000000 0.8840500235 -1.0630417494 1.3709435235 -1.2802946681 -2.9909698326 5.9861781069
88 0.8600000000 0.8976109653 -1.0755452385 1.3412157309 -1.2203987456 -2.9943223520 5.9782697343
89 0.8700000000 0.9108746707 -1.0874498709 1.3114771308 -1.1605200735 -2.9971106438 5.9923908792
90 0.8800000000 0.9238410335 -1.0987555135 1.2817290081 -1.1006126206 -2.9994252697 5.9851787314
91 0.8900000000 0.9365099596 -1.1094621009 1.2519856123 -1.0407014354 -2.9516661304 5.9959626652
92 0.9000000000 0.9488813661 -1.1195694896 1.2222373806 -0.9807796092 -2.9548394352 5.9898010161
93 0.9100000000 0.9609551735 -1.1290776208 1.1924800852 -0.9208443071 -2.9575790728 5.9978168972
94 0.9200000000 0.9727313111 -1.1379863614 1.1627149317 -0.8609046692 -2.9599417699 5.9930906392
95 0.9300000000 0.9842097169 -1.1462956389 1.1329430086 -0.8009489668 -2.9619771266 5.9986985104
96 0.9400000000 0.9953903367 -1.1540053226 1.1031653091 -0.7409868136 -2.9637287294 5.9960412019
97 0.9500000000 1.0062731238 -1.1611153106 1.0733827485 -0.6810089169 -2.9652351488 5.9993530710
98 0.9600000000 1.0168580392 -1.1676254504 1.0435961801 -0.6210160321 -2.9665308469 6.0002469001
99 0.9700000000 1.0271450505 -1.1735356080 1.0138064072 -0.5610186206 -2.9676470105 5.9983480103
100 0.9800000000 1.0371341323 -1.1788458912 0.9840141940 -0.5010412674 -2.9686123313 5.9984313020
101 0.9900000000 1.0468252659 -1.1835565264 0.9542202743 -0.4410898752 -2.9694537486 5.9914009231
102 1.0000000000 1.0562184391 -1.1876678759 0.9244253592 -0.3811931772 -2.9701971713 5.9988240228
103 1.0100000000 1.0653136460 -1.1911804273 0.8946301430 -0.3213300729 -2.9708681970 5.9806076203
104 1.0200000000 1.0741108876 -1.1940950327 0.8648353085 -0.2616201787 -2.9714928442 5.9451605548
105 1.0300000000 1.0826101708 -1.1964133597 0.8350415301 -0.2020822778 -2.9720983147 5.9652439958
106 1.0400000000 1.0908115096 -1.1981383931 0.8052494763 -0.1430012424 -2.9727138063 5.8369634669
107 1.0500000000 1.0987149244 -1.1992783791 0.7754598102 -0.0854621410 -2.9733713929 5.4905248998
108 1.0600000000 1.1063204427 -1.1998598641 0.7456731880 -0.0324705716 -2.9741069935 5.6308791939
109 1.0700000000 1.1136280987 -1.1999956445 0.7158902540 -0.0024097970 -2.9749614500 0.9995966965
110 1.0800000000 1.0772269967 1.1206379346 -1.2000000000 0.6861116337 0.0000000000 -2.9759817342 0.0000000000
1.0900000000 1.1273500000 0.6563379202 -2.9772223010
1.1000000000 1.1337643527 0.6265696561 -2.9787465964
1.1100000000 1.1398810593 0.5968073062 -2.9806287192
1.1200000000 1.1457001954 0.5670512198 -2.9829552013
1.1300000000 1.1512218466 0.5373015791 -2.9858268288
1.1400000000 1.1564461083 0.5075583300 -2.9893603321
1.1500000000 1.1613730868 0.4778210896 -2.9936896219
1.1600000000 1.1660028991 0.4480890268 -2.9989659697
1.1700000000 1.1703356966 0.4184158210 -2.9408728463
1.1800000000 1.1743716794 0.3887671793 -2.9472841555
1.1900000000 1.1781110347 0.3591305176 -2.9556079643
1.2000000000 1.1815539662 0.3295023791 -2.9662283169
1.2100000000 1.1847006925 0.2998771665 -2.9795424021
1.2200000000 1.1875514414 0.2702465011 -2.9958998774
1.2300000000 1.1901065598 0.2407521222 -2.9205021381
1.2400000000 1.1923666133 0.2112921989 -2.9478052207
1.2500000000 1.1943319553 0.1817988988 -2.9816509494
1.2600000000 1.1960030174 0.1524407057 -2.8915887933
1.2700000000 1.1973809412 0.1231678311 -2.9572485748
1.2800000000 1.1984662906 0.0939921512 -2.8580629729
1.2900000000 1.1992609116 0.0648770893 -2.9932552277
1.3000000000 1.1997676425 0.0364479401 -2.9790115923
1.3100000000 1.1999870932 0.0078713741 -2.8408663580
1.3175726744 1.2000000000 -0.0000000000 -0.0000000000

5
python/vision_servo/robot_warpper_test.py
View File

@ -32,9 +32,10 @@ robot = Robot("/home/lgv/cmvr/cmvr-es/config/cabin_robot.xml", "hc01")
# js = robot.getJointQ('right')
# print(js)
# 控制左臂关节
robot.calibrateZeroQ("R_WRIST_R")
robot.calibrateZeroQ("R_WRIST_Y")
# robot.calibrateZeroQ("R_WRIST_R")
time.sleep(3)
time.sleep(1)
print("--------------------------")
# robot.moveJ("right", [0.0, 0.0, 0.0, 0.0, 0.0,0.0, 0.0])
# # robot.moveJ("right", [-0.344938, 0.935147, 2.27031,1.68959, -2.32841,0.460145, 0.300996])
# robot.moveJ("right", [0.0, 0.0, 0.0, 0.0, 0.0,0.0, 0.0])

62
src/common/utils/math/support_functions.h
View File

@ -138,4 +138,66 @@ public:
Ti.block<3,1>(0,3) = -Rt * t;
return Ti;
}
static int calcLookahead(double qd_ref,
double qdd_ref,
double v_max,
double dt,
int n_min = 1,
int n_max = 5)
{
double v0 = std::abs(qd_ref);
double a = std::abs(qdd_ref);
double vmax = std::abs(v_max);
// 1) 已经在接近最大速度的匀速阶段：直接用 1 步
const double vel_sat_ratio = 0.95; // 95% vmax 就认为是全速段
if (v0 >= vel_sat_ratio * vmax) {
return 1;
}
// 2) 其他情况再用“加速 + 饱和”的那套公式
double s_target = vmax * dt;
if (v0 < 1e-6 && a < 1e-6) {
return n_min;
}
double tau = 0.0;
if (a < 1e-6) {
// 近似匀速：v0 * tau = s_target
tau = s_target / (v0 + 1e-6);
} else {
double A = 0.5 * a;
double B = v0;
double C = -s_target;
double disc = B * B - 4.0 * A * C;
if (disc < 0.0) disc = 0.0;
double sqrt_disc = std::sqrt(disc);
double tau_quad = (-B + sqrt_disc) / (2.0 * A);
double v_at_tau = v0 + a * tau_quad;
if (v_at_tau <= vmax + 1e-9) {
tau = tau_quad;
} else {
double t_sat = (vmax - v0) / a;
double s_sat = v0 * t_sat + 0.5 * a * t_sat * t_sat;
if (s_target <= s_sat) {
tau = std::min(tau_quad, t_sat);
} else {
tau = t_sat + (s_target - s_sat) / vmax;
}
}
}
int n = (int)std::ceil(tau / dt);
if (n < n_min) n = n_min;
if (n > n_max) n = n_max;
return n;
}
};

4
src/data_center/include/data_center.h
View File

@ -21,11 +21,11 @@ namespace cmvr {
~DataCenter() {}
public:
std::shared_ptr<MotorsInfo> getMotorsInfo() const {
const MotorsInfo* getMotorsInfo() const {
return motors_info_;
}
private:
std::shared_ptr<MotorsInfo> motors_info_{nullptr};
MotorsInfo* motors_info_{nullptr};
};
}

6
src/data_center/include/motors_info.h
View File

@ -31,9 +31,9 @@ namespace cmvr {
return &instance;
}
void getJointsAngle(const std::vector<std::string> &joints_name,std::unordered_map<std::string, double> &joint_qs) const;
void getJointsAngle(const std::vector<std::string> &joints_name,std::vector<double> &joint_qs) const;
bool getJointsQ(const std::vector<std::string> &joints_name,std::unordered_map<std::string, double> &joint_qs) const;
bool getJointsQ(const std::vector<std::string> &joints_name,std::vector<double> &joint_qs) const;
bool getJointsQ(std::unordered_map<std::string, double> &joint_qs) const;
std::shared_ptr<device::MotorManager> getMotorManager() const {
return motor_manager_;

2
src/data_center/src/data_center.cpp
View File

@ -8,6 +8,6 @@ using namespace cmvr;
DataCenter::DataCenter()
{
motors_info_ = std::shared_ptr<MotorsInfo>(MotorsInfo::getInstance());
motors_info_ = MotorsInfo::getInstance();
}

22
src/data_center/src/motors_info.cpp
View File

@ -151,8 +151,9 @@ void MotorsInfo::init(const XmlNode &cfg) {
LOG(INFO) << "All enabled motors initialized successfully.";
}
void MotorsInfo::getJointsAngle(const std::vector<std::string> &joints_name,
bool MotorsInfo::getJointsQ(const std::vector<std::string> &joints_name,
std::unordered_map<std::string, double> &joint_qs) const {
auto res{true};
joint_qs.clear();
for (auto &name: joints_name) {
auto motor = motor_manager_->getMotor(name);
@ -160,11 +161,14 @@ void MotorsInfo::getJointsAngle(const std::vector<std::string> &joints_name,
joint_qs.emplace(name, motor->getQ());
} else {
joint_qs.emplace(name, std::numeric_limits<double>::quiet_NaN());
res = false;
}
}
return res;
}
void MotorsInfo::getJointsAngle(const std::vector<std::string> &joints_name, std::vector<double> &joint_qs) const {
bool MotorsInfo::getJointsQ(const std::vector<std::string> &joints_name, std::vector<double> &joint_qs) const {
auto res{true};
joint_qs.clear();
for (auto &name: joints_name) {
auto motor = motor_manager_->getMotor(name);
@ -172,6 +176,20 @@ void MotorsInfo::getJointsAngle(const std::vector<std::string> &joints_name, std
joint_qs.emplace_back(motor->getQ());
} else {
joint_qs.emplace_back(std::numeric_limits<double>::quiet_NaN());
res = false;
}
}
return res;
}
bool MotorsInfo::getJointsQ(std::unordered_map<std::string, double> &joint_qs) const {
joint_qs.clear();
auto motors = motor_manager_->motorsMap();
for (auto &motor_pair: motors) {
auto motor = motor_pair.second;
joint_qs.emplace(motor->jointName(), motor->getQ());
}
return true;
}

12
src/devices/motor/ti5_motor/canopen/protocol/ti5_motor_rpdo1.cpp
View File

@ -16,11 +16,11 @@ void Ti5MotorRPDO1::UpdateData(uint8_t *data) {
data[2] = target_pos_ >> 16 & 0xFF;
data[3] = target_pos_ >> 24 & 0xFF;
//
// data[4] = ctrl_word_ & 0xFF;
// data[5] = ctrl_word_ >> 8 & 0xFF;
data[4] = ctrl_word_ & 0xFF;
data[5] = ctrl_word_ >> 8 & 0xFF;
data[4] = target_vel_ & 0xFF;
data[5] = target_vel_ >> 8 & 0xFF;
data[6] = target_vel_ >> 16 & 0xFF;
data[7] = target_vel_ >> 24 & 0xFF;
// data[4] = target_vel_ & 0xFF;
// data[5] = target_vel_ >> 8 & 0xFF;
// data[6] = target_vel_ >> 16 & 0xFF;
// data[7] = target_vel_ >> 24 & 0xFF;
}

2
src/devices/motor/ti5_motor/canopen/protocol/ti5_motor_rpdo1.h
View File

@ -25,7 +25,7 @@ namespace cmvr {
void UpdateData(uint8_t *data) override;
int32_t GetLength() const override {
return 0x08;
return 0x06;
}
uint32_t GetPeriod() const override {

2
src/devices/motor/ti5_motor/canopen/ti5_motor_canopen_protocol.cpp
View File

@ -331,7 +331,7 @@ void Ti5MotorCanopenProtocol::configRPDO1(uint8_t node_id, bool start) {
//6 : 映射控制字
seedSdoRequest(node_id, CS_WRITE_FOUR_BYTES, RPDO1_MAP_1600, SUB_INDEX_2,
PROFILE_SPEED_6081 << 16 | SUB_INDEX_0 << 8 | 32);
CONTROL_WORD_6040 << 16 | SUB_INDEX_0 << 8 | 16);
if (start) {

84
src/devices/robot/humanoid_robot/src/humanoid_robot.cpp
View File

@ -7,6 +7,7 @@
#include "motor/ti5_motor/ti5_motor.h"
#include "../../../../utils/base/include/abstract_interpolation.h"
#include "data_center/include/motors_info.h"
#include "common/utils/math/support_functions.h"
using namespace std;
using namespace cmvr::device;
@ -62,7 +63,7 @@ template<int DOF>
void HumanoidRobot<DOF>::torqueOff() {
try {
for (const auto &pair: motor_manager_->motorsMap()) {
if (pair.second->jointName() != "R_WRIST_R" && pair.second->jointName() != "WAIST_P")
if (pair.second->jointName() != "WAIST_Y" && pair.second->jointName() != "WAIST_P")
pair.second->torqueOff();
}
} catch (std::exception &e) {
@ -219,23 +220,12 @@ template<int DOF>
void HumanoidRobot<DOF>::moveJ(std::vector<JointPoint> &cmd, double vel, double acc) {
if (cmd.empty()) return;
LOG(INFO) << "vel " << vel << " acc" << acc << " " << cmd.size() << endl;
// 1. 读当前关节角
std::unordered_map<std::string, double> cur_joints_angle;
cur_joints_angle.reserve(cmd.size());
std::vector<std::shared_ptr<AbstractMotor> > motors;
motors.reserve(cmd.size());
for (auto &jp: cmd) {
auto motor = motor_manager_->getMotor(jp.joint_name);
motors.push_back(motor);
// 切 CSP
if (motor->getMode() != msgs::RUN_MODE_CYCLIC_SYNC_POSITION) {
motor->setMode(msgs::RUN_MODE_CYCLIC_SYNC_POSITION);
}
// 为 map 预填 key
cur_joints_angle.emplace(jp.joint_name, 0.0);
cur_joints_angle.emplace(jp.joint_name, 0.0); // 预填 key
}
getJointQ(cur_joints_angle);
@ -243,24 +233,27 @@ void HumanoidRobot<DOF>::moveJ(std::vector<JointPoint> &cmd, double vel, double
std::vector<double> q_start, q_goal;
q_start.reserve(cmd.size());
q_goal.reserve(cmd.size());
for (auto &jp: cmd) {
auto it = cur_joints_angle.find(jp.joint_name);
if (it == cur_joints_angle.end()) {
LOG(ERROR) << "missing current angle for " << jp.joint_name;
return;
}
q_start.push_back(it->second); // 当前读到的弧度
q_goal.push_back(jp.rad); // 目标弧度
q_start.push_back(it->second);
q_goal.push_back(jp.rad);
}
if (q_start.size() != q_goal.size()) {
LOG(ERROR) << "q_start size != q_goal size";
return;
}
if (q_start.size() != q_goal.size()) return;
// 2. 轨迹规划
TrajPtr traj;
joint_space_planner_->setPathType(PathType::Quintic);
joint_space_planner_->setSymmetricLimits(std::vector<double>(cmd.size(), vel),
std::vector<double>(cmd.size(), acc));
bool ok = joint_space_planner_->plan(q_start, q_goal, traj);
if (!ok) {
LOG(ERROR) << "planner plan() failed";
@ -268,7 +261,7 @@ void HumanoidRobot<DOF>::moveJ(std::vector<JointPoint> &cmd, double vel, double
}
// 10ms
// 3. 采样
const double dt = 0.001;
auto samples = joint_space_planner_->sampleTrajectory(traj, dt);
if (samples.size() < 2) {
@ -276,37 +269,56 @@ void HumanoidRobot<DOF>::moveJ(std::vector<JointPoint> &cmd, double vel, double
return;
}
const auto t0 = std::chrono::steady_clock::now();
// k=0 开始
size_t k = 0;
// 4. 切模式、设速度
std::vector<std::shared_ptr<AbstractMotor> > motors;
motors.reserve(cmd.size());
for (auto &jp: cmd) {
auto motor = motor_manager_->getMotor(jp.joint_name);
if (!motor) {
LOG(ERROR) << "getMotor failed for " << jp.joint_name;
return;
}
if (motor->getMode() != msgs::RUN_MODE_CYCLIC_SYNC_POSITION) {
motor->setMode(msgs::RUN_MODE_CYCLIC_SYNC_POSITION);
}
motor->setQd(vel);
motors.push_back(motor);
}
// 5. 下发命令
const auto t0 = std::chrono::steady_clock::now();
size_t k = 1;
const size_t K = samples.size();
while (k < K) {
// // ——根据墙钟计算“应当在的拍次”，用于追赶——
// auto now = std::chrono::steady_clock::now();
// double elapsed = std::chrono::duration<double>(now - t0).count();
// size_t k_should = static_cast<size_t>(std::floor(elapsed / dt)); // 向下取整更保守
// if (k_should >= K) k_should = K - 1;
// if (k < k_should) k = k_should; // 追赶，避免越拖越晚
// ——下发第 k 个采样点——
const auto &s = samples[k];
for (size_t i = 0; i < motors.size(); ++i) {
// motors[i]->setQd(s.qd[i]);
// motors[i]->setQ(s.q[i]);
motors[i]->set(s.q[i],s.qd[i]);
motors[i]->setQ(s.q[i]);
}
++k;
if (k <= K) {
if (k < K) {
auto next_t = t0 + std::chrono::duration<double>(k * dt);
std::this_thread::sleep_until(next_t);
}
}
// 6 输出误差
getJointQ(cur_joints_angle);
for (auto &jp: cmd) {
auto it = cur_joints_angle.find(jp.joint_name);
if (it == cur_joints_angle.end()) {
LOG(ERROR) << "missing current angle for " << jp.joint_name;
return;
}
LOG(INFO) << jp.joint_name << " pos err = " << std::abs(it->second - jp.rad);
}
}
template<int DOF>
void HumanoidRobot<DOF>::calibrateZeroQ(const std::string &joint_name) {
auto motor = motor_manager_->getMotor(joint_name);

31
src/ik_solver/ik_solver/include/ik_solver.h
View File

@ -28,6 +28,31 @@ namespace cmvr {
return false;
};
// 1:单次求解,即moveJ ,调用 ik 之前 一定要使用机械臂的真实关节角度 去更新
// moveJ()
// update_joints_state(械臂的真实关节角度)
// ik()
// 2 ： 多次求解，即moveL ,
// moveL(){
// update_joints_state(械臂的真实关节角度)
// for(i = 0 , i ++)
// ik()
// update_joints_state(使用ik的值)
void update_joints_state(std::vector<double> cur_joints_angle) {
cur_joints_angle_ = std::move(cur_joints_angle);
}
protected:
//机械臂末端工具坐标系相对于末端法兰的变换矩阵
Eigen::Matrix4d T_tool_flange_{};
// 机械臂基座相对于机器人基座的变换矩阵
Eigen::Matrix4d T_arm_robot_{};
// 上次调用ik 时计算的结果
std::vector<double> cur_joints_angle_{};
// 设置 机械臂末端工具坐标系相对于末端法兰的变换矩阵
void setTcpTransform(const Eigen::Matrix4d& T_tool_flange) {
T_tool_flange_ = T_tool_flange;
@ -39,11 +64,5 @@ namespace cmvr {
T_arm_robot_ = T_arm_robot;
}
protected:
//机械臂末端工具坐标系相对于末端法兰的变换矩阵
Eigen::Matrix4d T_tool_flange_{};
// 机械臂基座相对于机器人基座的变换矩阵
Eigen::Matrix4d T_arm_robot_{};
};
}

2
src/ik_solver/ik_solver/include/ik_solver_creator.h
View File

@ -6,7 +6,7 @@
#include <memory>
#include <unordered_map>
#include "ik_solver.h"
#include "ik_solver/ik_solver/include/ik_solver.h"
namespace cmvr
{

3
src/ik_solver/ik_solver/src/ik_solver_creator.cpp
View File

@ -4,6 +4,7 @@
#include "ik_solver/include/ik_solver_creator.h"
#include "ik_solver/opt_psi_limit_bias_solver/include/opt_psi_limit_bias_solver.h"
namespace cmvr
{
std::unordered_map<IkSolverType, std::shared_ptr<IKSolver>>
@ -31,7 +32,7 @@ namespace cmvr
case IK_SOLVER_UNKNOWN:
return nullptr;
case OPT_PSI_LIMIT_BIAS_SRS:
// return std::make_shared<HybridAstarParkIn>();
return std::make_shared<OptPsiLimitBiasSolver>();
default:
return nullptr;
}

8
src/ik_solver/opt_psi_limit_bias_solver/include/opt_psi_limit_bias_solver.h
View File

@ -19,13 +19,8 @@ namespace cmvr{
bool init() override;
bool ik(const Eigen::Matrix4d &target_pose, std::vector<double> &joints_angle) override;
bool fk(const std::vector<double> &joints_angle, Eigen::Matrix4d &cur_pose, bool robot_base = false) override;
// 机械臂运动完成后一定要调用一下此接口
void update_joints_state(std::vector<double> cur_joints_angle) {
cur_joints_angle_ = std::move(cur_joints_angle);
}
private:
std::shared_ptr<BiasSRSIkSolver> bias_srs_ik_solver_{nullptr};
std::shared_ptr<JointsLimitAnalyzer> joints_limit_analyzer_{nullptr};
@ -36,9 +31,6 @@ namespace cmvr{
bool valid{false};
}prev_opt_psi_;
// todo :: 后续添加到 data_center
std::vector<double> cur_joints_angle_{};
};
}

8
src/ik_solver/opt_psi_limit_bias_solver/src/opt_psi_limit_bias_solver.cpp
View File

@ -91,6 +91,14 @@ bool OptPsiLimitBiasSolver::ik(const Eigen::Matrix4d &target_pose, std::vector<d
// 4 : 求取关节角
joints_angle = bias_srs_ik_solver_->inverse_kinematics(target_cal_pose, best_psi);
// 5： 验证有没有超出限制
for (int i = 0; i < joints_angle.size(); ++i) {
if ((joints_angle[i] > joints_limits[i].second) || (joints_angle[i] < joints_limits[i].first)) {
return false;
}
}
return true;
}

14
src/ik_solver/opt_psi_limit_bias_solver/src/srs_ik_test.cpp
View File

@ -360,6 +360,7 @@ TEST(SRS_IK_TEST, TR_TEST) {
0.0, 0.0, 0.0, 1.0;
std::vector<double> joint_angles = {0.00203898, 1.34062, 0.0, 0.522261, 0.0, -0.000210733, -0.0942364};
std::vector<double> last_joint_angles = {0.00203898, 1.34062, 0.111, 0.622261, 0.256, -0.0210733, 1.00};
@ -368,6 +369,17 @@ TEST(SRS_IK_TEST, TR_TEST) {
solver.fk(joint_angles,pose,true);
cout << "Target Pose (FK from seed joints):\n" << pose << endl;
// solver.ik(T,joint_angles);
solver.update_joints_state(last_joint_angles);
solver.ik(pose,joint_angles);
for (double joint_angle: joint_angles) {
cout << joint_angle << endl;
}
solver.fk(joint_angles,pose,true);
cout << "Target Pose (FK from seed joints):\n" << pose << endl;
}

45
src/planner/joint_space_planner/src/joint_space_planner_test.cpp
View File

@ -5,21 +5,58 @@
#include "gtest/gtest.h"
#include "planner/joint_space_planner/include/toppra_bspline.h"
#include "planner/joint_space_planner/include/joint_space_planner_creator.h"
#include "common/utils/math/support_functions.h"
#include <thread>
using namespace cmvr;
TEST(JOINT_SPACE_PLANNER_TEST,TOPPRA_TEST) {
auto planner = JointSpacePlannerCreator::create(JointSpacePlannerType::TOPPRA_BSPLINE);
planner->setPathType(PathType::Quintic);
planner->setPathType(PathType::CubicHermite);
planner->setSymmetricLimits(std::vector<double>(1, 1.5),
std::vector<double>(1, 3.0));
std::vector<double>(1, 6.0));
TrajPtr traj;
std::vector<double> q0{0.0};
std::vector<double> q1{1.2};
std::vector<double> q1{-1.2};
if (!planner->plan(q0, q1, traj)) { std::cerr << "plan failed\n"; }
// 2) 采样 0.01 s
auto samples = planner->sampleTrajectory(traj, 0.01);
double dt = 0.01;
auto samples = planner->sampleTrajectory(traj, dt);
const auto t0 = std::chrono::steady_clock::now();
size_t k = 1;
const size_t K = samples.size();
const int lookahead_steps = 1; // 看前 1 个点，或者直接设 0 就是你的原版
while (k < K) {
const auto &s_now = samples[k];
int global_lookahead = 1;
for (size_t i = 0; i < q0.size(); ++i) {
int la_i = SupportFunctions::calcLookahead(
s_now.qd[i],
s_now.qdd[i],
1.5,
dt,1,10);
global_lookahead = std::max(global_lookahead, la_i);
}
size_t k_la = std::min(k + (size_t) global_lookahead, K - 1);
const auto &s_cmd = samples[k];
std::cout << s_cmd.q << std::endl;
++k;
if (k < K) {
auto next_t = t0 + std::chrono::duration<double>(k * dt);
std::this_thread::sleep_until(next_t);
}
}
// 3) 写 CSV
if (!planner->writeTrajectoryCsv("/home/lgv/cmvr/cmvr-es/data/planner/traj.csv", samples)) {

3
third_party/mujoco/3.3.7/MUJOCO_LOG.TXT vendored Normal file
View File

@ -0,0 +1,3 @@
Wed Nov 19 10:46:50 2025
ERROR: could not initialize GLFW

630
third_party/mujoco/3.3.7/THIRD_PARTY_NOTICES vendored Normal file
View File

@ -0,0 +1,630 @@
MuJoCo version 3.3.7 incorporates the following open-source libraries:
- libccd
- Collisions
- TinyXML2
- LodePNG
- Qhull
- GLAD
- GLFW
- TinyObjLoader
- MarchingCubeCpp
- {fmt}
- OpenGL Mathematics
- TriangleMeshDistance
MuJoCo was built for GNU/Linux using LLVM/Clang.
LLVM/Clang incorporates portions of its standard headers and runtime libraries
in the resulting MuJoCo binary.
Third-party copyright and license information is included below.
========================= LIBCCD =============================================
Copyright (c)2010-2012 Daniel Fiser <danfis@danfis.cz>,
Intelligent and Mobile Robotics Group, Department of Cybernetics,
Faculty of Electrical Engineering, Czech Technical University in Prague.
All rights reserved.
This work was supported by SYMBRION and REPLICATOR projects.
The SYMBRION project is funded by European Commission within the work
"Future and Emergent Technologies Proactive" under grant agreement no.
216342.
The REPLICATOR project is funded within the work programme "Cognitive
Systems, Interaction, Robotics" under grant agreement no. 216240.
http://www.symbrion.eu/
http://www.replicators.eu/
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
- Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
- Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
- Neither the name of the University nor the names of its contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
========================= COLLISIONS =========================================
Copyright (c) 2015 Svetoslav Kolev
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
========================= TINYXML2 ===========================================
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any
damages arising from the use of this software.
Permission is granted to anyone to use this software for any
purpose, including commercial applications, and to alter it and
redistribute it freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must
not claim that you wrote the original software. If you use this
software in a product, an acknowledgment in the product documentation
would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and
must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source
distribution.
========================= LODEPNG ============================================
Copyright (c) 2005-2018 Lode Vandevenne
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software
in a product, an acknowledgment in the product documentation would be
appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original software.
3. This notice may not be removed or altered from any source
distribution.
========================= QHULL ==============================================
Qhull, Copyright (c) 1993-2020
C.B. Barber
Arlington, MA
and
The National Science and Technology Research Center for
Computation and Visualization of Geometric Structures
(The Geometry Center)
University of Minnesota
email: qhull@qhull.org
This software includes Qhull from C.B. Barber and The Geometry Center.
Files derived from Qhull 1.0 are copyrighted by the Geometry Center. The
remaining files are copyrighted by C.B. Barber. Qhull is free software
and may be obtained via http from www.qhull.org. It may be freely copied,
modified, and redistributed under the following conditions:
1. All copyright notices must remain intact in all files.
2. A copy of this text file must be distributed along with any copies
of Qhull that you redistribute; this includes copies that you have
modified, or copies of programs or other software products that
include Qhull.
3. If you modify Qhull, you must include a notice giving the
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4. When distributing modified versions of Qhull, or other software
products that include Qhull, you must provide notice that the original
source code may be obtained as noted above.
5. There is no warranty or other guarantee of fitness for Qhull, it is
provided solely "as is". Bug reports or fixes may be sent to
qhull_bug@qhull.org; the authors may or may not act on them as
they desire.
========================= GLAD ===============================================
The glad generated code itself is CC0. The source files for the generated code
are under various licenses from Khronos.
--------------------------------------------------------------------------------
Copyright 2013-2020 The Khronos Group Inc.
Permission is hereby granted, free of charge, to any person obtaining a
copy of this software and/or associated documentation files (the
"Materials"), to deal in the Materials without restriction, including
without limitation the rights to use, copy, modify, merge, publish,
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MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
========================= GLFW ===============================================
Copyright (c) 2002-2006 Marcus Geelnard
Copyright (c) 2006-2019 Camilla Löwy
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software
in a product, an acknowledgment in the product documentation would
be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not
be misrepresented as being the original software.
3. This notice may not be removed or altered from any source
distribution.
========================= TINYOBJLOADER ========================================
The MIT License (MIT)
Copyright (c) 2012-2019 Syoyo Fujita and many contributors.
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
========================= MARCHINGCUBECPP ======================================
The MIT License (MIT)
Copyright (c) 2020 Axel Paris
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
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========================= FMT ==================================================
Copyright (c) 2012 - present, Victor Zverovich and {fmt} contributors
Permission is hereby granted, free of charge, to any person obtaining
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"Software"), to deal in the Software without restriction, including
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NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
--- Optional exception to the license ---
As an exception, if, as a result of your compiling your source code, portions
of this Software are embedded into a machine-executable object form of such
source code, you may redistribute such embedded portions in such object form
without including the above copyright and permission notices.
========================= TRIANGLEMESHDISTANCE =================================
MIT License
Copyright (c) 2021 Jose Antonio Fernandez Fernandez
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// Copyright 2025 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.
#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_LAYER_SINK_H_
#define MUJOCO_SRC_EXPERIMENTAL_USD_LAYER_SINK_H_
#include <vector>
#include <mujoco/mujoco.h>
#include <pxr/usd/sdf/path.h>
#include <pxr/usd/usd/common.h>
namespace mujoco {
namespace usd {
// A sink for writing pose data to an SDF layer.
// Opinions will be authored on the edit target layer for the
// passed stage argument.
class LayerSink {
public:
explicit LayerSink(pxr::UsdStageRefPtr stage);
void Update(const mjData* const data, std::vector<pxr::SdfPath> body_paths_);
private:
pxr::UsdStageRefPtr stage_;
};
} // namespace usd
} // namespace mujoco
#endif // MUJOCO_SRC_EXPERIMENTAL_USD_LAYER_SINK_H_

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// Copyright 2025 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.
#ifndef MJCPHYSICS_GENERATED_ACTUATOR_H
#define MJCPHYSICS_GENERATED_ACTUATOR_H
/// \file mjcPhysics/actuator.h
#include <mujoco/experimental/usd/mjcPhysics/api.h>
#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
#include <pxr/base/gf/matrix4d.h>
#include <pxr/base/gf/vec3d.h>
#include <pxr/base/gf/vec3f.h>
#include <pxr/base/tf/token.h>
#include <pxr/base/tf/type.h>
#include <pxr/base/vt/value.h>
#include <pxr/pxr.h>
#include <pxr/usd/usd/prim.h>
#include <pxr/usd/usd/stage.h>
#include <pxr/usd/usd/typed.h>
PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// MJCACTUATOR //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsActuator
///
/// Known as actuator in MuJoCo, this prim represents force transmission to
/// joints, bodies, or sites.
///
/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
/// below that are text/tokens, the actual token is published and defined in
/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
/// use MjcPhysicsTokens->rightHanded as the value.
///
class MjcPhysicsActuator : public UsdTyped {
public:
/// Compile time constant representing what kind of schema this class is.
///
/// \sa UsdSchemaKind
static const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped;
/// Construct a MjcPhysicsActuator on UsdPrim \p prim .
/// Equivalent to MjcPhysicsActuator::Get(prim.GetStage(), prim.GetPath())
/// for a \em valid \p prim, but will not immediately throw an error for
/// an invalid \p prim
explicit MjcPhysicsActuator(const UsdPrim& prim = UsdPrim())
: UsdTyped(prim) {}
/// Construct a MjcPhysicsActuator on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsActuator(schemaObj.GetPrim()),
/// as it preserves SchemaBase state.
explicit MjcPhysicsActuator(const UsdSchemaBase& schemaObj)
: UsdTyped(schemaObj) {}
/// Destructor.
MJCPHYSICS_API
virtual ~MjcPhysicsActuator();
/// Return a vector of names of all pre-declared attributes for this schema
/// class and all its ancestor classes. Does not include attributes that
/// may be authored by custom/extended methods of the schemas involved.
MJCPHYSICS_API
static const TfTokenVector& GetSchemaAttributeNames(
bool includeInherited = true);
/// Return a MjcPhysicsActuator holding the prim adhering to this
/// schema at \p path on \p stage. If no prim exists at \p path on
/// \p stage, or if the prim at that path does not adhere to this schema,
/// return an invalid schema object. This is shorthand for the following:
///
/// \code
/// MjcPhysicsActuator(stage->GetPrimAtPath(path));
/// \endcode
///
MJCPHYSICS_API
static MjcPhysicsActuator Get(const UsdStagePtr& stage, const SdfPath& path);
/// Attempt to ensure a \a UsdPrim adhering to this schema at \p path
/// is defined (according to UsdPrim::IsDefined()) on this stage.
///
/// If a prim adhering to this schema at \p path is already defined on this
/// stage, return that prim. Otherwise author an \a SdfPrimSpec with
/// \a specifier == \a SdfSpecifierDef and this schema's prim type name for
/// the prim at \p path at the current EditTarget. Author \a SdfPrimSpec s
/// with \p specifier == \a SdfSpecifierDef and empty typeName at the
/// current EditTarget for any nonexistent, or existing but not \a Defined
/// ancestors.
///
/// The given \a path must be an absolute prim path that does not contain
/// any variant selections.
///
/// If it is impossible to author any of the necessary PrimSpecs, (for
/// example, in case \a path cannot map to the current UsdEditTarget's
/// namespace) issue an error and return an invalid \a UsdPrim.
///
/// Note that this method may return a defined prim whose typeName does not
/// specify this schema class, in case a stronger typeName opinion overrides
/// the opinion at the current EditTarget.
///
MJCPHYSICS_API
static MjcPhysicsActuator Define(const UsdStagePtr& stage,
const SdfPath& path);
protected:
/// Returns the kind of schema this class belongs to.
///
/// \sa UsdSchemaKind
MJCPHYSICS_API
UsdSchemaKind _GetSchemaKind() const override;
private:
// needs to invoke _GetStaticTfType.
friend class UsdSchemaRegistry;
MJCPHYSICS_API
static const TfType& _GetStaticTfType();
static bool _IsTypedSchema();
// override SchemaBase virtuals.
MJCPHYSICS_API
const TfType& _GetTfType() const override;
public:
// --------------------------------------------------------------------- //
// GROUP
// --------------------------------------------------------------------- //
/// Integer MuJoCo group to which the transmission belongs.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:group = 0` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetGroupAttr() const;
/// See GetGroupAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateGroupAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCCTRLLIMITED
// --------------------------------------------------------------------- //
/// If true, the control input to this actuator is automatically clamped to
/// ctrlrange at runtime. If false, control input clamping is disabled. If
/// 'auto' and autolimits is set in compiler, control clamping will
/// automatically be set to true if ctrlrange is defined without explicitly
/// setting this attribute to 'true'. Note that control input clamping can
/// also be globally disabled with the clampctrl attribute of option/flag.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:ctrlLimited = "auto"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
/// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
MJCPHYSICS_API
UsdAttribute GetMjcCtrlLimitedAttr() const;
/// See GetMjcCtrlLimitedAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcCtrlLimitedAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCFORCELIMITED
// --------------------------------------------------------------------- //
/// If true, the force output of this actuator is automatically clamped to
/// forcerange at runtime. If false, force clamping is disabled. If 'auto' and
/// autolimits is set in compiler, force clamping will automatically be set to
/// true if forcerange is defined without explicitly setting this attribute to
/// 'true'.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:forceLimited = "auto"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
/// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
MJCPHYSICS_API
UsdAttribute GetMjcForceLimitedAttr() const;
/// See GetMjcForceLimitedAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcForceLimitedAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCACTLIMITED
// --------------------------------------------------------------------- //
/// If true, the internal state (activation) associated with this actuator is
/// automatically clamped to actrange at runtime. If false, activation
/// clamping is disabled. If 'auto' and autolimits is set in compiler,
/// activation clamping will automatically be set to true if actrange is
/// defined without explicitly setting this attribute to 'true'. See the
/// Activation clamping section for more details.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:actLimited = "auto"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
/// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
MJCPHYSICS_API
UsdAttribute GetMjcActLimitedAttr() const;
/// See GetMjcActLimitedAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcActLimitedAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCCTRLRANGEMIN
// --------------------------------------------------------------------- //
/// Minimum range for clamping the control input. The first value must be
/// smaller than the second value. Setting this attribute without specifying
/// ctrllimited is an error if autolimits is 'false' in compiler.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:ctrlRange:min = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcCtrlRangeMinAttr() const;
/// See GetMjcCtrlRangeMinAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcCtrlRangeMinAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCCTRLRANGEMAX
// --------------------------------------------------------------------- //
/// Maximum range for clamping the control input. The first value must be
/// smaller than the second value. Setting this attribute without specifying
/// ctrllimited is an error if autolimits is 'false' in compiler.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:ctrlRange:max = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcCtrlRangeMaxAttr() const;
/// See GetMjcCtrlRangeMaxAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcCtrlRangeMaxAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCFORCERANGEMIN
// --------------------------------------------------------------------- //
/// Minimum range for clamping the force output. The first value must be no
/// greater than the second value. Setting this attribute without specifying
/// forcelimited is an error if autolimits is 'false' in compiler.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:forceRange:min = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcForceRangeMinAttr() const;
/// See GetMjcForceRangeMinAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcForceRangeMinAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCFORCERANGEMAX
// --------------------------------------------------------------------- //
/// Maximum range for clamping the force output. The first value must be no
/// greater than the second value. Setting this attribute without specifying
/// forcelimited is an error if autolimits is 'false' in compiler.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:forceRange:max = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcForceRangeMaxAttr() const;
/// See GetMjcForceRangeMaxAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcForceRangeMaxAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCACTRANGEMIN
// --------------------------------------------------------------------- //
/// Minimum range for clamping the activation state. The first value must be
/// no greater than the second value. See the Activation clamping section for
/// more details. Setting this attribute without specifying actlimited is an
/// error if autolimits is 'false' in compiler.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:actRange:min = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcActRangeMinAttr() const;
/// See GetMjcActRangeMinAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcActRangeMinAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCACTRANGEMAX
// --------------------------------------------------------------------- //
/// Maximum range for clamping the activation state. The first value must be
/// no greater than the second value. See the Activation clamping section for
/// more details. Setting this attribute without specifying actlimited is an
/// error if autolimits is 'false' in compiler.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:actRange:max = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcActRangeMaxAttr() const;
/// See GetMjcActRangeMaxAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcActRangeMaxAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCLENGTHRANGEMIN
// --------------------------------------------------------------------- //
/// Minimum range of feasible lengths of the actuator's transmission.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:lengthRange:min = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcLengthRangeMinAttr() const;
/// See GetMjcLengthRangeMinAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcLengthRangeMinAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCLENGTHRANGEMAX
// --------------------------------------------------------------------- //
/// Maximum range of feasible lengths of the actuator's transmission.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:lengthRange:max = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcLengthRangeMaxAttr() const;
/// See GetMjcLengthRangeMaxAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcLengthRangeMaxAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCGEAR
// --------------------------------------------------------------------- //
/// This attribute scales the length (and consequently moment arms, velocity
/// and force) of the actuator, for all transmission types. It is different
/// from the gain in the force generation mechanism, because the gain only
/// scales the force output and does not affect the length, moment arms and
/// velocity. For actuators with scalar transmission, only the first element
/// of this vector is used. The remaining elements are needed for joint,
/// jointinparent and site transmissions where this attribute is used to
/// specify 3D force and torque axes.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:gear = [1, 0, 0, 0, 0, 0]` |
/// | C++ Type | VtArray<double> |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcGearAttr() const;
/// See GetMjcGearAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcGearAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCCRANKLENGTH
// --------------------------------------------------------------------- //
/// Used only for the slider-crank transmission type. Specifies the length of
/// the connecting rod. The compiler expects this value to be positive when a
/// slider-crank transmission is present.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:crankLength = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcCrankLengthAttr() const;
/// See GetMjcCrankLengthAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcCrankLengthAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCJOINTINPARENT
// --------------------------------------------------------------------- //
/// If true and applied to ball and free joints, the 3d rotation axis given by
/// gear is defined in the parent frame (which is the world frame for free
/// joints) rather than the child frame.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:jointInParent = 0` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcJointInParentAttr() const;
/// See GetMjcJointInParentAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcJointInParentAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCACTDIM
// --------------------------------------------------------------------- //
/// Dimension of the activation state. The default value of -1 instructs the
/// compiler to set the dimension according to the dyntype. Values larger than
/// 1 are only allowed for user-defined activation dynamics, as native types
/// require dimensions of only 0 or 1. For activation dimensions bigger than
/// 1, the last element is used to generate force.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:actDim = -1` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcActDimAttr() const;
/// See GetMjcActDimAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcActDimAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCDYNTYPE
// --------------------------------------------------------------------- //
/// Activation dynamics type for the actuator. The available dynamics types
/// were already described in the Actuation model section.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:dynType = "none"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
/// | \ref MjcPhysicsTokens "Allowed Values" | none, integrator, filter,
/// filterexact, muscle, user |
MJCPHYSICS_API
UsdAttribute GetMjcDynTypeAttr() const;
/// See GetMjcDynTypeAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcDynTypeAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCGAINTYPE
// --------------------------------------------------------------------- //
/// The gain and bias together determine the output of the force generation
/// mechanism, which is currently assumed to be affine.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:gainType = "fixed"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
/// | \ref MjcPhysicsTokens "Allowed Values" | fixed, affine, muscle, user |
MJCPHYSICS_API
UsdAttribute GetMjcGainTypeAttr() const;
/// See GetMjcGainTypeAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcGainTypeAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCBIASTYPE
// --------------------------------------------------------------------- //
/// The gain and bias together determine the output of the force generation
/// mechanism, which is currently assumed to be affine.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:biasType = "none"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
/// | \ref MjcPhysicsTokens "Allowed Values" | none, affine, muscle, user |
MJCPHYSICS_API
UsdAttribute GetMjcBiasTypeAttr() const;
/// See GetMjcBiasTypeAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcBiasTypeAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCDYNPRM
// --------------------------------------------------------------------- //
/// Activation dynamics parameters. The built-in activation types (except for
/// muscle) use only the first parameter, but we provide additional parameters
/// in case user callbacks implement a more elaborate model. The length of
/// this array is not enforced by the parser, so the user can enter as many
/// parameters as needed. These defaults are not compatible with muscle
/// actuators.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:dynPrm = [1, 0, 0, 0, 0, 0, 0, 0, 0,
/// 0]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
/// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
/// SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcDynPrmAttr() const;
/// See GetMjcDynPrmAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcDynPrmAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCGAINPRM
// --------------------------------------------------------------------- //
/// Gain parameters. The built-in gain types (except for muscle) use only the
/// first parameter, but we provide additional parameters in case user
/// callbacks implement a more elaborate model. The length of this array is
/// not enforced by the parser, so the user can enter as many parameters as
/// needed. These defaults are not compatible with muscle actuators.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:gainPrm = [1, 0, 0, 0, 0, 0, 0, 0,
/// 0, 0]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
/// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
/// SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcGainPrmAttr() const;
/// See GetMjcGainPrmAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcGainPrmAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCBIASPRM
// --------------------------------------------------------------------- //
/// Bias parameters. The affine bias type uses three parameters. The length of
/// this array is not enforced by the parser, so the user can enter as many
/// parameters as needed. These defaults are not compatible with muscle
/// actuators.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:biasPrm = [0, 0, 0, 0, 0, 0, 0, 0,
/// 0, 0]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
/// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
/// SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcBiasPrmAttr() const;
/// See GetMjcBiasPrmAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcBiasPrmAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCACTEARLY
// --------------------------------------------------------------------- //
/// If true, force computation will use the next value of the activation
/// variable rather than the current one. Setting this flag reduces the delay
/// between the control and accelerations by one time-step.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:actEarly = 0` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcActEarlyAttr() const;
/// See GetMjcActEarlyAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcActEarlyAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCINHERITRANGE
// --------------------------------------------------------------------- //
/// Automatically set the actuator’s ctrlrange to match the transmission
/// target’s range. The default value means disabled. A positive value X sets
/// the ctrlrange around the midpoint of the target range, scaled by X. For
/// example if the target joint has range of [0, 1], then a value of 1.0 will
/// set ctrlrange to [0, 1]; values of 0.8 and 1.2 will set the ctrlrange to
/// [0.1, 0.9] and [-0.1, 1.1], respectively. Values smaller than 1 are useful
/// for not hitting the limits; values larger than 1 are useful for
/// maintaining control authority at the limits (being able to push on them).
/// This attribute is exclusive with ctrlrange and available only for joint
/// and tendon transmissions which have range defined.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:inheritRange = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcInheritRangeAttr() const;
/// See GetMjcInheritRangeAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcInheritRangeAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCTARGET
// --------------------------------------------------------------------- //
/// Actuator transmission target.
///
MJCPHYSICS_API
UsdRelationship GetMjcTargetRel() const;
/// See GetMjcTargetRel(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
MJCPHYSICS_API
UsdRelationship CreateMjcTargetRel() const;
public:
// --------------------------------------------------------------------- //
// MJCREFSITE
// --------------------------------------------------------------------- //
/// When applied to a site, measure the translation and rotation w.r.t the
/// frame of the refsite. In this case the actuator does have length and
/// position actuators can be used to directly control an end effector, see
/// refsite.xml example model. As above, the length is the dot product of the
/// gear vector and the frame difference. So gear='0 1 0 0 0 0' means
/// 'Y-offset of site in the refsite frame', while gear='0 0 0 0 0 1' means
/// rotation 'Z- rotation of site in the refsite frame'. It is recommended to
/// use a normalized gear vector with nonzeros in only the first 3 or the last
/// 3 elements of gear, so the actuator length will be in either length units
/// or radians, respectively. As with ball joints (see joint above), for
/// rotations which exceed a total angle of pi will wrap around, so tighter
/// limits are recommended.
///
MJCPHYSICS_API
UsdRelationship GetMjcRefSiteRel() const;
/// See GetMjcRefSiteRel(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
MJCPHYSICS_API
UsdRelationship CreateMjcRefSiteRel() const;
public:
// --------------------------------------------------------------------- //
// MJCSLIDERSITE
// --------------------------------------------------------------------- //
/// Used only for the slider-crank transmission type. The target site is the
/// pin joining the slider and the connecting rod. The slider moves along the
/// z-axis of the slidersite frame. Therefore the site should be oriented as
/// needed when it is defined in the kinematic tree; its orientation cannot be
/// changed in the actuator definition.
///
MJCPHYSICS_API
UsdRelationship GetMjcSliderSiteRel() const;
/// See GetMjcSliderSiteRel(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
MJCPHYSICS_API
UsdRelationship CreateMjcSliderSiteRel() const;
public:
// ===================================================================== //
// Feel free to add custom code below this line, it will be preserved by
// the code generator.
//
// Just remember to:
// - Close the class declaration with };
// - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
// - Close the include guard with #endif
// ===================================================================== //
// --(BEGIN CUSTOM CODE)--
};
PXR_NAMESPACE_CLOSE_SCOPE
#endif

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// Copyright 2025 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.
#ifndef MJCPHYSICS_API_H
#define MJCPHYSICS_API_H
#include <pxr/base/arch/export.h>
#if defined(PXR_STATIC)
#define MJCPHYSICS_API
#define MJCPHYSICS_API_TEMPLATE_CLASS(...)
#define MJCPHYSICS_API_TEMPLATE_STRUCT(...)
#define MJCPHYSICS_LOCAL
#else
#if defined(MJCPHYSICS_EXPORTS)
#define MJCPHYSICS_API ARCH_EXPORT
#define MJCPHYSICS_API_TEMPLATE_CLASS(...) \
ARCH_EXPORT_TEMPLATE(class, __VA_ARGS__)
#define MJCPHYSICS_API_TEMPLATE_STRUCT(...) \
ARCH_EXPORT_TEMPLATE(struct, __VA_ARGS__)
#else
#define MJCPHYSICS_API ARCH_IMPORT
#define MJCPHYSICS_API_TEMPLATE_CLASS(...) \
ARCH_IMPORT_TEMPLATE(class, __VA_ARGS__)
#define MJCPHYSICS_API_TEMPLATE_STRUCT(...) \
ARCH_IMPORT_TEMPLATE(struct, __VA_ARGS__)
#endif
#define MJCPHYSICS_LOCAL ARCH_HIDDEN
#endif
#endif

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// Copyright 2025 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.
#ifndef MJCPHYSICS_GENERATED_COLLISIONAPI_H
#define MJCPHYSICS_GENERATED_COLLISIONAPI_H
/// \file mjcPhysics/collisionAPI.h
#include <mujoco/experimental/usd/mjcPhysics/api.h>
#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
#include <pxr/base/gf/matrix4d.h>
#include <pxr/base/gf/vec3d.h>
#include <pxr/base/gf/vec3f.h>
#include <pxr/base/tf/token.h>
#include <pxr/base/tf/type.h>
#include <pxr/base/vt/value.h>
#include <pxr/pxr.h>
#include <pxr/usd/usd/apiSchemaBase.h>
#include <pxr/usd/usd/prim.h>
#include <pxr/usd/usd/stage.h>
PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// MJCCOLLISIONAPI //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsCollisionAPI
///
/// API describing a MuJoCo collider.
///
class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
public:
/// Compile time constant representing what kind of schema this class is.
///
/// \sa UsdSchemaKind
static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
/// Construct a MjcPhysicsCollisionAPI on UsdPrim \p prim .
/// Equivalent to MjcPhysicsCollisionAPI::Get(prim.GetStage(), prim.GetPath())
/// for a \em valid \p prim, but will not immediately throw an error for
/// an invalid \p prim
explicit MjcPhysicsCollisionAPI(const UsdPrim& prim = UsdPrim())
: UsdAPISchemaBase(prim) {}
/// Construct a MjcPhysicsCollisionAPI on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsCollisionAPI(schemaObj.GetPrim()),
/// as it preserves SchemaBase state.
explicit MjcPhysicsCollisionAPI(const UsdSchemaBase& schemaObj)
: UsdAPISchemaBase(schemaObj) {}
/// Destructor.
MJCPHYSICS_API
virtual ~MjcPhysicsCollisionAPI();
/// Return a vector of names of all pre-declared attributes for this schema
/// class and all its ancestor classes. Does not include attributes that
/// may be authored by custom/extended methods of the schemas involved.
MJCPHYSICS_API
static const TfTokenVector& GetSchemaAttributeNames(
bool includeInherited = true);
/// Return a MjcPhysicsCollisionAPI holding the prim adhering to this
/// schema at \p path on \p stage. If no prim exists at \p path on
/// \p stage, or if the prim at that path does not adhere to this schema,
/// return an invalid schema object. This is shorthand for the following:
///
/// \code
/// MjcPhysicsCollisionAPI(stage->GetPrimAtPath(path));
/// \endcode
///
MJCPHYSICS_API
static MjcPhysicsCollisionAPI Get(const UsdStagePtr& stage,
const SdfPath& path);
/// Returns true if this <b>single-apply</b> API schema can be applied to
/// the given \p prim. If this schema can not be a applied to the prim,
/// this returns false and, if provided, populates \p whyNot with the
/// reason it can not be applied.
///
/// Note that if CanApply returns false, that does not necessarily imply
/// that calling Apply will fail. Callers are expected to call CanApply
/// before calling Apply if they want to ensure that it is valid to
/// apply a schema.
///
/// \sa UsdPrim::GetAppliedSchemas()
/// \sa UsdPrim::HasAPI()
/// \sa UsdPrim::CanApplyAPI()
/// \sa UsdPrim::ApplyAPI()
/// \sa UsdPrim::RemoveAPI()
///
MJCPHYSICS_API
static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "MjcCollisionAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsCollisionAPI object is returned upon success.
/// An invalid (or empty) MjcPhysicsCollisionAPI object is returned upon
/// failure. See \ref UsdPrim::ApplyAPI() for conditions
/// resulting in failure.
///
/// \sa UsdPrim::GetAppliedSchemas()
/// \sa UsdPrim::HasAPI()
/// \sa UsdPrim::CanApplyAPI()
/// \sa UsdPrim::ApplyAPI()
/// \sa UsdPrim::RemoveAPI()
///
MJCPHYSICS_API
static MjcPhysicsCollisionAPI Apply(const UsdPrim& prim);
protected:
/// Returns the kind of schema this class belongs to.
///
/// \sa UsdSchemaKind
MJCPHYSICS_API
UsdSchemaKind _GetSchemaKind() const override;
private:
// needs to invoke _GetStaticTfType.
friend class UsdSchemaRegistry;
MJCPHYSICS_API
static const TfType& _GetStaticTfType();
static bool _IsTypedSchema();
// override SchemaBase virtuals.
MJCPHYSICS_API
const TfType& _GetTfType() const override;
public:
// --------------------------------------------------------------------- //
// GROUP
// --------------------------------------------------------------------- //
/// Integer MuJoCo group to which the collider belongs.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:group = 0` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetGroupAttr() const;
/// See GetGroupAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateGroupAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// SHELLINERTIA
// --------------------------------------------------------------------- //
/// Enables handling of the inertia assuming mass is concentrated on the
/// surface.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:shellinertia = 0` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetShellInertiaAttr() const;
/// See GetShellInertiaAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateShellInertiaAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// PRIORITY
// --------------------------------------------------------------------- //
/// Priority determining how the properties of two colliders are combined to
/// form the properties of the contact.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:priority = 0` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetPriorityAttr() const;
/// See GetPriorityAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreatePriorityAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// CONDIM
// --------------------------------------------------------------------- //
/// The dimensionality of the contact space for a dynamically generated
/// contact pair is set to the maximum of the condim values of the two
/// participating geoms.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:condim = 3` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetConDimAttr() const;
/// See GetConDimAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateConDimAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// SOLMIX
// --------------------------------------------------------------------- //
/// Specifies the weight used for averaging of contact parameters, and
/// interacts with the priority attribute.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:solmix = 1` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetSolMixAttr() const;
/// See GetSolMixAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateSolMixAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// SOLREF
// --------------------------------------------------------------------- //
/// Specifies the weight used for averaging of contact parameters, and
/// interacts with the priority attribute.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:solref = [0.02, 1]` |
/// | C++ Type | VtArray<double> |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetSolRefAttr() const;
/// See GetSolRefAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateSolRefAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// SOLIMP
// --------------------------------------------------------------------- //
/// Specifies the weight used for averaging of contact parameters, and
/// interacts with the priority attribute.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:solimp = [0.9, 0.95, 0.001, 0.5, 2]`
/// | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
/// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
/// SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetSolImpAttr() const;
/// See GetSolImpAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateSolImpAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MARGIN
// --------------------------------------------------------------------- //
/// Distance threshold below which contacts are detected and included in the
/// global array mjData.contact.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:margin = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMarginAttr() const;
/// See GetMarginAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMarginAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// GAP
// --------------------------------------------------------------------- //
/// This attribute is used to enable the generation of inactive contacts,
/// i.e., contacts that are ignored by the constraint solver but are included
/// in mjData.contact for the purpose of custom computations. When this value
/// is positive, geom distances between margin and margin-gap correspond to
/// such inactive contacts.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:gap = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetGapAttr() const;
/// See GetGapAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateGapAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// ===================================================================== //
// Feel free to add custom code below this line, it will be preserved by
// the code generator.
//
// Just remember to:
// - Close the class declaration with };
// - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
// - Close the include guard with #endif
// ===================================================================== //
// --(BEGIN CUSTOM CODE)--
};
PXR_NAMESPACE_CLOSE_SCOPE
#endif

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// Copyright 2025 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.
#ifndef MJCPHYSICS_GENERATED_IMAGEABLEAPI_H
#define MJCPHYSICS_GENERATED_IMAGEABLEAPI_H
/// \file mjcPhysics/imageableAPI.h
#include <mujoco/experimental/usd/mjcPhysics/api.h>
#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
#include <pxr/base/gf/matrix4d.h>
#include <pxr/base/gf/vec3d.h>
#include <pxr/base/gf/vec3f.h>
#include <pxr/base/tf/token.h>
#include <pxr/base/tf/type.h>
#include <pxr/base/vt/value.h>
#include <pxr/pxr.h>
#include <pxr/usd/usd/apiSchemaBase.h>
#include <pxr/usd/usd/prim.h>
#include <pxr/usd/usd/stage.h>
PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// MJCIMAGEABLEAPI //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsImageableAPI
///
/// API describing attributes for visual entities in MuJoCo.
///
class MjcPhysicsImageableAPI : public UsdAPISchemaBase {
public:
/// Compile time constant representing what kind of schema this class is.
///
/// \sa UsdSchemaKind
static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
/// Construct a MjcPhysicsImageableAPI on UsdPrim \p prim .
/// Equivalent to MjcPhysicsImageableAPI::Get(prim.GetStage(), prim.GetPath())
/// for a \em valid \p prim, but will not immediately throw an error for
/// an invalid \p prim
explicit MjcPhysicsImageableAPI(const UsdPrim& prim = UsdPrim())
: UsdAPISchemaBase(prim) {}
/// Construct a MjcPhysicsImageableAPI on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsImageableAPI(schemaObj.GetPrim()),
/// as it preserves SchemaBase state.
explicit MjcPhysicsImageableAPI(const UsdSchemaBase& schemaObj)
: UsdAPISchemaBase(schemaObj) {}
/// Destructor.
MJCPHYSICS_API
virtual ~MjcPhysicsImageableAPI();
/// Return a vector of names of all pre-declared attributes for this schema
/// class and all its ancestor classes. Does not include attributes that
/// may be authored by custom/extended methods of the schemas involved.
MJCPHYSICS_API
static const TfTokenVector& GetSchemaAttributeNames(
bool includeInherited = true);
/// Return a MjcPhysicsImageableAPI holding the prim adhering to this
/// schema at \p path on \p stage. If no prim exists at \p path on
/// \p stage, or if the prim at that path does not adhere to this schema,
/// return an invalid schema object. This is shorthand for the following:
///
/// \code
/// MjcPhysicsImageableAPI(stage->GetPrimAtPath(path));
/// \endcode
///
MJCPHYSICS_API
static MjcPhysicsImageableAPI Get(const UsdStagePtr& stage,
const SdfPath& path);
/// Returns true if this <b>single-apply</b> API schema can be applied to
/// the given \p prim. If this schema can not be a applied to the prim,
/// this returns false and, if provided, populates \p whyNot with the
/// reason it can not be applied.
///
/// Note that if CanApply returns false, that does not necessarily imply
/// that calling Apply will fail. Callers are expected to call CanApply
/// before calling Apply if they want to ensure that it is valid to
/// apply a schema.
///
/// \sa UsdPrim::GetAppliedSchemas()
/// \sa UsdPrim::HasAPI()
/// \sa UsdPrim::CanApplyAPI()
/// \sa UsdPrim::ApplyAPI()
/// \sa UsdPrim::RemoveAPI()
///
MJCPHYSICS_API
static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "MjcImageableAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsImageableAPI object is returned upon success.
/// An invalid (or empty) MjcPhysicsImageableAPI object is returned upon
/// failure. See \ref UsdPrim::ApplyAPI() for conditions
/// resulting in failure.
///
/// \sa UsdPrim::GetAppliedSchemas()
/// \sa UsdPrim::HasAPI()
/// \sa UsdPrim::CanApplyAPI()
/// \sa UsdPrim::ApplyAPI()
/// \sa UsdPrim::RemoveAPI()
///
MJCPHYSICS_API
static MjcPhysicsImageableAPI Apply(const UsdPrim& prim);
protected:
/// Returns the kind of schema this class belongs to.
///
/// \sa UsdSchemaKind
MJCPHYSICS_API
UsdSchemaKind _GetSchemaKind() const override;
private:
// needs to invoke _GetStaticTfType.
friend class UsdSchemaRegistry;
MJCPHYSICS_API
static const TfType& _GetStaticTfType();
static bool _IsTypedSchema();
// override SchemaBase virtuals.
MJCPHYSICS_API
const TfType& _GetTfType() const override;
public:
// --------------------------------------------------------------------- //
// GROUP
// --------------------------------------------------------------------- //
/// Integer MuJoCo group to which the imageable belongs.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:group = 0` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetGroupAttr() const;
/// See GetGroupAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateGroupAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// ===================================================================== //
// Feel free to add custom code below this line, it will be preserved by
// the code generator.
//
// Just remember to:
// - Close the class declaration with };
// - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
// - Close the include guard with #endif
// ===================================================================== //
// --(BEGIN CUSTOM CODE)--
};
PXR_NAMESPACE_CLOSE_SCOPE
#endif

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// Copyright 2025 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.
#ifndef MJCPHYSICS_GENERATED_JOINTAPI_H
#define MJCPHYSICS_GENERATED_JOINTAPI_H
/// \file mjcPhysics/jointAPI.h
#include <mujoco/experimental/usd/mjcPhysics/api.h>
#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
#include <pxr/base/gf/matrix4d.h>
#include <pxr/base/gf/vec3d.h>
#include <pxr/base/gf/vec3f.h>
#include <pxr/base/tf/token.h>
#include <pxr/base/tf/type.h>
#include <pxr/base/vt/value.h>
#include <pxr/pxr.h>
#include <pxr/usd/usd/apiSchemaBase.h>
#include <pxr/usd/usd/prim.h>
#include <pxr/usd/usd/stage.h>
PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// MJCJOINTAPI //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsJointAPI
///
/// API describing a MuJoCo joint.
///
/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
/// below that are text/tokens, the actual token is published and defined in
/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
/// use MjcPhysicsTokens->rightHanded as the value.
///
class MjcPhysicsJointAPI : public UsdAPISchemaBase {
public:
/// Compile time constant representing what kind of schema this class is.
///
/// \sa UsdSchemaKind
static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
/// Construct a MjcPhysicsJointAPI on UsdPrim \p prim .
/// Equivalent to MjcPhysicsJointAPI::Get(prim.GetStage(), prim.GetPath())
/// for a \em valid \p prim, but will not immediately throw an error for
/// an invalid \p prim
explicit MjcPhysicsJointAPI(const UsdPrim& prim = UsdPrim())
: UsdAPISchemaBase(prim) {}
/// Construct a MjcPhysicsJointAPI on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsJointAPI(schemaObj.GetPrim()),
/// as it preserves SchemaBase state.
explicit MjcPhysicsJointAPI(const UsdSchemaBase& schemaObj)
: UsdAPISchemaBase(schemaObj) {}
/// Destructor.
MJCPHYSICS_API
virtual ~MjcPhysicsJointAPI();
/// Return a vector of names of all pre-declared attributes for this schema
/// class and all its ancestor classes. Does not include attributes that
/// may be authored by custom/extended methods of the schemas involved.
MJCPHYSICS_API
static const TfTokenVector& GetSchemaAttributeNames(
bool includeInherited = true);
/// Return a MjcPhysicsJointAPI holding the prim adhering to this
/// schema at \p path on \p stage. If no prim exists at \p path on
/// \p stage, or if the prim at that path does not adhere to this schema,
/// return an invalid schema object. This is shorthand for the following:
///
/// \code
/// MjcPhysicsJointAPI(stage->GetPrimAtPath(path));
/// \endcode
///
MJCPHYSICS_API
static MjcPhysicsJointAPI Get(const UsdStagePtr& stage, const SdfPath& path);
/// Returns true if this <b>single-apply</b> API schema can be applied to
/// the given \p prim. If this schema can not be a applied to the prim,
/// this returns false and, if provided, populates \p whyNot with the
/// reason it can not be applied.
///
/// Note that if CanApply returns false, that does not necessarily imply
/// that calling Apply will fail. Callers are expected to call CanApply
/// before calling Apply if they want to ensure that it is valid to
/// apply a schema.
///
/// \sa UsdPrim::GetAppliedSchemas()
/// \sa UsdPrim::HasAPI()
/// \sa UsdPrim::CanApplyAPI()
/// \sa UsdPrim::ApplyAPI()
/// \sa UsdPrim::RemoveAPI()
///
MJCPHYSICS_API
static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "MjcJointAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsJointAPI object is returned upon success.
/// An invalid (or empty) MjcPhysicsJointAPI object is returned upon
/// failure. See \ref UsdPrim::ApplyAPI() for conditions
/// resulting in failure.
///
/// \sa UsdPrim::GetAppliedSchemas()
/// \sa UsdPrim::HasAPI()
/// \sa UsdPrim::CanApplyAPI()
/// \sa UsdPrim::ApplyAPI()
/// \sa UsdPrim::RemoveAPI()
///
MJCPHYSICS_API
static MjcPhysicsJointAPI Apply(const UsdPrim& prim);
protected:
/// Returns the kind of schema this class belongs to.
///
/// \sa UsdSchemaKind
MJCPHYSICS_API
UsdSchemaKind _GetSchemaKind() const override;
private:
// needs to invoke _GetStaticTfType.
friend class UsdSchemaRegistry;
MJCPHYSICS_API
static const TfType& _GetStaticTfType();
static bool _IsTypedSchema();
// override SchemaBase virtuals.
MJCPHYSICS_API
const TfType& _GetTfType() const override;
public:
// --------------------------------------------------------------------- //
// GROUP
// --------------------------------------------------------------------- //
/// Integer MuJoCo group to which the joint belongs.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:group = 0` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetGroupAttr() const;
/// See GetGroupAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateGroupAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCSPRINGDAMPER
// --------------------------------------------------------------------- //
/// When both numbers are positive, the compiler will override any stiffness
/// and damping values specified with the attributes below, and will instead
/// set them automatically so that the resulting mass-spring-damper for this
/// joint has the desired time constant (first value) and damping ratio
/// (second value). This is done by taking into account the joint inertia in
/// the model reference configuration. Note that the format is the same as the
/// solref parameter of the constraint solver.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:springdamper = [0, 0]` |
/// | C++ Type | VtArray<double> |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcSpringdamperAttr() const;
/// See GetMjcSpringdamperAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcSpringdamperAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCSOLREFLIMIT
// --------------------------------------------------------------------- //
/// Constraint solver parameters for simulating joint limits.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:solreflimit = [0.02, 1]` |
/// | C++ Type | VtArray<double> |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcSolreflimitAttr() const;
/// See GetMjcSolreflimitAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcSolreflimitAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCSOLIMPLIMIT
// --------------------------------------------------------------------- //
/// Constraint solver parameters for simulating joint limits.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:solimplimit = [0.9, 0.95, 0.001,
/// 0.5, 2]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type"
/// | SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
/// SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcSolimplimitAttr() const;
/// See GetMjcSolimplimitAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcSolimplimitAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCSOLREFFRICTION
// --------------------------------------------------------------------- //
/// Constraint solver parameters for simulating dry friction.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:solreffriction = [0.02, 1]` |
/// | C++ Type | VtArray<double> |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcSolreffrictionAttr() const;
/// See GetMjcSolreffrictionAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcSolreffrictionAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCSOLIMPFRICTION
// --------------------------------------------------------------------- //
/// Constraint solver parameters for simulating dry friction.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:solimpfriction = [0.9, 0.95, 0.001,
/// 0.5, 2]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type"
/// | SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
/// SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcSolimpfrictionAttr() const;
/// See GetMjcSolimpfrictionAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcSolimpfrictionAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCSTIFFNESS
// --------------------------------------------------------------------- //
/// Joint stiffness. If this value is positive, a spring will be created with
/// equilibrium position given by springref below. The spring force is
/// computed along with the other passive forces.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:stiffness = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcStiffnessAttr() const;
/// See GetMjcStiffnessAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcStiffnessAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCACTUATORFRCRANGEMIN
// --------------------------------------------------------------------- //
/// Minimum range for clamping total actuator forces acting on this joint. See
/// Force limits for details. It is available only for scalar joints (hinge
/// and slider) and ignored for ball and free joints. The compiler expects the
/// first value to be smaller than the second value. Setting this attribute
/// without specifying actuatorfrclimited is an error if compiler-autolimits
/// is 'false'.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:actuatorfrcrange:min = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcActuatorfrcrangeMinAttr() const;
/// See GetMjcActuatorfrcrangeMinAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcActuatorfrcrangeMinAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCACTUATORFRCRANGEMAX
// --------------------------------------------------------------------- //
/// Maximum range for clamping total actuator forces acting on this joint. See
/// Force limits for details. It is available only for scalar joints (hinge
/// and slider) and ignored for ball and free joints. The compiler expects the
/// first value to be smaller than the second value. Setting this attribute
/// without specifying actuatorfrclimited is an error if compiler-autolimits
/// is 'false'.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:actuatorfrcrange:max = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcActuatorfrcrangeMaxAttr() const;
/// See GetMjcActuatorfrcrangeMaxAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcActuatorfrcrangeMaxAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCACTUATORFRCLIMITED
// --------------------------------------------------------------------- //
/// This attribute specifies whether actuator forces acting on the joint
/// should be clamped. See Force limits for details. It is available only for
/// scalar joints (hinge and slider) and ignored for ball and free joints.
/// This attribute interacts with the actuatorfrcrange attribute. If this
/// attribute is 'false', actuator force clamping is disabled. If it is
/// 'true', actuator force clamping is enabled. If this attribute is 'auto',
/// and autolimits is set in compiler, actuator force clamping will be enabled
/// if actuatorfrcrange is defined.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:actuatorfrclimited = "auto"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
/// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
MJCPHYSICS_API
UsdAttribute GetMjcActuatorfrclimitedAttr() const;
/// See GetMjcActuatorfrclimitedAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcActuatorfrclimitedAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCACTUATORGRAVCOMP
// --------------------------------------------------------------------- //
/// If this flag is enabled, gravity compensation applied to this joint is
/// added to actuator forces (mjData.qfrc_actuator) rather than passive forces
/// (mjData.qfrc_passive). Notionally, this means that gravity compensation is
/// the result of a control system rather than natural buoyancy. In practice,
/// enabling this flag is useful when joint-level actuator force clamping is
/// used. In this case, the total actuation force applied on a joint,
/// including gravity compensation, is guaranteed to not exceed the specified
/// limits. See Force limits and actuatorfrcrange for more details on this
/// type of force limit.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:actuatorgravcomp = 0` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcActuatorgravcompAttr() const;
/// See GetMjcActuatorgravcompAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcActuatorgravcompAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCMARGIN
// --------------------------------------------------------------------- //
/// The distance threshold below which limits become active. Recall that the
/// Constraint solver normally generates forces as soon as a constraint
/// becomes active, even if the margin parameter makes that happen at a
/// distance. This attribute together with solreflimit and solimplimit can be
/// used to model a soft joint limit.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:margin = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcMarginAttr() const;
/// See GetMjcMarginAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcMarginAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCREF
// --------------------------------------------------------------------- //
/// The reference position or angle of the joint. This attribute is only used
/// for slide and hinge joints. It defines the joint value corresponding to
/// the initial model configuration. The amount of spatial transformation that
/// the joint applies at runtime equals the current joint value stored in
/// mjData.qpos minus this reference value stored in mjModel.qpos0. The
/// meaning of these vectors was discussed in the Stand-alone section in the
/// Overview chapter.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:ref = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcRefAttr() const;
/// See GetMjcRefAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcRefAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCSPRINGREF
// --------------------------------------------------------------------- //
/// The joint position or angle in which the joint spring (if any) achieves
/// equilibrium. Similar to the vector mjModel.qpos0 which stores all joint
/// reference values specified with the ref attribute above, all spring
/// reference values specified with this attribute are stored in the vector
/// mjModel.qpos_spring. The model configuration corresponding to
/// mjModel.qpos_spring is also used to compute the spring reference lengths
/// of all tendons, stored in mjModel.tendon_lengthspring. This is because
/// tendons can also have springs.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:springref = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcSpringrefAttr() const;
/// See GetMjcSpringrefAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcSpringrefAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCARMATURE
// --------------------------------------------------------------------- //
/// Additional inertia associated with movement of the joint that is not due
/// to body mass. This added inertia is usually due to a rotor (a.k.a
/// armature) spinning faster than the joint itself due to a geared
/// transmission. The value applies to all degrees of freedom created by this
/// joint. Besides increasing the realism of joints with geared transmission,
/// positive armature significantly improves simulation stability, even for
/// small values, and is a recommended possible fix when encountering
/// stability issues.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:armature = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcArmatureAttr() const;
/// See GetMjcArmatureAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcArmatureAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCDAMPING
// --------------------------------------------------------------------- //
/// Damping applied to all degrees of freedom created by this joint. Unlike
/// friction loss which is computed by the constraint solver, damping is
/// simply a force linear in velocity. It is included in the passive forces.
/// Despite this simplicity, larger damping values can make numerical
/// integrators unstable, which is why our Euler integrator handles damping
/// implicitly. See Integration in the Computation chapter.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:damping = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcDampingAttr() const;
/// See GetMjcDampingAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcDampingAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCFRICTIONLOSS
// --------------------------------------------------------------------- //
/// Friction loss due to dry friction. This value is the same for all degrees
/// of freedom created by this joint. Semantically friction loss does not make
/// sense for free joints, but the compiler allows it. To enable friction
/// loss, set this attribute to a positive value.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:frictionloss = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcFrictionlossAttr() const;
/// See GetMjcFrictionlossAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcFrictionlossAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// ===================================================================== //
// Feel free to add custom code below this line, it will be preserved by
// the code generator.
//
// Just remember to:
// - Close the class declaration with };
// - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
// - Close the include guard with #endif
// ===================================================================== //
// --(BEGIN CUSTOM CODE)--
};
PXR_NAMESPACE_CLOSE_SCOPE
#endif

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// Copyright 2025 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.
#ifndef MJCPHYSICS_GENERATED_KEYFRAME_H
#define MJCPHYSICS_GENERATED_KEYFRAME_H
/// \file mjcPhysics/keyframe.h
#include <mujoco/experimental/usd/mjcPhysics/api.h>
#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
#include <pxr/base/gf/matrix4d.h>
#include <pxr/base/gf/vec3d.h>
#include <pxr/base/gf/vec3f.h>
#include <pxr/base/tf/token.h>
#include <pxr/base/tf/type.h>
#include <pxr/base/vt/value.h>
#include <pxr/pxr.h>
#include <pxr/usd/usd/prim.h>
#include <pxr/usd/usd/stage.h>
#include <pxr/usd/usd/typed.h>
PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// MJCKEYFRAME //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsKeyframe
///
/// Represents time independent keyframe values.
///
class MjcPhysicsKeyframe : public UsdTyped {
public:
/// Compile time constant representing what kind of schema this class is.
///
/// \sa UsdSchemaKind
static const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped;
/// Construct a MjcPhysicsKeyframe on UsdPrim \p prim .
/// Equivalent to MjcPhysicsKeyframe::Get(prim.GetStage(), prim.GetPath())
/// for a \em valid \p prim, but will not immediately throw an error for
/// an invalid \p prim
explicit MjcPhysicsKeyframe(const UsdPrim& prim = UsdPrim())
: UsdTyped(prim) {}
/// Construct a MjcPhysicsKeyframe on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsKeyframe(schemaObj.GetPrim()),
/// as it preserves SchemaBase state.
explicit MjcPhysicsKeyframe(const UsdSchemaBase& schemaObj)
: UsdTyped(schemaObj) {}
/// Destructor.
MJCPHYSICS_API
virtual ~MjcPhysicsKeyframe();
/// Return a vector of names of all pre-declared attributes for this schema
/// class and all its ancestor classes. Does not include attributes that
/// may be authored by custom/extended methods of the schemas involved.
MJCPHYSICS_API
static const TfTokenVector& GetSchemaAttributeNames(
bool includeInherited = true);
/// Return a MjcPhysicsKeyframe holding the prim adhering to this
/// schema at \p path on \p stage. If no prim exists at \p path on
/// \p stage, or if the prim at that path does not adhere to this schema,
/// return an invalid schema object. This is shorthand for the following:
///
/// \code
/// MjcPhysicsKeyframe(stage->GetPrimAtPath(path));
/// \endcode
///
MJCPHYSICS_API
static MjcPhysicsKeyframe Get(const UsdStagePtr& stage, const SdfPath& path);
/// Attempt to ensure a \a UsdPrim adhering to this schema at \p path
/// is defined (according to UsdPrim::IsDefined()) on this stage.
///
/// If a prim adhering to this schema at \p path is already defined on this
/// stage, return that prim. Otherwise author an \a SdfPrimSpec with
/// \a specifier == \a SdfSpecifierDef and this schema's prim type name for
/// the prim at \p path at the current EditTarget. Author \a SdfPrimSpec s
/// with \p specifier == \a SdfSpecifierDef and empty typeName at the
/// current EditTarget for any nonexistent, or existing but not \a Defined
/// ancestors.
///
/// The given \a path must be an absolute prim path that does not contain
/// any variant selections.
///
/// If it is impossible to author any of the necessary PrimSpecs, (for
/// example, in case \a path cannot map to the current UsdEditTarget's
/// namespace) issue an error and return an invalid \a UsdPrim.
///
/// Note that this method may return a defined prim whose typeName does not
/// specify this schema class, in case a stronger typeName opinion overrides
/// the opinion at the current EditTarget.
///
MJCPHYSICS_API
static MjcPhysicsKeyframe Define(const UsdStagePtr& stage,
const SdfPath& path);
protected:
/// Returns the kind of schema this class belongs to.
///
/// \sa UsdSchemaKind
MJCPHYSICS_API
UsdSchemaKind _GetSchemaKind() const override;
private:
// needs to invoke _GetStaticTfType.
friend class UsdSchemaRegistry;
MJCPHYSICS_API
static const TfType& _GetStaticTfType();
static bool _IsTypedSchema();
// override SchemaBase virtuals.
MJCPHYSICS_API
const TfType& _GetTfType() const override;
public:
// --------------------------------------------------------------------- //
// MJCQPOS
// --------------------------------------------------------------------- //
/// Vector of joint positions, copied into mjData.qpos when the simulation
/// state is set to this keyframe.
///
/// | ||
/// | -- | -- |
/// | Declaration | `double[] mjc:qpos` |
/// | C++ Type | VtArray<double> |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
MJCPHYSICS_API
UsdAttribute GetMjcQposAttr() const;
/// See GetMjcQposAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcQposAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCQVEL
// --------------------------------------------------------------------- //
/// Vector of joint velocities, copied into mjData.qvel when the simulation
/// state is set to this keyframe.
///
/// | ||
/// | -- | -- |
/// | Declaration | `double[] mjc:qvel` |
/// | C++ Type | VtArray<double> |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
MJCPHYSICS_API
UsdAttribute GetMjcQvelAttr() const;
/// See GetMjcQvelAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcQvelAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCACT
// --------------------------------------------------------------------- //
/// Vector of actuator activations, copied into mjData.act when the simulation
/// state is set to this keyframe.
///
/// | ||
/// | -- | -- |
/// | Declaration | `double[] mjc:act` |
/// | C++ Type | VtArray<double> |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
MJCPHYSICS_API
UsdAttribute GetMjcActAttr() const;
/// See GetMjcActAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcActAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCCTRL
// --------------------------------------------------------------------- //
/// Vector of controls, copied into mjData.ctrl when the simulation state is
/// set to this keyframe.
///
/// | ||
/// | -- | -- |
/// | Declaration | `double[] mjc:ctrl` |
/// | C++ Type | VtArray<double> |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
MJCPHYSICS_API
UsdAttribute GetMjcCtrlAttr() const;
/// See GetMjcCtrlAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcCtrlAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCMPOS
// --------------------------------------------------------------------- //
/// Vector of mocap body positions, copied into mjData.mocap_pos when the
/// simulation state is set to this keyframe.
///
/// | ||
/// | -- | -- |
/// | Declaration | `double[] mjc:mpos` |
/// | C++ Type | VtArray<double> |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
MJCPHYSICS_API
UsdAttribute GetMjcMposAttr() const;
/// See GetMjcMposAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcMposAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCMQUAT
// --------------------------------------------------------------------- //
/// Vector of mocap body quaternions, copied into mjData.mocap_quat when the
/// simulation state is set to this keyframe.
///
/// | ||
/// | -- | -- |
/// | Declaration | `double[] mjc:mquat` |
/// | C++ Type | VtArray<double> |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
MJCPHYSICS_API
UsdAttribute GetMjcMquatAttr() const;
/// See GetMjcMquatAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcMquatAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// ===================================================================== //
// Feel free to add custom code below this line, it will be preserved by
// the code generator.
//
// Just remember to:
// - Close the class declaration with };
// - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
// - Close the include guard with #endif
// ===================================================================== //
// --(BEGIN CUSTOM CODE)--
};
PXR_NAMESPACE_CLOSE_SCOPE
#endif

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// Copyright 2025 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.
#ifndef MJCPHYSICS_GENERATED_MATERIALAPI_H
#define MJCPHYSICS_GENERATED_MATERIALAPI_H
/// \file mjcPhysics/materialAPI.h
#include <mujoco/experimental/usd/mjcPhysics/api.h>
#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
#include <pxr/base/gf/matrix4d.h>
#include <pxr/base/gf/vec3d.h>
#include <pxr/base/gf/vec3f.h>
#include <pxr/base/tf/token.h>
#include <pxr/base/tf/type.h>
#include <pxr/base/vt/value.h>
#include <pxr/pxr.h>
#include <pxr/usd/usd/apiSchemaBase.h>
#include <pxr/usd/usd/prim.h>
#include <pxr/usd/usd/stage.h>
PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// MJCMATERIALAPI //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsMaterialAPI
///
/// API providing extension attributes to represent physical MuJoCo materials.
///
class MjcPhysicsMaterialAPI : public UsdAPISchemaBase {
public:
/// Compile time constant representing what kind of schema this class is.
///
/// \sa UsdSchemaKind
static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
/// Construct a MjcPhysicsMaterialAPI on UsdPrim \p prim .
/// Equivalent to MjcPhysicsMaterialAPI::Get(prim.GetStage(), prim.GetPath())
/// for a \em valid \p prim, but will not immediately throw an error for
/// an invalid \p prim
explicit MjcPhysicsMaterialAPI(const UsdPrim& prim = UsdPrim())
: UsdAPISchemaBase(prim) {}
/// Construct a MjcPhysicsMaterialAPI on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsMaterialAPI(schemaObj.GetPrim()),
/// as it preserves SchemaBase state.
explicit MjcPhysicsMaterialAPI(const UsdSchemaBase& schemaObj)
: UsdAPISchemaBase(schemaObj) {}
/// Destructor.
MJCPHYSICS_API
virtual ~MjcPhysicsMaterialAPI();
/// Return a vector of names of all pre-declared attributes for this schema
/// class and all its ancestor classes. Does not include attributes that
/// may be authored by custom/extended methods of the schemas involved.
MJCPHYSICS_API
static const TfTokenVector& GetSchemaAttributeNames(
bool includeInherited = true);
/// Return a MjcPhysicsMaterialAPI holding the prim adhering to this
/// schema at \p path on \p stage. If no prim exists at \p path on
/// \p stage, or if the prim at that path does not adhere to this schema,
/// return an invalid schema object. This is shorthand for the following:
///
/// \code
/// MjcPhysicsMaterialAPI(stage->GetPrimAtPath(path));
/// \endcode
///
MJCPHYSICS_API
static MjcPhysicsMaterialAPI Get(const UsdStagePtr& stage,
const SdfPath& path);
/// Returns true if this <b>single-apply</b> API schema can be applied to
/// the given \p prim. If this schema can not be a applied to the prim,
/// this returns false and, if provided, populates \p whyNot with the
/// reason it can not be applied.
///
/// Note that if CanApply returns false, that does not necessarily imply
/// that calling Apply will fail. Callers are expected to call CanApply
/// before calling Apply if they want to ensure that it is valid to
/// apply a schema.
///
/// \sa UsdPrim::GetAppliedSchemas()
/// \sa UsdPrim::HasAPI()
/// \sa UsdPrim::CanApplyAPI()
/// \sa UsdPrim::ApplyAPI()
/// \sa UsdPrim::RemoveAPI()
///
MJCPHYSICS_API
static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "MjcMaterialAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsMaterialAPI object is returned upon success.
/// An invalid (or empty) MjcPhysicsMaterialAPI object is returned upon
/// failure. See \ref UsdPrim::ApplyAPI() for conditions
/// resulting in failure.
///
/// \sa UsdPrim::GetAppliedSchemas()
/// \sa UsdPrim::HasAPI()
/// \sa UsdPrim::CanApplyAPI()
/// \sa UsdPrim::ApplyAPI()
/// \sa UsdPrim::RemoveAPI()
///
MJCPHYSICS_API
static MjcPhysicsMaterialAPI Apply(const UsdPrim& prim);
protected:
/// Returns the kind of schema this class belongs to.
///
/// \sa UsdSchemaKind
MJCPHYSICS_API
UsdSchemaKind _GetSchemaKind() const override;
private:
// needs to invoke _GetStaticTfType.
friend class UsdSchemaRegistry;
MJCPHYSICS_API
static const TfType& _GetStaticTfType();
static bool _IsTypedSchema();
// override SchemaBase virtuals.
MJCPHYSICS_API
const TfType& _GetTfType() const override;
public:
// --------------------------------------------------------------------- //
// TORSIONALFRICTION
// --------------------------------------------------------------------- //
/// Friction value acting around contact normal.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:torsionalfriction = 0.005` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetTorsionalFrictionAttr() const;
/// See GetTorsionalFrictionAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateTorsionalFrictionAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// ROLLINGFRICTION
// --------------------------------------------------------------------- //
/// Friction value acting around both axes on the contact tangent plane.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:rollingfriction = 0.0001` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetRollingFrictionAttr() const;
/// See GetRollingFrictionAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateRollingFrictionAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// ===================================================================== //
// Feel free to add custom code below this line, it will be preserved by
// the code generator.
//
// Just remember to:
// - Close the class declaration with };
// - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
// - Close the include guard with #endif
// ===================================================================== //
// --(BEGIN CUSTOM CODE)--
};
PXR_NAMESPACE_CLOSE_SCOPE
#endif

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// Copyright 2025 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.
#ifndef MJCPHYSICS_GENERATED_MESHCOLLISIONAPI_H
#define MJCPHYSICS_GENERATED_MESHCOLLISIONAPI_H
/// \file mjcPhysics/meshCollisionAPI.h
#include <mujoco/experimental/usd/mjcPhysics/api.h>
#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
#include <pxr/base/gf/matrix4d.h>
#include <pxr/base/gf/vec3d.h>
#include <pxr/base/gf/vec3f.h>
#include <pxr/base/tf/token.h>
#include <pxr/base/tf/type.h>
#include <pxr/base/vt/value.h>
#include <pxr/pxr.h>
#include <pxr/usd/usd/apiSchemaBase.h>
#include <pxr/usd/usd/prim.h>
#include <pxr/usd/usd/stage.h>
PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// MJCMESHCOLLISIONAPI //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsMeshCollisionAPI
///
/// API describing a MuJoCo mesh collider.
///
/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
/// below that are text/tokens, the actual token is published and defined in
/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
/// use MjcPhysicsTokens->rightHanded as the value.
///
class MjcPhysicsMeshCollisionAPI : public UsdAPISchemaBase {
public:
/// Compile time constant representing what kind of schema this class is.
///
/// \sa UsdSchemaKind
static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
/// Construct a MjcPhysicsMeshCollisionAPI on UsdPrim \p prim .
/// Equivalent to MjcPhysicsMeshCollisionAPI::Get(prim.GetStage(),
/// prim.GetPath()) for a \em valid \p prim, but will not immediately throw an
/// error for an invalid \p prim
explicit MjcPhysicsMeshCollisionAPI(const UsdPrim& prim = UsdPrim())
: UsdAPISchemaBase(prim) {}
/// Construct a MjcPhysicsMeshCollisionAPI on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsMeshCollisionAPI(schemaObj.GetPrim()),
/// as it preserves SchemaBase state.
explicit MjcPhysicsMeshCollisionAPI(const UsdSchemaBase& schemaObj)
: UsdAPISchemaBase(schemaObj) {}
/// Destructor.
MJCPHYSICS_API
virtual ~MjcPhysicsMeshCollisionAPI();
/// Return a vector of names of all pre-declared attributes for this schema
/// class and all its ancestor classes. Does not include attributes that
/// may be authored by custom/extended methods of the schemas involved.
MJCPHYSICS_API
static const TfTokenVector& GetSchemaAttributeNames(
bool includeInherited = true);
/// Return a MjcPhysicsMeshCollisionAPI holding the prim adhering to this
/// schema at \p path on \p stage. If no prim exists at \p path on
/// \p stage, or if the prim at that path does not adhere to this schema,
/// return an invalid schema object. This is shorthand for the following:
///
/// \code
/// MjcPhysicsMeshCollisionAPI(stage->GetPrimAtPath(path));
/// \endcode
///
MJCPHYSICS_API
static MjcPhysicsMeshCollisionAPI Get(const UsdStagePtr& stage,
const SdfPath& path);
/// Returns true if this <b>single-apply</b> API schema can be applied to
/// the given \p prim. If this schema can not be a applied to the prim,
/// this returns false and, if provided, populates \p whyNot with the
/// reason it can not be applied.
///
/// Note that if CanApply returns false, that does not necessarily imply
/// that calling Apply will fail. Callers are expected to call CanApply
/// before calling Apply if they want to ensure that it is valid to
/// apply a schema.
///
/// \sa UsdPrim::GetAppliedSchemas()
/// \sa UsdPrim::HasAPI()
/// \sa UsdPrim::CanApplyAPI()
/// \sa UsdPrim::ApplyAPI()
/// \sa UsdPrim::RemoveAPI()
///
MJCPHYSICS_API
static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "MjcMeshCollisionAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsMeshCollisionAPI object is returned upon
/// success. An invalid (or empty) MjcPhysicsMeshCollisionAPI object is
/// returned upon failure. See \ref UsdPrim::ApplyAPI() for conditions
/// resulting in failure.
///
/// \sa UsdPrim::GetAppliedSchemas()
/// \sa UsdPrim::HasAPI()
/// \sa UsdPrim::CanApplyAPI()
/// \sa UsdPrim::ApplyAPI()
/// \sa UsdPrim::RemoveAPI()
///
MJCPHYSICS_API
static MjcPhysicsMeshCollisionAPI Apply(const UsdPrim& prim);
protected:
/// Returns the kind of schema this class belongs to.
///
/// \sa UsdSchemaKind
MJCPHYSICS_API
UsdSchemaKind _GetSchemaKind() const override;
private:
// needs to invoke _GetStaticTfType.
friend class UsdSchemaRegistry;
MJCPHYSICS_API
static const TfType& _GetStaticTfType();
static bool _IsTypedSchema();
// override SchemaBase virtuals.
MJCPHYSICS_API
const TfType& _GetTfType() const override;
public:
// --------------------------------------------------------------------- //
// INERTIA
// --------------------------------------------------------------------- //
/// Controls how a mesh is used when mass and inertia are inferred from
/// geometry.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:inertia = "legacy"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
/// | \ref MjcPhysicsTokens "Allowed Values" | legacy, convex, exact, shell |
MJCPHYSICS_API
UsdAttribute GetInertiaAttr() const;
/// See GetInertiaAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateInertiaAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MAXHULLVERT
// --------------------------------------------------------------------- //
/// Sets an upper limit on the number of vertices in the meshes convex hull.
/// The default value of -1 means unlimited.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:maxhullvert = -1` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMaxHullVertAttr() const;
/// See GetMaxHullVertAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMaxHullVertAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// ===================================================================== //
// Feel free to add custom code below this line, it will be preserved by
// the code generator.
//
// Just remember to:
// - Close the class declaration with };
// - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
// - Close the include guard with #endif
// ===================================================================== //
// --(BEGIN CUSTOM CODE)--
};
PXR_NAMESPACE_CLOSE_SCOPE
#endif

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// Copyright 2025 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.
#ifndef MJCPHYSICS_GENERATED_SITEAPI_H
#define MJCPHYSICS_GENERATED_SITEAPI_H
/// \file mjcPhysics/siteAPI.h
#include <mujoco/experimental/usd/mjcPhysics/api.h>
#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
#include <pxr/base/gf/matrix4d.h>
#include <pxr/base/gf/vec3d.h>
#include <pxr/base/gf/vec3f.h>
#include <pxr/base/tf/token.h>
#include <pxr/base/tf/type.h>
#include <pxr/base/vt/value.h>
#include <pxr/pxr.h>
#include <pxr/usd/usd/apiSchemaBase.h>
#include <pxr/usd/usd/prim.h>
#include <pxr/usd/usd/stage.h>
PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// MJCSITEAPI //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsSiteAPI
///
/// API describing a MuJoCo site.
///
class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
public:
/// Compile time constant representing what kind of schema this class is.
///
/// \sa UsdSchemaKind
static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
/// Construct a MjcPhysicsSiteAPI on UsdPrim \p prim .
/// Equivalent to MjcPhysicsSiteAPI::Get(prim.GetStage(), prim.GetPath())
/// for a \em valid \p prim, but will not immediately throw an error for
/// an invalid \p prim
explicit MjcPhysicsSiteAPI(const UsdPrim& prim = UsdPrim())
: UsdAPISchemaBase(prim) {}
/// Construct a MjcPhysicsSiteAPI on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsSiteAPI(schemaObj.GetPrim()),
/// as it preserves SchemaBase state.
explicit MjcPhysicsSiteAPI(const UsdSchemaBase& schemaObj)
: UsdAPISchemaBase(schemaObj) {}
/// Destructor.
MJCPHYSICS_API
virtual ~MjcPhysicsSiteAPI();
/// Return a vector of names of all pre-declared attributes for this schema
/// class and all its ancestor classes. Does not include attributes that
/// may be authored by custom/extended methods of the schemas involved.
MJCPHYSICS_API
static const TfTokenVector& GetSchemaAttributeNames(
bool includeInherited = true);
/// Return a MjcPhysicsSiteAPI holding the prim adhering to this
/// schema at \p path on \p stage. If no prim exists at \p path on
/// \p stage, or if the prim at that path does not adhere to this schema,
/// return an invalid schema object. This is shorthand for the following:
///
/// \code
/// MjcPhysicsSiteAPI(stage->GetPrimAtPath(path));
/// \endcode
///
MJCPHYSICS_API
static MjcPhysicsSiteAPI Get(const UsdStagePtr& stage, const SdfPath& path);
/// Returns true if this <b>single-apply</b> API schema can be applied to
/// the given \p prim. If this schema can not be a applied to the prim,
/// this returns false and, if provided, populates \p whyNot with the
/// reason it can not be applied.
///
/// Note that if CanApply returns false, that does not necessarily imply
/// that calling Apply will fail. Callers are expected to call CanApply
/// before calling Apply if they want to ensure that it is valid to
/// apply a schema.
///
/// \sa UsdPrim::GetAppliedSchemas()
/// \sa UsdPrim::HasAPI()
/// \sa UsdPrim::CanApplyAPI()
/// \sa UsdPrim::ApplyAPI()
/// \sa UsdPrim::RemoveAPI()
///
MJCPHYSICS_API
static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "MjcSiteAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsSiteAPI object is returned upon success.
/// An invalid (or empty) MjcPhysicsSiteAPI object is returned upon
/// failure. See \ref UsdPrim::ApplyAPI() for conditions
/// resulting in failure.
///
/// \sa UsdPrim::GetAppliedSchemas()
/// \sa UsdPrim::HasAPI()
/// \sa UsdPrim::CanApplyAPI()
/// \sa UsdPrim::ApplyAPI()
/// \sa UsdPrim::RemoveAPI()
///
MJCPHYSICS_API
static MjcPhysicsSiteAPI Apply(const UsdPrim& prim);
protected:
/// Returns the kind of schema this class belongs to.
///
/// \sa UsdSchemaKind
MJCPHYSICS_API
UsdSchemaKind _GetSchemaKind() const override;
private:
// needs to invoke _GetStaticTfType.
friend class UsdSchemaRegistry;
MJCPHYSICS_API
static const TfType& _GetStaticTfType();
static bool _IsTypedSchema();
// override SchemaBase virtuals.
MJCPHYSICS_API
const TfType& _GetTfType() const override;
public:
// --------------------------------------------------------------------- //
// GROUP
// --------------------------------------------------------------------- //
/// Integer MuJoCo group to which the collider belongs.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:group = 0` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetGroupAttr() const;
/// See GetGroupAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateGroupAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// ===================================================================== //
// Feel free to add custom code below this line, it will be preserved by
// the code generator.
//
// Just remember to:
// - Close the class declaration with };
// - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
// - Close the include guard with #endif
// ===================================================================== //
// --(BEGIN CUSTOM CODE)--
};
PXR_NAMESPACE_CLOSE_SCOPE
#endif

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// Copyright 2025 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.
#ifndef MJCPHYSICS_TOKENS_H
#define MJCPHYSICS_TOKENS_H
/// \file mjcPhysics/tokens.h
// XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
//
// This is an automatically generated file (by usdGenSchema.py).
// Do not hand-edit!
//
// XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
#include <vector>
#include <mujoco/experimental/usd/mjcPhysics/api.h>
#include <pxr/base/tf/staticData.h>
#include <pxr/base/tf/token.h>
#include <pxr/pxr.h>
PXR_NAMESPACE_OPEN_SCOPE
/// \class MjcPhysicsTokensType
///
/// \link MjcPhysicsTokens \endlink provides static, efficient
/// \link TfToken TfTokens\endlink for use in all public USD API.
///
/// These tokens are auto-generated from the module's schema, representing
/// property names, for when you need to fetch an attribute or relationship
/// directly by name, e.g. UsdPrim::GetAttribute(), in the most efficient
/// manner, and allow the compiler to verify that you spelled the name
/// correctly.
///
/// MjcPhysicsTokens also contains all of the \em allowedTokens values
/// declared for schema builtin attributes of 'token' scene description type.
/// Use MjcPhysicsTokens like so:
///
/// \code
/// gprim.GetMyTokenValuedAttr().Set(MjcPhysicsTokens->affine);
/// \endcode
struct MjcPhysicsTokensType {
MJCPHYSICS_API MjcPhysicsTokensType();
/// \brief "affine"
///
/// Possible value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Possible
/// value for MjcPhysicsActuator::GetMjcGainTypeAttr()
const TfToken affine;
/// \brief "auto"
///
/// Fallback value for MjcPhysicsSceneAPI::GetInertiaFromGeomAttr(), Fallback
/// value for MjcPhysicsSceneAPI::GetJacobianAttr(), Fallback value for
/// MjcPhysicsActuator::GetMjcActLimitedAttr(), Fallback value for
/// MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Fallback value for
/// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Fallback value for
/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr(), This token represents
/// the auto constraint Jacobian and matrices computed from it.
const TfToken auto_;
/// \brief "cg"
///
/// Possible value for MjcPhysicsSceneAPI::GetSolverAttr(), This token
/// represents the CG constraint solver algorithm.
const TfToken cg;
/// \brief "convex"
///
/// Possible value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
const TfToken convex;
/// \brief "degree"
///
/// Fallback value for MjcPhysicsSceneAPI::GetAngleAttr()
const TfToken degree;
/// \brief "dense"
///
/// Possible value for MjcPhysicsSceneAPI::GetJacobianAttr(), This token
/// represents the dense constraint Jacobian and matrices computed from it.
const TfToken dense;
/// \brief "elliptic"
///
/// Possible value for MjcPhysicsSceneAPI::GetConeAttr(), This token
/// represents the elliptic contact friction cone type.
const TfToken elliptic;
/// \brief "euler"
///
/// Fallback value for MjcPhysicsSceneAPI::GetIntegratorAttr(), This token
/// represents the Euler numerical integrator.
const TfToken euler;
/// \brief "exact"
///
/// Possible value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
const TfToken exact;
/// \brief "false"
///
/// Possible value for MjcPhysicsSceneAPI::GetInertiaFromGeomAttr(), Possible
/// value for MjcPhysicsActuator::GetMjcActLimitedAttr(), Possible value for
/// MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Possible value for
/// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Possible value for
/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
const TfToken false_;
/// \brief "filter"
///
/// Possible value for MjcPhysicsActuator::GetMjcDynTypeAttr()
const TfToken filter;
/// \brief "filterexact"
///
/// Possible value for MjcPhysicsActuator::GetMjcDynTypeAttr()
const TfToken filterexact;
/// \brief "fixed"
///
/// Fallback value for MjcPhysicsActuator::GetMjcGainTypeAttr()
const TfToken fixed;
/// \brief "implicit"
///
/// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(), This token
/// represents the implicit numerical integrator.
const TfToken implicit;
/// \brief "implicitfast"
///
/// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(), This token
/// represents the implicitfast numerical integrator.
const TfToken implicitfast;
/// \brief "integrator"
///
/// Possible value for MjcPhysicsActuator::GetMjcDynTypeAttr()
const TfToken integrator;
/// \brief "legacy"
///
/// Fallback value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
const TfToken legacy;
/// \brief "mjc:act"
///
/// MjcPhysicsKeyframe
const TfToken mjcAct;
/// \brief "mjc:actDim"
///
/// MjcPhysicsActuator
const TfToken mjcActDim;
/// \brief "mjc:actEarly"
///
/// MjcPhysicsActuator
const TfToken mjcActEarly;
/// \brief "mjc:actLimited"
///
/// MjcPhysicsActuator
const TfToken mjcActLimited;
/// \brief "mjc:actRange:max"
///
/// MjcPhysicsActuator
const TfToken mjcActRangeMax;
/// \brief "mjc:actRange:min"
///
/// MjcPhysicsActuator
const TfToken mjcActRangeMin;
/// \brief "mjc:actuatorfrclimited"
///
/// MjcPhysicsJointAPI
const TfToken mjcActuatorfrclimited;
/// \brief "mjc:actuatorfrcrange:max"
///
/// MjcPhysicsJointAPI
const TfToken mjcActuatorfrcrangeMax;
/// \brief "mjc:actuatorfrcrange:min"
///
/// MjcPhysicsJointAPI
const TfToken mjcActuatorfrcrangeMin;
/// \brief "mjc:actuatorgravcomp"
///
/// MjcPhysicsJointAPI
const TfToken mjcActuatorgravcomp;
/// \brief "mjc:armature"
///
/// MjcPhysicsJointAPI
const TfToken mjcArmature;
/// \brief "mjc:biasPrm"
///
/// MjcPhysicsActuator
const TfToken mjcBiasPrm;
/// \brief "mjc:biasType"
///
/// MjcPhysicsActuator
const TfToken mjcBiasType;
/// \brief "mjc:compiler:alignFree"
///
/// MjcPhysicsSceneAPI
const TfToken mjcCompilerAlignFree;
/// \brief "mjc:compiler:angle"
///
/// MjcPhysicsSceneAPI
const TfToken mjcCompilerAngle;
/// \brief "mjc:compiler:autoLimits"
///
/// MjcPhysicsSceneAPI
const TfToken mjcCompilerAutoLimits;
/// \brief "mjc:compiler:balanceInertia"
///
/// MjcPhysicsSceneAPI
const TfToken mjcCompilerBalanceInertia;
/// \brief "mjc:compiler:boundInertia"
///
/// MjcPhysicsSceneAPI
const TfToken mjcCompilerBoundInertia;
/// \brief "mjc:compiler:boundMass"
///
/// MjcPhysicsSceneAPI
const TfToken mjcCompilerBoundMass;
/// \brief "mjc:compiler:fitAABB"
///
/// MjcPhysicsSceneAPI
const TfToken mjcCompilerFitAABB;
/// \brief "mjc:compiler:fuseStatic"
///
/// MjcPhysicsSceneAPI
const TfToken mjcCompilerFuseStatic;
/// \brief "mjc:compiler:inertiaFromGeom"
///
/// MjcPhysicsSceneAPI
const TfToken mjcCompilerInertiaFromGeom;
/// \brief "mjc:compiler:inertiaGroupRange:max"
///
/// MjcPhysicsSceneAPI
const TfToken mjcCompilerInertiaGroupRangeMax;
/// \brief "mjc:compiler:inertiaGroupRange:min"
///
/// MjcPhysicsSceneAPI
const TfToken mjcCompilerInertiaGroupRangeMin;
/// \brief "mjc:compiler:saveInertial"
///
/// MjcPhysicsSceneAPI
const TfToken mjcCompilerSaveInertial;
/// \brief "mjc:compiler:setTotalMass"
///
/// MjcPhysicsSceneAPI
const TfToken mjcCompilerSetTotalMass;
/// \brief "mjc:compiler:useThread"
///
/// MjcPhysicsSceneAPI
const TfToken mjcCompilerUseThread;
/// \brief "mjc:condim"
///
/// MjcPhysicsCollisionAPI
const TfToken mjcCondim;
/// \brief "mjc:crankLength"
///
/// MjcPhysicsActuator
const TfToken mjcCrankLength;
/// \brief "mjc:ctrl"
///
/// MjcPhysicsKeyframe
const TfToken mjcCtrl;
/// \brief "mjc:ctrlLimited"
///
/// MjcPhysicsActuator
const TfToken mjcCtrlLimited;
/// \brief "mjc:ctrlRange:max"
///
/// MjcPhysicsActuator
const TfToken mjcCtrlRangeMax;
/// \brief "mjc:ctrlRange:min"
///
/// MjcPhysicsActuator
const TfToken mjcCtrlRangeMin;
/// \brief "mjc:damping"
///
/// MjcPhysicsJointAPI
const TfToken mjcDamping;
/// \brief "mjc:dynPrm"
///
/// MjcPhysicsActuator
const TfToken mjcDynPrm;
/// \brief "mjc:dynType"
///
/// MjcPhysicsActuator
const TfToken mjcDynType;
/// \brief "mjc:flag:actuation"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagActuation;
/// \brief "mjc:flag:autoreset"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagAutoreset;
/// \brief "mjc:flag:clampctrl"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagClampctrl;
/// \brief "mjc:flag:constraint"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagConstraint;
/// \brief "mjc:flag:contact"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagContact;
/// \brief "mjc:flag:damper"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagDamper;
/// \brief "mjc:flag:energy"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagEnergy;
/// \brief "mjc:flag:equality"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagEquality;
/// \brief "mjc:flag:eulerdamp"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagEulerdamp;
/// \brief "mjc:flag:filterparent"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagFilterparent;
/// \brief "mjc:flag:frictionloss"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagFrictionloss;
/// \brief "mjc:flag:fwdinv"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagFwdinv;
/// \brief "mjc:flag:gravity"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagGravity;
/// \brief "mjc:flag:invdiscrete"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagInvdiscrete;
/// \brief "mjc:flag:island"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagIsland;
/// \brief "mjc:flag:limit"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagLimit;
/// \brief "mjc:flag:midphase"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagMidphase;
/// \brief "mjc:flag:multiccd"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagMulticcd;
/// \brief "mjc:flag:nativeccd"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagNativeccd;
/// \brief "mjc:flag:override"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagOverride;
/// \brief "mjc:flag:refsafe"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagRefsafe;
/// \brief "mjc:flag:sensor"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagSensor;
/// \brief "mjc:flag:spring"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagSpring;
/// \brief "mjc:flag:warmstart"
///
/// MjcPhysicsSceneAPI
const TfToken mjcFlagWarmstart;
/// \brief "mjc:forceLimited"
///
/// MjcPhysicsActuator
const TfToken mjcForceLimited;
/// \brief "mjc:forceRange:max"
///
/// MjcPhysicsActuator
const TfToken mjcForceRangeMax;
/// \brief "mjc:forceRange:min"
///
/// MjcPhysicsActuator
const TfToken mjcForceRangeMin;
/// \brief "mjc:frictionloss"
///
/// MjcPhysicsJointAPI
const TfToken mjcFrictionloss;
/// \brief "mjc:gainPrm"
///
/// MjcPhysicsActuator
const TfToken mjcGainPrm;
/// \brief "mjc:gainType"
///
/// MjcPhysicsActuator
const TfToken mjcGainType;
/// \brief "mjc:gap"
///
/// MjcPhysicsCollisionAPI
const TfToken mjcGap;
/// \brief "mjc:gear"
///
/// MjcPhysicsActuator
const TfToken mjcGear;
/// \brief "mjc:group"
///
/// MjcPhysicsSiteAPI, MjcPhysicsImageableAPI, MjcPhysicsCollisionAPI,
/// MjcPhysicsActuator, MjcPhysicsJointAPI
const TfToken mjcGroup;
/// \brief "mjc:inertia"
///
/// MjcPhysicsMeshCollisionAPI
const TfToken mjcInertia;
/// \brief "mjc:inheritRange"
///
/// MjcPhysicsActuator
const TfToken mjcInheritRange;
/// \brief "mjc:jointInParent"
///
/// MjcPhysicsActuator
const TfToken mjcJointInParent;
/// \brief "mjc:lengthRange:max"
///
/// MjcPhysicsActuator
const TfToken mjcLengthRangeMax;
/// \brief "mjc:lengthRange:min"
///
/// MjcPhysicsActuator
const TfToken mjcLengthRangeMin;
/// \brief "mjc:margin"
///
/// MjcPhysicsCollisionAPI, MjcPhysicsJointAPI
const TfToken mjcMargin;
/// \brief "mjc:maxhullvert"
///
/// MjcPhysicsMeshCollisionAPI
const TfToken mjcMaxhullvert;
/// \brief "mjc:mpos"
///
/// MjcPhysicsKeyframe
const TfToken mjcMpos;
/// \brief "mjc:mquat"
///
/// MjcPhysicsKeyframe
const TfToken mjcMquat;
/// \brief "mjc:option:actuatorgroupdisable"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionActuatorgroupdisable;
/// \brief "mjc:option:ccd_iterations"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionCcd_iterations;
/// \brief "mjc:option:ccd_tolerance"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionCcd_tolerance;
/// \brief "mjc:option:cone"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionCone;
/// \brief "mjc:option:density"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionDensity;
/// \brief "mjc:option:impratio"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionImpratio;
/// \brief "mjc:option:integrator"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionIntegrator;
/// \brief "mjc:option:iterations"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionIterations;
/// \brief "mjc:option:jacobian"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionJacobian;
/// \brief "mjc:option:ls_iterations"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionLs_iterations;
/// \brief "mjc:option:ls_tolerance"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionLs_tolerance;
/// \brief "mjc:option:magnetic"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionMagnetic;
/// \brief "mjc:option:noslip_iterations"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionNoslip_iterations;
/// \brief "mjc:option:noslip_tolerance"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionNoslip_tolerance;
/// \brief "mjc:option:o_friction"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionO_friction;
/// \brief "mjc:option:o_margin"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionO_margin;
/// \brief "mjc:option:o_solimp"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionO_solimp;
/// \brief "mjc:option:o_solref"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionO_solref;
/// \brief "mjc:option:sdf_initpoints"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionSdf_initpoints;
/// \brief "mjc:option:sdf_iterations"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionSdf_iterations;
/// \brief "mjc:option:solver"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionSolver;
/// \brief "mjc:option:timestep"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionTimestep;
/// \brief "mjc:option:tolerance"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionTolerance;
/// \brief "mjc:option:viscosity"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionViscosity;
/// \brief "mjc:option:wind"
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionWind;
/// \brief "mjc:priority"
///
/// MjcPhysicsCollisionAPI
const TfToken mjcPriority;
/// \brief "mjc:qpos"
///
/// MjcPhysicsKeyframe
const TfToken mjcQpos;
/// \brief "mjc:qvel"
///
/// MjcPhysicsKeyframe
const TfToken mjcQvel;
/// \brief "mjc:ref"
///
/// MjcPhysicsJointAPI
const TfToken mjcRef;
/// \brief "mjc:refSite"
///
/// MjcPhysicsActuator
const TfToken mjcRefSite;
/// \brief "mjc:rollingfriction"
///
/// MjcPhysicsMaterialAPI
const TfToken mjcRollingfriction;
/// \brief "mjc:shellinertia"
///
/// MjcPhysicsCollisionAPI
const TfToken mjcShellinertia;
/// \brief "mjc:sliderSite"
///
/// MjcPhysicsActuator
const TfToken mjcSliderSite;
/// \brief "mjc:solimp"
///
/// MjcPhysicsCollisionAPI
const TfToken mjcSolimp;
/// \brief "mjc:solimpfriction"
///
/// MjcPhysicsJointAPI
const TfToken mjcSolimpfriction;
/// \brief "mjc:solimplimit"
///
/// MjcPhysicsJointAPI
const TfToken mjcSolimplimit;
/// \brief "mjc:solmix"
///
/// MjcPhysicsCollisionAPI
const TfToken mjcSolmix;
/// \brief "mjc:solref"
///
/// MjcPhysicsCollisionAPI
const TfToken mjcSolref;
/// \brief "mjc:solreffriction"
///
/// MjcPhysicsJointAPI
const TfToken mjcSolreffriction;
/// \brief "mjc:solreflimit"
///
/// MjcPhysicsJointAPI
const TfToken mjcSolreflimit;
/// \brief "mjc:springdamper"
///
/// MjcPhysicsJointAPI
const TfToken mjcSpringdamper;
/// \brief "mjc:springref"
///
/// MjcPhysicsJointAPI
const TfToken mjcSpringref;
/// \brief "mjc:stiffness"
///
/// MjcPhysicsJointAPI
const TfToken mjcStiffness;
/// \brief "mjc:target"
///
/// MjcPhysicsActuator
const TfToken mjcTarget;
/// \brief "mjc:torsionalfriction"
///
/// MjcPhysicsMaterialAPI
const TfToken mjcTorsionalfriction;
/// \brief "muscle"
///
/// Possible value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Possible
/// value for MjcPhysicsActuator::GetMjcDynTypeAttr(), Possible value for
/// MjcPhysicsActuator::GetMjcGainTypeAttr()
const TfToken muscle;
/// \brief "newton"
///
/// Fallback value for MjcPhysicsSceneAPI::GetSolverAttr(), This token
/// represents the Newton constraint solver algorithm.
const TfToken newton;
/// \brief "none"
///
/// Fallback value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Fallback
/// value for MjcPhysicsActuator::GetMjcDynTypeAttr()
const TfToken none;
/// \brief "pgs"
///
/// Possible value for MjcPhysicsSceneAPI::GetSolverAttr(), This token
/// represents the PGS constraint solver algorithm.
const TfToken pgs;
/// \brief "pyramidal"
///
/// Fallback value for MjcPhysicsSceneAPI::GetConeAttr(), This token
/// represents the pyramidal contact friction cone type.
const TfToken pyramidal;
/// \brief "radian"
///
/// Possible value for MjcPhysicsSceneAPI::GetAngleAttr()
const TfToken radian;
/// \brief "rk4"
///
/// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(), This token
/// represents the RK4 numerical integrator.
const TfToken rk4;
/// \brief "shell"
///
/// Possible value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
const TfToken shell;
/// \brief "sparse"
///
/// Possible value for MjcPhysicsSceneAPI::GetJacobianAttr(), This token
/// represents the sparse constraint Jacobian and matrices computed from it.
const TfToken sparse;
/// \brief "true"
///
/// Possible value for MjcPhysicsSceneAPI::GetInertiaFromGeomAttr(), Possible
/// value for MjcPhysicsActuator::GetMjcActLimitedAttr(), Possible value for
/// MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Possible value for
/// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Possible value for
/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
const TfToken true_;
/// \brief "user"
///
/// Possible value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Possible
/// value for MjcPhysicsActuator::GetMjcDynTypeAttr(), Possible value for
/// MjcPhysicsActuator::GetMjcGainTypeAttr()
const TfToken user;
/// \brief "MjcActuator"
///
/// Schema identifier and family for MjcPhysicsActuator
const TfToken MjcActuator;
/// \brief "MjcCollisionAPI"
///
/// Schema identifier and family for MjcPhysicsCollisionAPI
const TfToken MjcCollisionAPI;
/// \brief "MjcImageableAPI"
///
/// Schema identifier and family for MjcPhysicsImageableAPI
const TfToken MjcImageableAPI;
/// \brief "MjcJointAPI"
///
/// Schema identifier and family for MjcPhysicsJointAPI
const TfToken MjcJointAPI;
/// \brief "MjcKeyframe"
///
/// Schema identifier and family for MjcPhysicsKeyframe
const TfToken MjcKeyframe;
/// \brief "MjcMaterialAPI"
///
/// Schema identifier and family for MjcPhysicsMaterialAPI
const TfToken MjcMaterialAPI;
/// \brief "MjcMeshCollisionAPI"
///
/// Schema identifier and family for MjcPhysicsMeshCollisionAPI
const TfToken MjcMeshCollisionAPI;
/// \brief "MjcSceneAPI"
///
/// Schema identifier and family for MjcPhysicsSceneAPI
const TfToken MjcSceneAPI;
/// \brief "MjcSiteAPI"
///
/// Schema identifier and family for MjcPhysicsSiteAPI
const TfToken MjcSiteAPI;
/// A vector of all of the tokens listed above.
const std::vector<TfToken> allTokens;
};
/// \var MjcPhysicsTokens
///
/// A global variable with static, efficient \link TfToken TfTokens\endlink
/// for use in all public USD API. \sa MjcPhysicsTokensType
extern MJCPHYSICS_API TfStaticData<MjcPhysicsTokensType> MjcPhysicsTokens;
PXR_NAMESPACE_CLOSE_SCOPE
#endif

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// Copyright 2025 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.
#ifndef MUJOCO_EXPERIMENTAL_SRC_USD_USD_TO_MJSPEC_H_
#define MUJOCO_EXPERIMENTAL_SRC_USD_USD_TO_MJSPEC_H_
#include <mujoco/mujoco.h>
#include <pxr/usd/usd/common.h>
// Given a USD file parse to a spec, then compile and return the low-level
// model.
//
// Particular care is taken for physics data to be lossless but visual
// data such as materials may be lossy.
MJAPI mjModel* mj_loadUSD(const char* filename, const mjVFS* vfs, char* error,
int error_sz);
// Given a USD layer identifier, this function will do a best effort conversion
// from the composed stage to mjSpec.
//
// Particular care is taken for physics data to be lossless but visual
// data such as materials may be lossy.
MJAPI mjSpec* mj_parseUSD(const char* identifier, const mjVFS* vfs, char* error,
int error_sz);
// Given a USD stage, this function will do a best effort conversion to
// mjSpec.
//
// Particular care is taken for physics data to be lossless but visual
// data such as materials may be lossy.
MJAPI mjSpec* mj_parseUSDStage(pxr::UsdStageRefPtr stage);
#endif // MUJOCO_EXPERIMENTAL_SRC_USD_USD_TO_MJSPEC_H_

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// Copyright 2025 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.
#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_UTILS_H_
#define MUJOCO_SRC_EXPERIMENTAL_USD_UTILS_H_
#include <mujoco/mujoco.h>
#include <pxr/usd/sdf/path.h>
namespace mujoco {
namespace usd {
// Sets a user value on an mjsElement with the key "usd_primpath".
void SetUsdPrimPathUserValue(mjsElement* element,
const pxr::SdfPath& prim_path);
// Gets the user value associated with the key "usd_primpath" from an
// mjsElement. Returns empty pxr::SdfPath() if the value is not found.
pxr::SdfPath GetUsdPrimPathUserValue(mjsElement* element);
} // namespace usd
} // namespace mujoco
#endif // MUJOCO_SRC_EXPERIMENTAL_USD_UTILS_H_

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// Copyright 2025 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.
#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_
#define MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_
#include <functional>
#include <vector>
#include <mujoco/mujoco.h>
#include <pxr/usd/sdf/path.h>
#include <pxr/usd/usd/common.h>
namespace mujoco {
namespace usd {
using PoseSinkFn =
std::function<void(const mjData* const, std::vector<pxr::SdfPath>)>;
class Writer {
public:
Writer(pxr::UsdStageRefPtr stage, mjSpec* spec, mjModel_* model);
~Writer();
Writer(const Writer&) = delete;
Writer& operator=(const Writer&) = delete;
void Update(const mjData* const data);
void AddSink(PoseSinkFn sink_fn);
private:
void BuildMjUsdMapping();
pxr::UsdStageRefPtr stage_;
std::vector<pxr::SdfPath> body_id_to_path_;
mjSpec* spec_ = nullptr;
mjModel_* model_ = nullptr;
std::vector<PoseSinkFn> pose_sinks_;
};
} // namespace usd
} // namespace mujoco
#endif // MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_

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// Copyright 2021 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.
#ifndef MUJOCO_MJDATA_H_
#define MUJOCO_MJDATA_H_
#include <stddef.h>
#include <stdint.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjthread.h>
//---------------------------------- primitive types (mjt) -----------------------------------------
typedef enum mjtState_ { // state elements
mjSTATE_TIME = 1<<0, // time
mjSTATE_QPOS = 1<<1, // position
mjSTATE_QVEL = 1<<2, // velocity
mjSTATE_ACT = 1<<3, // actuator activation
mjSTATE_WARMSTART = 1<<4, // acceleration used for warmstart
mjSTATE_CTRL = 1<<5, // control
mjSTATE_QFRC_APPLIED = 1<<6, // applied generalized force
mjSTATE_XFRC_APPLIED = 1<<7, // applied Cartesian force/torque
mjSTATE_EQ_ACTIVE = 1<<8, // enable/disable constraints
mjSTATE_MOCAP_POS = 1<<9, // positions of mocap bodies
mjSTATE_MOCAP_QUAT = 1<<10, // orientations of mocap bodies
mjSTATE_USERDATA = 1<<11, // user data
mjSTATE_PLUGIN = 1<<12, // plugin state
mjNSTATE = 13, // number of state elements
// convenience values for commonly used state specifications
mjSTATE_PHYSICS = mjSTATE_QPOS | mjSTATE_QVEL | mjSTATE_ACT,
mjSTATE_FULLPHYSICS = mjSTATE_TIME | mjSTATE_PHYSICS | mjSTATE_PLUGIN,
mjSTATE_USER = mjSTATE_CTRL | mjSTATE_QFRC_APPLIED | mjSTATE_XFRC_APPLIED |
mjSTATE_EQ_ACTIVE | mjSTATE_MOCAP_POS | mjSTATE_MOCAP_QUAT |
mjSTATE_USERDATA,
mjSTATE_INTEGRATION = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
} mjtState;
typedef 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
} mjtConstraint;
typedef 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)
} mjtConstraintState;
typedef 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
mjNWARNING // number of warnings
} mjtWarning;
typedef enum mjtTimer_ { // internal timers
// 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_CONSTRAINT, // fwdConstraint
mjTIMER_ADVANCE, // mj_Euler, mj_implicit
// 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
// breakdown of mj_collision
mjTIMER_COL_BROAD, // broadphase
mjTIMER_COL_NARROW, // narrowphase
mjNTIMER // number of timers
} mjtTimer;
//---------------------------------- mjContact -----------------------------------------------------
struct mjContact_ { // result of collision detection functions
// contact parameters set by near-phase collision function
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], points from geom[0] to geom[1]
// 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, normal direction
mjtNum solreffriction[mjNREF]; // constraint solver reference, friction directions
mjtNum solimp[mjNIMP]; // constraint solver impedance
// internal storage used by solver
mjtNum mu; // friction of regularized cone, set by mj_makeConstraint
mjtNum H[36]; // cone Hessian, set by mj_constraintUpdate
// contact descriptors set by mj_collideXXX
int dim; // contact space dimensionality: 1, 3, 4 or 6
int geom1; // id of geom 1; deprecated, use geom[0]
int geom2; // id of geom 2; deprecated, use geom[1]
int geom[2]; // geom ids; -1 for flex
int flex[2]; // flex ids; -1 for geom
int elem[2]; // element ids; -1 for geom or flex vertex
int vert[2]; // vertex ids; -1 for geom or flex element
// flag set by mj_setContact or mj_instantiateContact
int exclude; // 0: include, 1: in gap, 2: fused, 3: no dofs, 4: passive
// address computed by mj_instantiateContact
int efc_address; // address in efc; -1: not included
};
typedef struct mjContact_ mjContact;
//---------------------------------- diagnostics ---------------------------------------------------
struct mjWarningStat_ { // warning statistics
int lastinfo; // info from last warning
int number; // how many times was warning raised
};
typedef struct mjWarningStat_ mjWarningStat;
struct mjTimerStat_ { // timer statistics
mjtNum duration; // cumulative duration
int number; // how many times was timer called
};
typedef struct mjTimerStat_ mjTimerStat;
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
};
typedef struct mjSolverStat_ mjSolverStat;
//---------------------------------- mjData --------------------------------------------------------
struct mjData_ {
// constant sizes
mjtSize narena; // size of the arena in bytes (inclusive of the stack)
mjtSize nbuffer; // size of main buffer in bytes
int nplugin; // number of plugin instances
// stack pointer
size_t pstack; // first available byte in stack (mutable)
size_t pbase; // value of pstack when mj_markStack was last called (mutable)
// arena pointer
size_t parena; // first available byte in arena
// memory utilization statistics
mjtSize maxuse_stack; // maximum stack allocation in bytes (mutable)
mjtSize maxuse_threadstack[mjMAXTHREAD]; // maximum stack allocation per thread in bytes
mjtSize maxuse_arena; // maximum arena allocation in bytes
int maxuse_con; // maximum number of contacts
int maxuse_efc; // maximum number of scalar constraints
// solver statistics
mjSolverStat solver[mjNISLAND*mjNSOLVER]; // solver statistics per island, per iteration
int solver_niter[mjNISLAND]; // number of solver iterations, per island
int solver_nnz[mjNISLAND]; // number of nonzeros in Hessian or efc_AR, per island
mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc
// diagnostics
mjWarningStat warning[mjNWARNING]; // warning statistics (mutable)
mjTimerStat timer[mjNTIMER]; // timer statistics
// variable sizes
int ncon; // number of detected contacts
int ne; // number of equality constraints
int nf; // number of friction constraints
int nl; // number of limit constraints
int nefc; // number of constraints
int nJ; // number of non-zeros in constraint Jacobian
int nA; // number of non-zeros in constraint inverse inertia matrix
int nisland; // number of detected constraint islands
int nidof; // number of dofs in all islands
// 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)
void* arena; // arena+stack buffer (narena bytes)
//-------------------- 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)
mjtNum* plugin_state; // plugin state (npluginstate 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)
mjtByte* eq_active; // enable/disable constraints (neq x 1)
// mocap data
mjtNum* mocap_pos; // positions of mocap bodies (nmocap x 3)
mjtNum* mocap_quat; // orientations of mocap bodies (nmocap x 4)
// dynamics
mjtNum* qacc; // acceleration (nv x 1)
mjtNum* act_dot; // time-derivative of actuator activation (na x 1)
// user data
mjtNum* userdata; // user data, not touched by engine (nuserdata x 1)
// sensors
mjtNum* sensordata; // sensor data array (nsensordata x 1)
// plugins
int* plugin; // copy of m->plugin, required for deletion (nplugin x 1)
uintptr_t* plugin_data; // pointer to plugin-managed data structure (nplugin 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 (rot:lin) (nv x 6)
mjtNum* cinert; // com-based body inertia and mass (nbody x 10)
// computed by mj_fwdPosition/mj_flex
mjtNum* flexvert_xpos; // Cartesian flex vertex positions (nflexvert x 3)
mjtNum* flexelem_aabb; // flex element bounding boxes (center, size) (nflexelem x 6)
int* flexedge_J_rownnz; // number of non-zeros in Jacobian row (nflexedge x 1)
int* flexedge_J_rowadr; // row start address in colind array (nflexedge x 1)
int* flexedge_J_colind; // column indices in sparse Jacobian (nflexedge x nv)
mjtNum* flexedge_J; // flex edge Jacobian (nflexedge x nv)
mjtNum* flexedge_length; // flex edge lengths (nflexedge x 1)
mjtNum* bvh_aabb_dyn; // global bounding box (center, size) (nbvhdynamic x 6)
// 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_J; // tendon Jacobian (ntendon x nv)
mjtNum* ten_length; // tendon lengths (ntendon x 1)
int* wrap_obj; // geom id; -1: site; -2: pulley (nwrap x 2)
mjtNum* wrap_xpos; // Cartesian 3D points in all paths (nwrap x 6)
// computed by mj_fwdPosition/mj_transmission
mjtNum* actuator_length; // actuator lengths (nu x 1)
int* moment_rownnz; // number of non-zeros in actuator_moment row (nu x 1)
int* moment_rowadr; // row start address in colind array (nu x 1)
int* moment_colind; // column indices in sparse Jacobian (nJmom x 1)
mjtNum* actuator_moment; // actuator moments (nJmom x 1)
// computed by mj_fwdPosition/mj_makeM
mjtNum* crb; // com-based composite inertia and mass (nbody x 10)
mjtNum* qM; // inertia (sparse) (nM x 1)
mjtNum* M; // reduced inertia (compressed sparse row) (nC x 1)
// computed by mj_fwdPosition/mj_factorM
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nC x 1)
mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
// computed by mj_collision/mj_collideTree
mjtByte* bvh_active; // was bounding volume checked for collision (nbvh x 1)
//-------------------- POSITION, VELOCITY dependent
// computed by mj_fwdVelocity
mjtNum* flexedge_velocity; // flex edge velocities (nflexedge x 1)
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 (rot:lin) (nbody x 6)
mjtNum* cdof_dot; // time-derivative of cdof (rot:lin) (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_spring; // passive spring force (nv x 1)
mjtNum* qfrc_damper; // passive damper force (nv x 1)
mjtNum* qfrc_gravcomp; // passive gravity compensation force (nv x 1)
mjtNum* qfrc_fluid; // passive fluid force (nv x 1)
mjtNum* qfrc_passive; // total passive force (nv x 1)
// computed by mj_sensorVel/mj_subtreeVel if needed
mjtNum* subtree_linvel; // linear velocity of subtree com (nbody x 3)
mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3)
// computed by mj_Euler or mj_implicit
mjtNum* qH; // L'*D*L factorization of modified M (nC x 1)
mjtNum* qHDiagInv; // 1/diag(D) of modified M (nv x 1)
// computed by mj_implicit/mj_derivative
mjtNum* qDeriv; // d (passive + actuator - bias) / d qvel (nD x 1)
// computed by mj_implicit/mju_factorLUSparse
mjtNum* qLU; // sparse LU of (qM - dt*qDeriv) (nD x 1)
//-------------------- 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_smooth; // net unconstrained force (nv x 1)
mjtNum* qacc_smooth; // unconstrained acceleration (nv x 1)
// computed by mj_fwdConstraint/mj_inverse
mjtNum* qfrc_constraint; // constraint force (nv x 1)
// computed by mj_inverse
mjtNum* qfrc_inverse; // net external force; should equal:
// qfrc_applied + J'*xfrc_applied + qfrc_actuator (nv x 1)
// computed by mj_sensorAcc/mj_rnePostConstraint if needed; 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)
//-------------------- arena-allocated: POSITION dependent
// computed by mj_collision
mjContact* contact; // array of all detected contacts (ncon x 1)
// computed by mj_makeConstraint
int* efc_type; // constraint type (mjtConstraint) (nefc x 1)
int* efc_id; // id of object of specified type (nefc x 1)
int* efc_J_rownnz; // number of non-zeros in constraint Jacobian row (nefc x 1)
int* efc_J_rowadr; // row start address in colind array (nefc x 1)
int* efc_J_rowsuper; // number of subsequent rows in supernode (nefc x 1)
int* efc_J_colind; // column indices in constraint Jacobian (nJ x 1)
mjtNum* efc_J; // constraint Jacobian (nJ x 1)
mjtNum* efc_pos; // constraint position (equality, contact) (nefc x 1)
mjtNum* efc_margin; // inclusion margin (contact) (nefc x 1)
mjtNum* efc_frictionloss; // frictionloss (friction) (nefc x 1)
mjtNum* efc_diagApprox; // approximation to diagonal of A (nefc x 1)
mjtNum* efc_KBIP; // stiffness, damping, impedance, imp' (nefc x 4)
mjtNum* efc_D; // constraint mass (nefc x 1)
mjtNum* efc_R; // inverse constraint mass (nefc x 1)
int* tendon_efcadr; // first efc address involving tendon; -1: none (ntendon x 1)
// computed by mj_island (island dof structure)
int* dof_island; // island id of this dof; -1: none (nv x 1)
int* island_nv; // number of dofs in this island (nisland x 1)
int* island_idofadr; // island start address in idof vector (nisland x 1)
int* island_dofadr; // island start address in dof vector (nisland x 1)
int* map_dof2idof; // map from dof to idof (nv x 1)
int* map_idof2dof; // map from idof to dof; >= nidof: unconstrained (nv x 1)
// computed by mj_island (dofs sorted by island)
mjtNum* ifrc_smooth; // net unconstrained force (nidof x 1)
mjtNum* iacc_smooth; // unconstrained acceleration (nidof x 1)
int* iM_rownnz; // inertia: non-zeros in each row (nidof x 1)
int* iM_rowadr; // inertia: address of each row in iM_colind (nidof x 1)
int* iM_colind; // inertia: column indices of non-zeros (nC x 1)
mjtNum* iM; // total inertia (sparse) (nC x 1)
mjtNum* iLD; // L'*D*L factorization of M (sparse) (nC x 1)
mjtNum* iLDiagInv; // 1/diag(D) (nidof x 1)
mjtNum* iacc; // acceleration (nidof x 1)
// computed by mj_island (island constraint structure)
int* efc_island; // island id of this constraint (nefc x 1)
int* island_ne; // number of equality constraints in island (nisland x 1)
int* island_nf; // number of friction constraints in island (nisland x 1)
int* island_nefc; // number of constraints in island (nisland x 1)
int* island_iefcadr; // start address in iefc vector (nisland x 1)
int* map_efc2iefc; // map from efc to iefc (nefc x 1)
int* map_iefc2efc; // map from iefc to efc (nefc x 1)
// computed by mj_island (constraints sorted by island)
int* iefc_type; // constraint type (mjtConstraint) (nefc x 1)
int* iefc_id; // id of object of specified type (nefc x 1)
int* iefc_J_rownnz; // number of non-zeros in constraint Jacobian row (nefc x 1)
int* iefc_J_rowadr; // row start address in colind array (nefc x 1)
int* iefc_J_rowsuper; // number of subsequent rows in supernode (nefc x 1)
int* iefc_J_colind; // column indices in constraint Jacobian (nJ x 1)
mjtNum* iefc_J; // constraint Jacobian (nJ x 1)
mjtNum* iefc_frictionloss; // frictionloss (friction) (nefc x 1)
mjtNum* iefc_D; // constraint mass (nefc x 1)
mjtNum* iefc_R; // inverse constraint mass (nefc x 1)
// computed by mj_projectConstraint (PGS solver)
int* efc_AR_rownnz; // number of non-zeros in AR (nefc x 1)
int* efc_AR_rowadr; // row start address in colind array (nefc x 1)
int* efc_AR_colind; // column indices in sparse AR (nA x 1)
mjtNum* efc_AR; // J*inv(M)*J' + R (nA x 1)
//-------------------- arena-allocated: POSITION, VELOCITY dependent
// computed by mj_fwdVelocity/mj_referenceConstraint
mjtNum* efc_vel; // velocity in constraint space: J*qvel (nefc x 1)
mjtNum* efc_aref; // reference pseudo-acceleration (nefc x 1)
//-------------------- arena-allocated: POSITION, VELOCITY, CONTROL/ACCELERATION dependent
// computed by mj_fwdConstraint/mj_inverse
mjtNum* efc_b; // linear cost term: J*qacc_smooth - aref (nefc x 1)
mjtNum* iefc_aref; // reference pseudo-acceleration (nefc x 1)
int* iefc_state; // constraint state (mjtConstraintState) (nefc x 1)
mjtNum* iefc_force; // constraint force in constraint space (nefc x 1)
int* efc_state; // constraint state (mjtConstraintState) (nefc x 1)
mjtNum* efc_force; // constraint force in constraint space (nefc x 1)
mjtNum* ifrc_constraint; // constraint force (nidof x 1)
// thread pool pointer
uintptr_t threadpool;
// compilation signature
uint64_t signature; // also held by the mjSpec that compiled the model
};
typedef struct mjData_ mjData;
//---------------------------------- callback function types ---------------------------------------
// generic MuJoCo function
typedef void (*mjfGeneric)(const mjModel* m, mjData* d);
// contact filter: 1- discard, 0- collide
typedef int (*mjfConFilt)(const mjModel* m, mjData* d, int geom1, int geom2);
// sensor simulation
typedef void (*mjfSensor)(const mjModel* m, mjData* d, int stage);
// timer
typedef mjtNum (*mjfTime)(void);
// actuator dynamics, gain, bias
typedef mjtNum (*mjfAct)(const mjModel* m, const mjData* d, int id);
// collision detection
typedef int (*mjfCollision)(const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
#endif // MUJOCO_MJDATA_H_

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// Copyright 2021 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.
#ifndef MUJOCO_MJEXPORT_H_
#define MUJOCO_MJEXPORT_H_
#if defined _WIN32 || defined __CYGWIN__
#define MUJOCO_HELPER_DLL_IMPORT __declspec(dllimport)
#define MUJOCO_HELPER_DLL_EXPORT __declspec(dllexport)
#define MUJOCO_HELPER_DLL_LOCAL
#else
#if __GNUC__ >= 4
#define MUJOCO_HELPER_DLL_IMPORT __attribute__ ((visibility ("default")))
#define MUJOCO_HELPER_DLL_EXPORT __attribute__ ((visibility ("default")))
#define MUJOCO_HELPER_DLL_LOCAL __attribute__ ((visibility ("hidden")))
#else
#define MUJOCO_HELPER_DLL_IMPORT
#define MUJOCO_HELPER_DLL_EXPORT
#define MUJOCO_HELPER_DLL_LOCAL
#endif
#endif
#ifdef MJ_STATIC
// static library
#define MJAPI
#define MJLOCAL
#else
#ifdef MUJOCO_DLL_EXPORTS
#define MJAPI MUJOCO_HELPER_DLL_EXPORT
#else
#define MJAPI MUJOCO_HELPER_DLL_IMPORT
#endif
#define MJLOCAL MUJOCO_HELPER_DLL_LOCAL
#endif
#endif // MUJOCO_MJEXPORT_H_

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// Copyright 2023 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.
#ifndef MUJOCO_MJMACRO_H_
#define MUJOCO_MJMACRO_H_
// max and min (use only for primitive types)
#define mjMAX(a, b) (((a) > (b)) ? (a) : (b))
#define mjMIN(a, b) (((a) < (b)) ? (a) : (b))
// return current value of mjOption enable/disable flags
#define mjDISABLED(x) (m->opt.disableflags & (x))
#define mjENABLED(x) (m->opt.enableflags & (x))
// is actuator disabled
#define mjACTUATORDISABLED(i) (m->opt.disableactuator & (1 << m->actuator_group[i]))
// annotation for functions that accept printf-like variadic arguments
#ifndef mjPRINTFLIKE
#if defined(__GNUC__)
#define mjPRINTFLIKE(n, m) __attribute__((format(printf, n, m)))
#else
#define mjPRINTFLIKE(n, m)
#endif
#endif
#endif // MUJOCO_MJMACRO_H_

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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.
#ifndef MUJOCO_INCLUDE_MJPLUGIN_H_
#define MUJOCO_INCLUDE_MJPLUGIN_H_
#include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mjvisualize.h>
//---------------------------------- Resource Provider ---------------------------------------------
struct mjResource_ {
char* name; // name of resource (filename, etc)
void* data; // opaque data pointer
char timestamp[512]; // timestamp of the resource
const struct mjpResourceProvider* provider; // pointer to the provider
};
typedef struct mjResource_ mjResource;
// callback for opening a resource, returns zero on failure
typedef int (*mjfOpenResource)(mjResource* resource);
// callback for reading a resource
// return number of bytes stored in buffer, return -1 if error
typedef int (*mjfReadResource)(mjResource* resource, const void** buffer);
// callback for closing a resource (responsible for freeing any allocated memory)
typedef void (*mjfCloseResource)(mjResource* resource);
// callback for returning the directory of a resource
// sets dir to directory string with ndir being size of directory string
typedef void (*mjfGetResourceDir)(mjResource* resource, const char** dir, int* ndir);
// callback for checking if the current resource was modified from the time
// specified by the timestamp
// returns 0 if the resource's timestamp matches the provided timestamp
// returns > 0 if the resource is younger than the given timestamp
// returns < 0 if the resource is older than the given timestamp
typedef int (*mjfResourceModified)(const mjResource* resource, const char* timestamp);
// struct describing a single resource provider
struct mjpResourceProvider {
const char* prefix; // prefix for match against a resource name
mjfOpenResource open; // opening callback
mjfReadResource read; // reading callback
mjfCloseResource close; // closing callback
mjfGetResourceDir getdir; // get directory callback (optional)
mjfResourceModified modified; // resource modified callback (optional)
void* data; // opaque data pointer (resource invariant)
};
typedef struct mjpResourceProvider mjpResourceProvider;
//---------------------------------- Plugins -------------------------------------------------------
typedef enum mjtPluginCapabilityBit_ {
mjPLUGIN_ACTUATOR = 1<<0, // actuator forces
mjPLUGIN_SENSOR = 1<<1, // sensor measurements
mjPLUGIN_PASSIVE = 1<<2, // passive forces
mjPLUGIN_SDF = 1<<3, // signed distance fields
} mjtPluginCapabilityBit;
struct mjpPlugin_ {
const char* name; // globally unique name identifying the plugin
int nattribute; // number of configuration attributes
const char* const* attributes; // name of configuration attributes
int capabilityflags; // plugin capabilities: bitfield of mjtPluginCapabilityBit
int needstage; // sensor computation stage (mjtStage)
// number of mjtNums needed to store the state of a plugin instance (required)
int (*nstate)(const mjModel* m, int instance);
// dimension of the specified sensor's output (required only for sensor plugins)
int (*nsensordata)(const mjModel* m, int instance, int sensor_id);
// called when a new mjData is being created (required), returns 0 on success or -1 on failure
int (*init)(const mjModel* m, mjData* d, int instance);
// called when an mjData is being freed (optional)
void (*destroy)(mjData* d, int instance);
// called when an mjData is being copied (optional)
void (*copy)(mjData* dest, const mjModel* m, const mjData* src, int instance);
// called when an mjData is being reset (required)
void (*reset)(const mjModel* m, mjtNum* plugin_state, void* plugin_data, int instance);
// called when the plugin needs to update its outputs (required)
void (*compute)(const mjModel* m, mjData* d, int instance, int capability_bit);
// called when time integration occurs (optional)
void (*advance)(const mjModel* m, mjData* d, int instance);
// called by mjv_updateScene (optional)
void (*visualize)(const mjModel*m, mjData* d, const mjvOption* opt, mjvScene* scn, int instance);
// methods specific to actuators (optional)
// updates the actuator plugin's entries in act_dot
// called after native act_dot is computed and before the compute callback
void (*actuator_act_dot)(const mjModel* m, mjData* d, int instance);
// methods specific to signed distance fields (optional)
// signed distance from the surface
mjtNum (*sdf_distance)(const mjtNum point[3], const mjData* d, int instance);
// gradient of distance with respect to local coordinates
void (*sdf_gradient)(mjtNum gradient[3], const mjtNum point[3], const mjData* d, int instance);
// called during compilation for marching cubes
mjtNum (*sdf_staticdistance)(const mjtNum point[3], const mjtNum* attributes);
// convert attributes and provide defaults if not present
void (*sdf_attribute)(mjtNum attribute[], const char* name[], const char* value[]);
// bounding box of implicit surface
void (*sdf_aabb)(mjtNum aabb[6], const mjtNum* attributes);
};
typedef struct mjpPlugin_ mjpPlugin;
struct mjSDF_ {
const mjpPlugin** plugin;
int* id;
mjtSDFType type;
mjtNum* relpos;
mjtNum* relmat;
mjtGeom* geomtype;
};
typedef struct mjSDF_ mjSDF;
#if defined(__has_attribute)
#if __has_attribute(constructor)
#define mjPLUGIN_LIB_INIT __attribute__((constructor)) static void _mjplugin_init(void)
#endif // __has_attribute(constructor)
#elif defined(_MSC_VER)
#ifndef mjDLLMAIN
#define mjDLLMAIN DllMain
#endif
#if !defined(mjEXTERNC)
#if defined(__cplusplus)
#define mjEXTERNC extern "C"
#else
#define mjEXTERNC
#endif // defined(__cplusplus)
#endif // !defined(mjEXTERNC)
// NOLINTBEGIN(runtime/int)
#define mjPLUGIN_LIB_INIT \
static void _mjplugin_dllmain(void); \
mjEXTERNC int __stdcall mjDLLMAIN(void* hinst, unsigned long reason, void* reserved) { \
if (reason == 1) { \
_mjplugin_dllmain(); \
} \
return 1; \
} \
static void _mjplugin_dllmain(void)
// NOLINTEND(runtime/int)
#endif // defined(_MSC_VER)
// function pointer type for mj_loadAllPluginLibraries callback
typedef void (*mjfPluginLibraryLoadCallback)(const char* filename, int first, int count);
#endif // MUJOCO_INCLUDE_MJPLUGIN_H_

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// Copyright 2021 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.
#ifndef MUJOCO_MJRENDER_H_
#define MUJOCO_MJRENDER_H_
#include <mujoco/mjmodel.h>
#if defined(__cplusplus)
extern "C" {
#endif
#define mjNAUX 10 // number of auxiliary buffers
#define mjMAXTEXTURE 1000 // maximum number of textures
#define mjMAXMATERIAL 1000 // maximum number of materials with textures
//---------------------------------- primitive types (mjt) -----------------------------------------
typedef enum mjtGridPos_ { // grid position for overlay
mjGRID_TOPLEFT = 0, // top left
mjGRID_TOPRIGHT, // top right
mjGRID_BOTTOMLEFT, // bottom left
mjGRID_BOTTOMRIGHT, // bottom right
mjGRID_TOP, // top center
mjGRID_BOTTOM, // bottom center
mjGRID_LEFT, // left center
mjGRID_RIGHT // right center
} mjtGridPos;
typedef enum mjtFramebuffer_ { // OpenGL framebuffer option
mjFB_WINDOW = 0, // default/window buffer
mjFB_OFFSCREEN // offscreen buffer
} mjtFramebuffer;
typedef enum mjtDepthMap_ { // depth mapping for `mjr_readPixels`
mjDEPTH_ZERONEAR = 0, // standard depth map; 0: znear, 1: zfar
mjDEPTH_ZEROFAR = 1 // reversed depth map; 1: znear, 0: zfar
} mjtDepthMap;
typedef enum mjtFontScale_ { // font scale, used at context creation
mjFONTSCALE_50 = 50, // 50% scale, suitable for low-res rendering
mjFONTSCALE_100 = 100, // normal scale, suitable in the absence of DPI scaling
mjFONTSCALE_150 = 150, // 150% scale
mjFONTSCALE_200 = 200, // 200% scale
mjFONTSCALE_250 = 250, // 250% scale
mjFONTSCALE_300 = 300 // 300% scale
} mjtFontScale;
typedef enum mjtFont_ { // font type, used at each text operation
mjFONT_NORMAL = 0, // normal font
mjFONT_SHADOW, // normal font with shadow (for higher contrast)
mjFONT_BIG // big font (for user alerts)
} mjtFont;
struct mjrRect_ { // OpenGL rectangle
int left; // left (usually 0)
int bottom; // bottom (usually 0)
int width; // width (usually buffer width)
int height; // height (usually buffer height)
};
typedef struct mjrRect_ mjrRect;
//---------------------------------- mjrContext ----------------------------------------------------
struct mjrContext_ { // custom OpenGL context
// parameters copied from mjVisual
float lineWidth; // line width for wireframe rendering
float shadowClip; // clipping radius for directional lights
float shadowScale; // fraction of light cutoff for spot lights
float fogStart; // fog start = stat.extent * vis.map.fogstart
float fogEnd; // fog end = stat.extent * vis.map.fogend
float fogRGBA[4]; // fog rgba
int shadowSize; // size of shadow map texture
int offWidth; // width of offscreen buffer
int offHeight; // height of offscreen buffer
int offSamples; // number of offscreen buffer multisamples
// parameters specified at creation
int fontScale; // font scale
int auxWidth[mjNAUX]; // auxiliary buffer width
int auxHeight[mjNAUX]; // auxiliary buffer height
int auxSamples[mjNAUX]; // auxiliary buffer multisamples
// offscreen rendering objects
unsigned int offFBO; // offscreen framebuffer object
unsigned int offFBO_r; // offscreen framebuffer for resolving multisamples
unsigned int offColor; // offscreen color buffer
unsigned int offColor_r; // offscreen color buffer for resolving multisamples
unsigned int offDepthStencil; // offscreen depth and stencil buffer
unsigned int offDepthStencil_r; // offscreen depth and stencil buffer for multisamples
// shadow rendering objects
unsigned int shadowFBO; // shadow map framebuffer object
unsigned int shadowTex; // shadow map texture
// auxiliary buffers
unsigned int auxFBO[mjNAUX]; // auxiliary framebuffer object
unsigned int auxFBO_r[mjNAUX]; // auxiliary framebuffer object for resolving
unsigned int auxColor[mjNAUX]; // auxiliary color buffer
unsigned int auxColor_r[mjNAUX]; // auxiliary color buffer for resolving
// materials with textures
int mat_texid[mjMAXMATERIAL*mjNTEXROLE]; // material texture ids (-1: no texture)
int mat_texuniform[mjMAXMATERIAL]; // uniform cube mapping
float mat_texrepeat[mjMAXMATERIAL*2]; // texture repetition for 2d mapping
// texture objects and info
int ntexture; // number of allocated textures
int textureType[mjMAXTEXTURE]; // type of texture (mjtTexture) (ntexture)
unsigned int texture[mjMAXTEXTURE]; // texture names
// displaylist starting positions
unsigned int basePlane; // all planes from model
unsigned int baseMesh; // all meshes from model
unsigned int baseHField; // all height fields from model
unsigned int baseBuiltin; // all builtin geoms, with quality from model
unsigned int baseFontNormal; // normal font
unsigned int baseFontShadow; // shadow font
unsigned int baseFontBig; // big font
// displaylist ranges
int rangePlane; // all planes from model
int rangeMesh; // all meshes from model
int rangeHField; // all hfields from model
int rangeBuiltin; // all builtin geoms, with quality from model
int rangeFont; // all characters in font
// skin VBOs
int nskin; // number of skins
unsigned int* skinvertVBO; // skin vertex position VBOs (nskin)
unsigned int* skinnormalVBO; // skin vertex normal VBOs (nskin)
unsigned int* skintexcoordVBO; // skin vertex texture coordinate VBOs (nskin)
unsigned int* skinfaceVBO; // skin face index VBOs (nskin)
// character info
int charWidth[127]; // character widths: normal and shadow
int charWidthBig[127]; // chacarter widths: big
int charHeight; // character heights: normal and shadow
int charHeightBig; // character heights: big
// capabilities
int glInitialized; // is OpenGL initialized
int windowAvailable; // is default/window framebuffer available
int windowSamples; // number of samples for default/window framebuffer
int windowStereo; // is stereo available for default/window framebuffer
int windowDoublebuffer; // is default/window framebuffer double buffered
// framebuffer
int currentBuffer; // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
// pixel output format
int readPixelFormat; // default color pixel format for mjr_readPixels
// depth output format
int readDepthMap; // depth mapping: mjDEPTH_ZERONEAR or mjDEPTH_ZEROFAR
};
typedef struct mjrContext_ mjrContext;
#if defined(__cplusplus)
}
#endif
#endif // MUJOCO_MJRENDER_H_

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// Copyright 2024 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.
#ifndef MUJOCO_INCLUDE_MJSAN_H_
#define MUJOCO_INCLUDE_MJSAN_H_
// Include asan interface header, or provide stubs for poison/unpoison macros when not using asan.
#ifdef ADDRESS_SANITIZER
#include <sanitizer/asan_interface.h>
#elif defined(_MSC_VER)
#define ASAN_POISON_MEMORY_REGION(addr, size)
#define ASAN_UNPOISON_MEMORY_REGION(addr, size)
#else
#define ASAN_POISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
#define ASAN_UNPOISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
#endif
// When built and run under address sanitizer (asan), mj_markStack and mj_freeStack are instrumented
// to detect leakage of mjData stack frames. When the compiler inlines several callees that call
// into mark/free into the same function, this instrumentation requires that the compiler retains
// separate mark/free calls for each original callee. The memory-clobbered asm blocks act as a
// barrier to prevent mark/free calls from being combined under optimization.
#ifdef ADDRESS_SANITIZER
#ifdef __cplusplus
extern "C" {
#endif
void mj__markStack(mjData*) __attribute__((noinline));
static inline void mj_markStack(mjData* d) __attribute__((always_inline)) {
asm volatile("" ::: "memory");
mj__markStack(d);
asm volatile("" ::: "memory");
}
void mj__freeStack(mjData*) __attribute__((noinline));
static inline void mj_freeStack(mjData* d) __attribute__((always_inline)) {
asm volatile("" ::: "memory");
mj__freeStack(d);
asm volatile("" ::: "memory");
}
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // ADDRESS_SANITIZER
#endif // MUJOCO_INCLUDE_MJSAN_H_

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// Copyright 2024 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.
#ifndef MUJOCO_INCLUDE_MJSPEC_H_
#define MUJOCO_INCLUDE_MJSPEC_H_
#include <stddef.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
// this is a C-API
#ifdef __cplusplus
#include <cstddef>
#include <cstdint>
#include <string>
#include <vector>
extern "C" {
#endif
//-------------------------------- handles to strings and arrays -----------------------------------
#ifdef __cplusplus
// C++: defined to be compatible with corresponding std types
using mjString = std::string;
using mjStringVec = std::vector<std::string>;
using mjIntVec = std::vector<int>;
using mjIntVecVec = std::vector<std::vector<int>>;
using mjFloatVec = std::vector<float>;
using mjFloatVecVec = std::vector<std::vector<float>>;
using mjDoubleVec = std::vector<double>;
using mjByteVec = std::vector<std::byte>;
#else
// C: opaque types
typedef void mjString;
typedef void mjStringVec;
typedef void mjIntVec;
typedef void mjIntVecVec;
typedef void mjFloatVec;
typedef void mjFloatVecVec;
typedef void mjDoubleVec;
typedef void mjByteVec;
#endif
//-------------------------------- enum types (mjt) ------------------------------------------------
typedef enum mjtGeomInertia_ { // type of inertia inference
mjINERTIA_VOLUME = 0, // mass distributed in the volume
mjINERTIA_SHELL, // mass distributed on the surface
} mjtGeomInertia;
typedef enum mjtMeshInertia_ { // type of mesh inertia
mjMESH_INERTIA_CONVEX = 0, // convex mesh inertia
mjMESH_INERTIA_EXACT, // exact mesh inertia
mjMESH_INERTIA_LEGACY, // legacy mesh inertia
mjMESH_INERTIA_SHELL // shell mesh inertia
} mjtMeshInertia;
typedef enum mjtMeshBuiltin_ { // type of built-in procedural mesh
mjMESH_BUILTIN_NONE = 0, // no built-in mesh
mjMESH_BUILTIN_SPHERE, // sphere
mjMESH_BUILTIN_HEMISPHERE, // hemisphere
mjMESH_BUILTIN_CONE, // cone
mjMESH_BUILTIN_SUPERSPHERE, // supersphere
mjMESH_BUILTIN_SUPERTORUS, // supertorus
mjMESH_BUILTIN_WEDGE, // wedge
mjMESH_BUILTIN_PLATE, // plate
} mjtMeshBuiltin;
typedef enum mjtBuiltin_ { // type of built-in procedural texture
mjBUILTIN_NONE = 0, // no built-in texture
mjBUILTIN_GRADIENT, // gradient: rgb1->rgb2
mjBUILTIN_CHECKER, // checker pattern: rgb1, rgb2
mjBUILTIN_FLAT // 2d: rgb1; cube: rgb1-up, rgb2-side, rgb3-down
} mjtBuiltin;
typedef enum mjtMark_ { // mark type for procedural textures
mjMARK_NONE = 0, // no mark
mjMARK_EDGE, // edges
mjMARK_CROSS, // cross
mjMARK_RANDOM // random dots
} mjtMark;
typedef enum mjtLimited_ { // type of limit specification
mjLIMITED_FALSE = 0, // not limited
mjLIMITED_TRUE, // limited
mjLIMITED_AUTO, // limited inferred from presence of range
} mjtLimited;
typedef enum mjtAlignFree_ { // whether to align free joints with the inertial frame
mjALIGNFREE_FALSE = 0, // don't align
mjALIGNFREE_TRUE, // align
mjALIGNFREE_AUTO, // respect the global compiler flag
} mjtAlignFree;
typedef enum mjtInertiaFromGeom_ { // whether to infer body inertias from child geoms
mjINERTIAFROMGEOM_FALSE = 0, // do not use; inertial element required
mjINERTIAFROMGEOM_TRUE, // always use; overwrite inertial element
mjINERTIAFROMGEOM_AUTO // use only if inertial element is missing
} mjtInertiaFromGeom;
typedef enum mjtOrientation_ { // type of orientation specifier
mjORIENTATION_QUAT = 0, // quaternion
mjORIENTATION_AXISANGLE, // axis and angle
mjORIENTATION_XYAXES, // x and y axes
mjORIENTATION_ZAXIS, // z axis (minimal rotation)
mjORIENTATION_EULER, // Euler angles
} mjtOrientation;
//-------------------------------- attribute structs (mjs) -----------------------------------------
typedef struct mjsElement_ { // element type, do not modify
mjtObj elemtype; // element type
uint64_t signature; // compilation signature
} mjsElement;
typedef struct mjsCompiler_ { // compiler options
mjtByte autolimits; // infer "limited" attribute based on range
double boundmass; // enforce minimum body mass
double boundinertia; // enforce minimum body diagonal inertia
double settotalmass; // rescale masses and inertias; <=0: ignore
mjtByte balanceinertia; // automatically impose A + B >= C rule
mjtByte fitaabb; // meshfit to aabb instead of inertia box
mjtByte degree; // angles in radians or degrees
char eulerseq[3]; // sequence for euler rotations
mjtByte discardvisual; // discard visual geoms in parser
mjtByte usethread; // use multiple threads to speed up compiler
mjtByte fusestatic; // fuse static bodies with parent
int inertiafromgeom; // use geom inertias (mjtInertiaFromGeom)
int inertiagrouprange[2]; // range of geom groups used to compute inertia
mjtByte saveinertial; // save explicit inertial clause for all bodies to XML
int alignfree; // align free joints with inertial frame
mjLROpt LRopt; // options for lengthrange computation
mjString* meshdir; // mesh and hfield directory
mjString* texturedir; // texture directory
} mjsCompiler;
typedef struct mjSpec_ { // model specification
mjsElement* element; // element type
mjString* modelname; // model name
// compiler data
mjsCompiler compiler; // compiler options
mjtByte strippath; // automatically strip paths from mesh files
// engine data
mjOption option; // physics options
mjVisual visual; // visual options
mjStatistic stat; // statistics override (if defined)
// sizes
mjtSize memory; // number of bytes in arena+stack memory
int nemax; // max number of equality constraints
int nuserdata; // number of mjtNums in userdata
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 nkey; // number of keyframes
int njmax; // (deprecated) max number of constraints
int nconmax; // (deprecated) max number of detected contacts
mjtSize nstack; // (deprecated) number of mjtNums in mjData stack
// global data
mjString* comment; // comment at top of XML
mjString* modelfiledir; // path to model file
// other
mjtByte hasImplicitPluginElem; // already encountered an implicit plugin sensor/actuator
} mjSpec;
typedef struct mjsOrientation_ { // alternative orientation specifiers
mjtOrientation type; // active orientation specifier
double axisangle[4]; // axis and angle
double xyaxes[6]; // x and y axes
double zaxis[3]; // z axis (minimal rotation)
double euler[3]; // Euler angles
} mjsOrientation;
typedef struct mjsPlugin_ { // plugin specification
mjsElement* element; // element type
mjString* name; // instance name
mjString* plugin_name; // plugin name
mjtByte active; // is the plugin active
mjString* info; // message appended to compiler errors
} mjsPlugin;
typedef struct mjsBody_ { // body specification
mjsElement* element; // element type
mjString* childclass; // childclass name
// body frame
double pos[3]; // frame position
double quat[4]; // frame orientation
mjsOrientation alt; // frame alternative orientation
// inertial frame
double mass; // mass
double ipos[3]; // inertial frame position
double iquat[4]; // inertial frame orientation
double inertia[3]; // diagonal inertia (in i-frame)
mjsOrientation ialt; // inertial frame alternative orientation
double fullinertia[6]; // non-axis-aligned inertia matrix
// other
mjtByte mocap; // is this a mocap body
double gravcomp; // gravity compensation
mjDoubleVec* userdata; // user data
mjtByte explicitinertial; // whether to save the body with explicit inertial clause
mjsPlugin plugin; // passive force plugin
mjString* info; // message appended to compiler errors
} mjsBody;
typedef struct mjsFrame_ { // frame specification
mjsElement* element; // element type
mjString* childclass; // childclass name
double pos[3]; // position
double quat[4]; // orientation
mjsOrientation alt; // alternative orientation
mjString* info; // message appended to compiler errors
} mjsFrame;
typedef struct mjsJoint_ { // joint specification
mjsElement* element; // element type
mjtJoint type; // joint type
// kinematics
double pos[3]; // anchor position
double axis[3]; // joint axis
double ref; // value at reference configuration: qpos0
int align; // align free joint with body com (mjtAlignFree)
// stiffness
double stiffness; // stiffness coefficient
double springref; // spring reference value: qpos_spring
double springdamper[2]; // timeconst, dampratio
// limits
int limited; // does joint have limits (mjtLimited)
double range[2]; // joint limits
double margin; // margin value for joint limit detection
mjtNum solref_limit[mjNREF]; // solver reference: joint limits
mjtNum solimp_limit[mjNIMP]; // solver impedance: joint limits
int actfrclimited; // are actuator forces on joint limited (mjtLimited)
double actfrcrange[2]; // actuator force limits
// dof properties
double armature; // armature inertia (mass for slider)
double damping; // damping coefficient
double frictionloss; // friction loss
mjtNum solref_friction[mjNREF]; // solver reference: dof friction
mjtNum solimp_friction[mjNIMP]; // solver impedance: dof friction
// other
int group; // group
mjtByte actgravcomp; // is gravcomp force applied via actuators
mjDoubleVec* userdata; // user data
mjString* info; // message appended to compiler errors
} mjsJoint;
typedef struct mjsGeom_ { // geom specification
mjsElement* element; // element type
mjtGeom type; // geom type
// frame, size
double pos[3]; // position
double quat[4]; // orientation
mjsOrientation alt; // alternative orientation
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
double size[3]; // type-specific size
// contact related
int contype; // contact type
int conaffinity; // contact affinity
int condim; // contact dimensionality
int priority; // contact priority
double friction[3]; // one-sided friction coefficients: slide, roll, spin
double solmix; // solver mixing for contact pairs
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection
double gap; // include in solver if dist < margin-gap
// inertia inference
double mass; // used to compute density
double density; // used to compute mass and inertia from volume or surface
mjtGeomInertia typeinertia; // selects between surface and volume inertia
// fluid forces
mjtNum fluid_ellipsoid; // whether ellipsoid-fluid model is active
mjtNum fluid_coefs[5]; // ellipsoid-fluid interaction coefs
// visual
mjString* material; // name of material
float rgba[4]; // rgba when material is omitted
int group; // group
// other
mjString* hfieldname; // heightfield attached to geom
mjString* meshname; // mesh attached to geom
double fitscale; // scale mesh uniformly
mjDoubleVec* userdata; // user data
mjsPlugin plugin; // sdf plugin
mjString* info; // message appended to compiler errors
} mjsGeom;
typedef struct mjsSite_ { // site specification
mjsElement* element; // element type
// frame, size
double pos[3]; // position
double quat[4]; // orientation
mjsOrientation alt; // alternative orientation
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
double size[3]; // geom size
// visual
mjtGeom type; // geom type
mjString* material; // name of material
int group; // group
float rgba[4]; // rgba when material is omitted
// other
mjDoubleVec* userdata; // user data
mjString* info; // message appended to compiler errors
} mjsSite;
typedef struct mjsCamera_ { // camera specification
mjsElement* element; // element type
// extrinsics
double pos[3]; // position
double quat[4]; // orientation
mjsOrientation alt; // alternative orientation
mjtCamLight mode; // tracking mode
mjString* targetbody; // target body for tracking/targeting
// intrinsics
int orthographic; // is camera orthographic
double fovy; // y-field of view
double ipd; // inter-pupilary distance
float intrinsic[4]; // camera intrinsics (length)
float sensor_size[2]; // sensor size (length)
float resolution[2]; // resolution (pixel)
float focal_length[2]; // focal length (length)
float focal_pixel[2]; // focal length (pixel)
float principal_length[2]; // principal point (length)
float principal_pixel[2]; // principal point (pixel)
// other
mjDoubleVec* userdata; // user data
mjString* info; // message appended to compiler errors
} mjsCamera;
typedef struct mjsLight_ { // light specification
mjsElement* element; // element type
// frame
double pos[3]; // position
double dir[3]; // direction
mjtCamLight mode; // tracking mode
mjString* targetbody; // target body for targeting
// intrinsics
mjtByte active; // is light active
mjtLightType type; // type of light
mjString* texture; // texture name for image lights
mjtByte castshadow; // does light cast shadows
float bulbradius; // bulb radius, for soft shadows
float intensity; // intensity, in candelas
float range; // range of effectiveness
float attenuation[3]; // OpenGL attenuation (quadratic model)
float cutoff; // OpenGL cutoff
float exponent; // OpenGL exponent
float ambient[3]; // ambient color
float diffuse[3]; // diffuse color
float specular[3]; // specular color
// other
mjString* info; // message appended to compiler errorsx
} mjsLight;
typedef struct mjsFlex_ { // flex specification
mjsElement* element; // element type
// contact properties
int contype; // contact type
int conaffinity; // contact affinity
int condim; // contact dimensionality
int priority; // contact priority
double friction[3]; // one-sided friction coefficients: slide, roll, spin
double solmix; // solver mixing for contact pairs
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection
double gap; // include in solver if dist<margin-gap
// other properties
int dim; // element dimensionality
double radius; // radius around primitive element
mjtByte internal; // enable internal collisions
mjtByte flatskin; // render flex skin with flat shading
int selfcollide; // mode for flex self collision
int vertcollide; // mode for vertex collision
int passive; // mode for passive collisions
int activelayers; // number of active element layers in 3D
int group; // group for visualizatioh
double edgestiffness; // edge stiffness
double edgedamping; // edge damping
float rgba[4]; // rgba when material is omitted
mjString* material; // name of material used for rendering
double young; // Young's modulus
double poisson; // Poisson's ratio
double damping; // Rayleigh's damping
double thickness; // thickness (2D only)
int elastic2d; // 2D passive forces; 0: none, 1: bending, 2: stretching, 3: both
// mesh properties
mjStringVec* nodebody; // node body names
mjStringVec* vertbody; // vertex body names
mjDoubleVec* node; // node positions
mjDoubleVec* vert; // vertex positions
mjIntVec* elem; // element vertex ids
mjFloatVec* texcoord; // vertex texture coordinates
mjIntVec* elemtexcoord; // element texture coordinates
// other
mjString* info; // message appended to compiler errors
} mjsFlex;
typedef struct mjsMesh_ { // mesh specification
mjsElement* element; // element type
mjString* content_type; // content type of file
mjString* file; // mesh file
double refpos[3]; // reference position
double refquat[4]; // reference orientation
double scale[3]; // rescale mesh
mjtMeshInertia inertia; // inertia type (convex, legacy, exact, shell)
mjtByte smoothnormal; // do not exclude large-angle faces from normals
mjtByte needsdf; // compute sdf from mesh
int maxhullvert; // maximum vertex count for the convex hull
mjFloatVec* uservert; // user vertex data
mjFloatVec* usernormal; // user normal data
mjFloatVec* usertexcoord; // user texcoord data
mjIntVec* userface; // user vertex indices
mjIntVec* userfacenormal; // user face normal indices
mjIntVec* userfacetexcoord; // user texcoord indices
mjsPlugin plugin; // sdf plugin
mjString* material; // name of material
mjString* info; // message appended to compiler errors
} mjsMesh;
typedef struct mjsHField_ { // height field specification
mjsElement* element; // element type
mjString* content_type; // content type of file
mjString* file; // file: (nrow, ncol, [elevation data])
double size[4]; // hfield size (ignore referencing geom size)
int nrow; // number of rows
int ncol; // number of columns
mjFloatVec* userdata; // user-provided elevation data
mjString* info; // message appended to compiler errors
} mjsHField;
typedef struct mjsSkin_ { // skin specification
mjsElement* element; // element type
mjString* file; // skin file
mjString* material; // name of material used for rendering
float rgba[4]; // rgba when material is omitted
float inflate; // inflate in normal direction
int group; // group for visualization
// mesh
mjFloatVec* vert; // vertex positions
mjFloatVec* texcoord; // texture coordinates
mjIntVec* face; // faces
// skin
mjStringVec* bodyname; // body names
mjFloatVec* bindpos; // bind pos
mjFloatVec* bindquat; // bind quat
mjIntVecVec* vertid; // vertex ids
mjFloatVecVec* vertweight; // vertex weights
// other
mjString* info; // message appended to compiler errors
} mjsSkin;
typedef struct mjsTexture_ { // texture specification
mjsElement* element; // element type
mjtTexture type; // texture type
mjtColorSpace colorspace; // colorspace
// method 1: builtin
int builtin; // builtin type (mjtBuiltin)
int mark; // mark type (mjtMark)
double rgb1[3]; // first color for builtin
double rgb2[3]; // second color for builtin
double markrgb[3]; // mark color
double random; // probability of random dots
int height; // height in pixels (square for cube and skybox)
int width; // width in pixels
int nchannel; // number of channels
// method 2: single file
mjString* content_type; // content type of file
mjString* file; // png file to load; use for all sides of cube
int gridsize[2]; // size of grid for composite file; (1,1)-repeat
char gridlayout[13]; // row-major: L,R,F,B,U,D for faces; . for unused
// method 3: separate files
mjStringVec* cubefiles; // different file for each side of the cube
// method 4: from buffer read by user
mjByteVec* data; // texture data
// flip options
mjtByte hflip; // horizontal flip
mjtByte vflip; // vertical flip
// other
mjString* info; // message appended to compiler errors
} mjsTexture;
typedef struct mjsMaterial_ { // material specification
mjsElement* element; // element type
mjStringVec* textures; // names of textures (empty: none)
mjtByte texuniform; // make texture cube uniform
float texrepeat[2]; // texture repetition for 2D mapping
float emission; // emission
float specular; // specular
float shininess; // shininess
float reflectance; // reflectance
float metallic; // metallic
float roughness; // roughness
float rgba[4]; // rgba
mjString* info; // message appended to compiler errors
} mjsMaterial;
typedef struct mjsPair_ { // pair specification
mjsElement* element; // element type
mjString* geomname1; // name of geom 1
mjString* geomname2; // name of geom 2
// optional parameters: computed from geoms if not set by user
int condim; // contact dimensionality
mjtNum solref[mjNREF]; // solver reference, normal direction
mjtNum solreffriction[mjNREF]; // solver reference, frictional directions
mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection
double gap; // include in solver if dist<margin-gap
double friction[5]; // full contact friction
mjString* info; // message appended to errors
} mjsPair;
typedef struct mjsExclude_ { // exclude specification
mjsElement* element; // element type
mjString* bodyname1; // name of geom 1
mjString* bodyname2; // name of geom 2
mjString* info; // message appended to errors
} mjsExclude;
typedef struct mjsEquality_ { // equality specification
mjsElement* element; // element type
mjtEq type; // constraint type
double data[mjNEQDATA]; // type-dependent data
mjtByte active; // is equality initially active
mjString* name1; // name of object 1
mjString* name2; // name of object 2
mjtObj objtype; // type of both objects
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
mjString* info; // message appended to errors
} mjsEquality;
typedef struct mjsTendon_ { // tendon specification
mjsElement* element; // element type
// stiffness, damping, friction, armature
double stiffness; // stiffness coefficient
double springlength[2]; // spring resting length; {-1, -1}: use qpos_spring
double damping; // damping coefficient
double frictionloss; // friction loss
mjtNum solref_friction[mjNREF]; // solver reference: tendon friction
mjtNum solimp_friction[mjNIMP]; // solver impedance: tendon friction
double armature; // inertia associated with tendon velocity
// length range
int limited; // does tendon have limits (mjtLimited)
int actfrclimited; // does tendon have actuator force limits
double range[2]; // length limits
double actfrcrange[2]; // actuator force limits
double margin; // margin value for tendon limit detection
mjtNum solref_limit[mjNREF]; // solver reference: tendon limits
mjtNum solimp_limit[mjNIMP]; // solver impedance: tendon limits
// visual
mjString* material; // name of material for rendering
double width; // width for rendering
float rgba[4]; // rgba when material is omitted
int group; // group
// other
mjDoubleVec* userdata; // user data
mjString* info; // message appended to errors
} mjsTendon;
typedef struct mjsWrap_ { // wrapping object specification
mjsElement* element; // element type
mjString* info; // message appended to errors
} mjsWrap;
typedef struct mjsActuator_ { // actuator specification
mjsElement* element; // element type
// gain, bias
mjtGain gaintype; // gain type
double gainprm[mjNGAIN]; // gain parameters
mjtBias biastype; // bias type
double biasprm[mjNGAIN]; // bias parameters
// activation state
mjtDyn dyntype; // dynamics type
double dynprm[mjNDYN]; // dynamics parameters
int actdim; // number of activation variables
mjtByte actearly; // apply next activations to qfrc
// transmission
mjtTrn trntype; // transmission type
double gear[6]; // length and transmitted force scaling
mjString* target; // name of transmission target
mjString* refsite; // reference site, for site transmission
mjString* slidersite; // site defining cylinder, for slider-crank
double cranklength; // crank length, for slider-crank
double lengthrange[2]; // transmission length range
double inheritrange; // automatic range setting for position and intvelocity
// input/output clamping
int ctrllimited; // are control limits defined (mjtLimited)
double ctrlrange[2]; // control range
int forcelimited; // are force limits defined (mjtLimited)
double forcerange[2]; // force range
int actlimited; // are activation limits defined (mjtLimited)
double actrange[2]; // activation range
// other
int group; // group
mjDoubleVec* userdata; // user data
mjsPlugin plugin; // actuator plugin
mjString* info; // message appended to compiler errors
} mjsActuator;
typedef struct mjsSensor_ { // sensor specification
mjsElement* element; // element type
// sensor definition
mjtSensor type; // type of sensor
mjtObj objtype; // type of sensorized object
mjString* objname; // name of sensorized object
mjtObj reftype; // type of referenced object
mjString* refname; // name of referenced object
int intprm[mjNSENS]; // integer parameters
// user-defined sensors
mjtDataType datatype; // data type for sensor measurement
mjtStage needstage; // compute stage needed to simulate sensor
int dim; // number of scalar outputs
// output post-processing
double cutoff; // cutoff for real and positive datatypes
double noise; // noise stdev
// other
mjDoubleVec* userdata; // user data
mjsPlugin plugin; // sensor plugin
mjString* info; // message appended to compiler errors
} mjsSensor;
typedef struct mjsNumeric_ { // custom numeric field specification
mjsElement* element; // element type
mjDoubleVec* data; // initialization data
int size; // array size, can be bigger than data size
mjString* info; // message appended to compiler errors
} mjsNumeric;
typedef struct mjsText_ { // custom text specification
mjsElement* element; // element type
mjString* data; // text string
mjString* info; // message appended to compiler errors
} mjsText;
typedef struct mjsTuple_ { // tuple specification
mjsElement* element; // element type
mjIntVec* objtype; // object types
mjStringVec* objname; // object names
mjDoubleVec* objprm; // object parameters
mjString* info; // message appended to compiler errors
} mjsTuple;
typedef struct mjsKey_ { // keyframe specification
mjsElement* element; // element type
double time; // time
mjDoubleVec* qpos; // qpos
mjDoubleVec* qvel; // qvel
mjDoubleVec* act; // act
mjDoubleVec* mpos; // mocap pos
mjDoubleVec* mquat; // mocap quat
mjDoubleVec* ctrl; // ctrl
mjString* info; // message appended to compiler errors
} mjsKey;
typedef struct mjsDefault_ { // default specification
mjsElement* element; // element type
mjsJoint* joint; // joint defaults
mjsGeom* geom; // geom defaults
mjsSite* site; // site defaults
mjsCamera* camera; // camera defaults
mjsLight* light; // light defaults
mjsFlex* flex; // flex defaults
mjsMesh* mesh; // mesh defaults
mjsMaterial* material; // material defaults
mjsPair* pair; // pair defaults
mjsEquality* equality; // equality defaults
mjsTendon* tendon; // tendon defaults
mjsActuator* actuator; // actuator defaults
} mjsDefault;
#ifdef __cplusplus
}
#endif
#endif // MUJOCO_INCLUDE_MJSPEC_H_

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// Copyright 2023 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.
#ifndef MUJOCO_INCLUDE_MJTHREAD_H_
#define MUJOCO_INCLUDE_MJTHREAD_H_
#define mjMAXTHREAD 128 // maximum number of threads in a thread pool
typedef enum mjtTaskStatus_ { // status values for mjTask
mjTASK_NEW = 0, // newly created
mjTASK_QUEUED, // enqueued in a thread pool
mjTASK_COMPLETED // completed execution
} mjtTaskStatus;
// function pointer type for mjTask
typedef void* (*mjfTask)(void*);
// An opaque type representing a thread pool.
struct mjThreadPool_ {
int nworker; // number of workers in the pool
};
typedef struct mjThreadPool_ mjThreadPool;
struct mjTask_ { // a task that can be executed by a thread pool.
mjfTask func; // pointer to the function that implements the task
void* args; // arguments to func
volatile int status; // status of the task
};
typedef struct mjTask_ mjTask;
#endif // MUJOCO_INCLUDE_MJTHREAD_H_

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// Copyright 2021 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.
#ifndef MUJOCO_INCLUDE_MJTNUM_H_
#define MUJOCO_INCLUDE_MJTNUM_H_
#include <stdint.h>
//---------------------------------- floating-point definition -------------------------------------
// floating point data type and minval
#ifndef mjUSESINGLE
typedef double mjtNum;
#define mjMINVAL 1E-15 // minimum value in any denominator
#else
typedef float mjtNum;
#define mjMINVAL 1E-15f
#endif
//-------------------------------------- byte definition -------------------------------------------
typedef unsigned char mjtByte; // used for true/false
//-------------------------------------- size definition -------------------------------------------
typedef uint64_t mjtSize; // used for buffer sizes
#endif // MUJOCO_INCLUDE_MJTNUM_H_

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// Copyright 2021 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.
#ifndef MUJOCO_MJUI_H_
#define MUJOCO_MJUI_H_
#include <mujoco/mjrender.h>
#define mjMAXUISECT 10 // maximum number of sections
#define mjMAXUIITEM 200 // maximum number of items per section
#define mjMAXUITEXT 300 // maximum number of chars in edittext and other
#define mjMAXUINAME 40 // maximum number of chars in name
#define mjMAXUIMULTI 35 // maximum number of radio/select items in group
#define mjMAXUIEDIT 7 // maximum number of elements in edit list
#define mjMAXUIRECT 25 // maximum number of rectangles
#define mjSEPCLOSED 1000 // closed state of adjustable separator
#define mjPRESERVE 2000 // preserve section or separator state
// key codes matching GLFW (user must remap for other frameworks)
#define mjKEY_ESCAPE 256
#define mjKEY_ENTER 257
#define mjKEY_TAB 258
#define mjKEY_BACKSPACE 259
#define mjKEY_INSERT 260
#define mjKEY_DELETE 261
#define mjKEY_RIGHT 262
#define mjKEY_LEFT 263
#define mjKEY_DOWN 264
#define mjKEY_UP 265
#define mjKEY_PAGE_UP 266
#define mjKEY_PAGE_DOWN 267
#define mjKEY_HOME 268
#define mjKEY_END 269
#define mjKEY_F1 290
#define mjKEY_F2 291
#define mjKEY_F3 292
#define mjKEY_F4 293
#define mjKEY_F5 294
#define mjKEY_F6 295
#define mjKEY_F7 296
#define mjKEY_F8 297
#define mjKEY_F9 298
#define mjKEY_F10 299
#define mjKEY_F11 300
#define mjKEY_F12 301
#define mjKEY_NUMPAD_0 320
#define mjKEY_NUMPAD_9 329
//---------------------------------- primitive types (mjt) -----------------------------------------
typedef enum mjtButton_ { // mouse button
mjBUTTON_NONE = 0, // no button
mjBUTTON_LEFT, // left button
mjBUTTON_RIGHT, // right button
mjBUTTON_MIDDLE // middle button
} mjtButton;
typedef enum mjtEvent_ { // mouse and keyboard event type
mjEVENT_NONE = 0, // no event
mjEVENT_MOVE, // mouse move
mjEVENT_PRESS, // mouse button press
mjEVENT_RELEASE, // mouse button release
mjEVENT_SCROLL, // scroll
mjEVENT_KEY, // key press
mjEVENT_RESIZE, // resize
mjEVENT_REDRAW, // redraw
mjEVENT_FILESDROP // files drop
} mjtEvent;
typedef enum mjtItem_ { // UI item type
mjITEM_END = -2, // end of definition list (not an item)
mjITEM_SECTION = -1, // section (not an item)
mjITEM_SEPARATOR = 0, // separator
mjITEM_STATIC, // static text
mjITEM_BUTTON, // button
// the rest have data pointer
mjITEM_CHECKINT, // check box, int value
mjITEM_CHECKBYTE, // check box, mjtByte value
mjITEM_RADIO, // radio group
mjITEM_RADIOLINE, // radio group, single line
mjITEM_SELECT, // selection box
mjITEM_SLIDERINT, // slider, int value
mjITEM_SLIDERNUM, // slider, mjtNum value
mjITEM_EDITINT, // editable array, int values
mjITEM_EDITNUM, // editable array, mjtNum values
mjITEM_EDITFLOAT, // editable array, float values
mjITEM_EDITTXT, // editable text
mjNITEM // number of item types
} mjtItem;
typedef enum mjtSection_ { // UI section state
mjSECT_CLOSED = 0, // closed state (regular section)
mjSECT_OPEN, // open state (regular section)
mjSECT_FIXED // fixed section: always open, no title
} mjtSection;
// predicate function: set enable/disable based on item category
typedef int (*mjfItemEnable)(int category, void* data);
//---------------------------------- mjuiState -----------------------------------------------------
struct mjuiState_ { // mouse and keyboard state
// constants set by user
int nrect; // number of rectangles used
mjrRect rect[mjMAXUIRECT]; // rectangles (index 0: entire window)
void* userdata; // pointer to user data (for callbacks)
// event type
int type; // (type mjtEvent)
// mouse buttons
int left; // is left button down
int right; // is right button down
int middle; // is middle button down
int doubleclick; // is last press a double click
int button; // which button was pressed (mjtButton)
double buttontime; // time of last button press
// mouse position
double x; // x position
double y; // y position
double dx; // x displacement
double dy; // y displacement
double sx; // x scroll
double sy; // y scroll
// keyboard
int control; // is control down
int shift; // is shift down
int alt; // is alt down
int key; // which key was pressed
double keytime; // time of last key press
// rectangle ownership and dragging
int mouserect; // which rectangle contains mouse
int dragrect; // which rectangle is dragged with mouse
int dragbutton; // which button started drag (mjtButton)
// files dropping (only valid when type == mjEVENT_FILESDROP)
int dropcount; // number of files dropped
const char** droppaths; // paths to files dropped
};
typedef struct mjuiState_ mjuiState;
//---------------------------------- mjuiThemeSpacing ----------------------------------------------
struct mjuiThemeSpacing_ { // UI visualization theme spacing
int total; // total width
int scroll; // scrollbar width
int label; // label width
int section; // section gap
int cornersect; // corner radius for section
int cornersep; // corner radius for separator
int itemside; // item side gap
int itemmid; // item middle gap
int itemver; // item vertical gap
int texthor; // text horizontal gap
int textver; // text vertical gap
int linescroll; // number of pixels to scroll
int samples; // number of multisamples
};
typedef struct mjuiThemeSpacing_ mjuiThemeSpacing;
//---------------------------------- mjuiThemeColor ------------------------------------------------
struct mjuiThemeColor_ { // UI visualization theme color
float master[3]; // master background
float thumb[3]; // scrollbar thumb
float secttitle[3]; // section title
float secttitle2[3]; // section title: bottom color
float secttitleuncheck[3]; // section title with unchecked box
float secttitleuncheck2[3]; // section title with unchecked box: bottom color
float secttitlecheck[3]; // section title with checked box
float secttitlecheck2[3]; // section title with checked box: bottom color
float sectfont[3]; // section font
float sectsymbol[3]; // section symbol
float sectpane[3]; // section pane
float separator[3]; // separator title
float separator2[3]; // separator title: bottom color
float shortcut[3]; // shortcut background
float fontactive[3]; // font active
float fontinactive[3]; // font inactive
float decorinactive[3]; // decor inactive
float decorinactive2[3]; // inactive slider color 2
float button[3]; // button
float check[3]; // check
float radio[3]; // radio
float select[3]; // select
float select2[3]; // select pane
float slider[3]; // slider
float slider2[3]; // slider color 2
float edit[3]; // edit
float edit2[3]; // edit invalid
float cursor[3]; // edit cursor
};
typedef struct mjuiThemeColor_ mjuiThemeColor;
//---------------------------------- mjuiItem ------------------------------------------------------
struct mjuiItemSingle_ { // check and button-related
int modifier; // 0: none, 1: control, 2: shift; 4: alt
int shortcut; // shortcut key; 0: undefined
};
struct mjuiItemMulti_ { // static, radio and select-related
int nelem; // number of elements in group
char name[mjMAXUIMULTI][mjMAXUINAME]; // element names
};
struct mjuiItemSlider_ { // slider-related
double range[2]; // slider range
double divisions; // number of range divisions
};
struct mjuiItemEdit_ { // edit-related
int nelem; // number of elements in list
double range[mjMAXUIEDIT][2]; // element range (min>=max: ignore)
};
struct mjuiItem_ { // UI item
// common properties
int type; // type (mjtItem)
char name[mjMAXUINAME]; // name
int state; // 0: disable, 1: enable, 2+: use predicate
void *pdata; // data pointer (type-specific)
int sectionid; // id of section containing item
int itemid; // id of item within section
int userid; // user-supplied id (for event handling)
// type-specific properties
union {
struct mjuiItemSingle_ single; // check and button
struct mjuiItemMulti_ multi; // static, radio and select
struct mjuiItemSlider_ slider; // slider
struct mjuiItemEdit_ edit; // edit
};
// internal
mjrRect rect; // rectangle occupied by item
int skip; // item skipped due to closed separator
};
typedef struct mjuiItem_ mjuiItem;
//---------------------------------- mjuiSection ---------------------------------------------------
struct mjuiSection_ { // UI section
// properties
char name[mjMAXUINAME]; // name
int state; // section state (mjtSection)
int modifier; // 0: none, 1: control, 2: shift; 4: alt
int shortcut; // shortcut key; 0: undefined
int checkbox; // 0: none, 1: unchecked, 2: checked
int nitem; // number of items in use
mjuiItem item[mjMAXUIITEM]; // preallocated array of items
// internal
mjrRect rtitle; // rectangle occupied by title
mjrRect rcontent; // rectangle occupied by content
int lastclick; // last mouse click over this section
};
typedef struct mjuiSection_ mjuiSection;
//---------------------------------- mjUI ----------------------------------------------------------
struct mjUI_ { // entire UI
// constants set by user
mjuiThemeSpacing spacing; // UI theme spacing
mjuiThemeColor color; // UI theme color
mjfItemEnable predicate; // callback to set item state programmatically
void* userdata; // pointer to user data (passed to predicate)
int rectid; // index of this ui rectangle in mjuiState
int auxid; // aux buffer index of this ui
int radiocol; // number of radio columns (0 defaults to 2)
// UI sizes (framebuffer units)
int width; // width
int height; // current height
int maxheight; // height when all sections open
int scroll; // scroll from top of UI
// mouse focus and count
int mousesect; // 0: none, -1: scroll, otherwise 1+section
int mouseitem; // item within section
int mousehelp; // help button down: print shortcuts
int mouseclicks; // number of mouse clicks over UI
int mousesectcheck; // 0: none, otherwise 1+section
// keyboard focus and edit
int editsect; // 0: none, otherwise 1+section
int edititem; // item within section
int editcursor; // cursor position
int editscroll; // horizontal scroll
char edittext[mjMAXUITEXT]; // current text
mjuiItem* editchanged; // pointer to changed edit in last mjui_event
// sections
int nsect; // number of sections in use
mjuiSection sect[mjMAXUISECT]; // preallocated array of sections
};
typedef struct mjUI_ mjUI;
//---------------------------------- mjuiDef -------------------------------------------------------
struct mjuiDef_ { // table passed to mjui_add()
int type; // type (mjtItem); -1: section
char name[mjMAXUINAME]; // name
int state; // state
void* pdata; // pointer to data
char other[mjMAXUITEXT]; // string with type-specific properties
int otherint; // int with type-specific properties
};
typedef struct mjuiDef_ mjuiDef;
#endif // MUJOCO_MJUI_H_

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// Copyright 2021 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.
#ifndef MUJOCO_MJVISUALIZE_H_
#define MUJOCO_MJVISUALIZE_H_
#include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#define mjNGROUP 6 // number of geom, site, joint, skin groups with visflags
#define mjMAXLIGHT 100 // maximum number of lights in a scene
#define mjMAXOVERLAY 500 // maximum number of characters in overlay text
#define mjMAXLINE 100 // maximum number of lines per plot
#define mjMAXLINEPNT 1001 // maximum number points per line
#define mjMAXPLANEGRID 200 // maximum number of grid divisions for plane
//---------------------------------- primitive types (mjt) -----------------------------------------
typedef enum mjtCatBit_ { // bitflags for mjvGeom category
mjCAT_STATIC = 1, // model elements in body 0
mjCAT_DYNAMIC = 2, // model elements in all other bodies
mjCAT_DECOR = 4, // decorative geoms
mjCAT_ALL = 7 // select all categories
} mjtCatBit;
typedef enum mjtMouse_ { // mouse interaction mode
mjMOUSE_NONE = 0, // no action
mjMOUSE_ROTATE_V, // rotate, vertical plane
mjMOUSE_ROTATE_H, // rotate, horizontal plane
mjMOUSE_MOVE_V, // move, vertical plane
mjMOUSE_MOVE_H, // move, horizontal plane
mjMOUSE_ZOOM, // zoom
mjMOUSE_MOVE_V_REL, // move, vertical plane, relative to target
mjMOUSE_MOVE_H_REL, // move, horizontal plane, relative to target
} mjtMouse;
typedef enum mjtPertBit_ { // mouse perturbations
mjPERT_TRANSLATE = 1, // translation
mjPERT_ROTATE = 2 // rotation
} mjtPertBit;
typedef enum mjtCamera_ { // abstract camera type
mjCAMERA_FREE = 0, // free camera
mjCAMERA_TRACKING, // tracking camera; uses trackbodyid
mjCAMERA_FIXED, // fixed camera; uses fixedcamid
mjCAMERA_USER // user is responsible for setting OpenGL camera
} mjtCamera;
typedef enum mjtLabel_ { // object labeling
mjLABEL_NONE = 0, // nothing
mjLABEL_BODY, // body labels
mjLABEL_JOINT, // joint labels
mjLABEL_GEOM, // geom labels
mjLABEL_SITE, // site labels
mjLABEL_CAMERA, // camera labels
mjLABEL_LIGHT, // light labels
mjLABEL_TENDON, // tendon labels
mjLABEL_ACTUATOR, // actuator labels
mjLABEL_CONSTRAINT, // constraint labels
mjLABEL_FLEX, // flex labels
mjLABEL_SKIN, // skin labels
mjLABEL_SELECTION, // selected object
mjLABEL_SELPNT, // coordinates of selection point
mjLABEL_CONTACTPOINT, // contact information
mjLABEL_CONTACTFORCE, // magnitude of contact force
mjLABEL_ISLAND, // id of island
mjNLABEL // number of label types
} mjtLabel;
typedef enum mjtFrame_ { // frame visualization
mjFRAME_NONE = 0, // no frames
mjFRAME_BODY, // body frames
mjFRAME_GEOM, // geom frames
mjFRAME_SITE, // site frames
mjFRAME_CAMERA, // camera frames
mjFRAME_LIGHT, // light frames
mjFRAME_CONTACT, // contact frames
mjFRAME_WORLD, // world frame
mjNFRAME // number of visualization frames
} mjtFrame;
typedef enum mjtVisFlag_ { // flags enabling model element visualization
mjVIS_CONVEXHULL = 0, // mesh convex hull
mjVIS_TEXTURE, // textures
mjVIS_JOINT, // joints
mjVIS_CAMERA, // cameras
mjVIS_ACTUATOR, // actuators
mjVIS_ACTIVATION, // activations
mjVIS_LIGHT, // lights
mjVIS_TENDON, // tendons
mjVIS_RANGEFINDER, // rangefinder sensors
mjVIS_CONSTRAINT, // point constraints
mjVIS_INERTIA, // equivalent inertia boxes
mjVIS_SCLINERTIA, // scale equivalent inertia boxes with mass
mjVIS_PERTFORCE, // perturbation force
mjVIS_PERTOBJ, // perturbation object
mjVIS_CONTACTPOINT, // contact points
mjVIS_ISLAND, // constraint islands
mjVIS_CONTACTFORCE, // contact force
mjVIS_CONTACTSPLIT, // split contact force into normal and tangent
mjVIS_TRANSPARENT, // make dynamic geoms more transparent
mjVIS_AUTOCONNECT, // auto connect joints and body coms
mjVIS_COM, // center of mass
mjVIS_SELECT, // selection point
mjVIS_STATIC, // static bodies
mjVIS_SKIN, // skin
mjVIS_FLEXVERT, // flex vertices
mjVIS_FLEXEDGE, // flex edges
mjVIS_FLEXFACE, // flex element faces
mjVIS_FLEXSKIN, // flex smooth skin (disables the rest)
mjVIS_BODYBVH, // body bounding volume hierarchy
mjVIS_MESHBVH, // mesh bounding volume hierarchy
mjVIS_SDFITER, // iterations of SDF gradient descent
mjNVISFLAG // number of visualization flags
} mjtVisFlag;
typedef enum mjtRndFlag_ { // flags enabling rendering effects
mjRND_SHADOW = 0, // shadows
mjRND_WIREFRAME, // wireframe
mjRND_REFLECTION, // reflections
mjRND_ADDITIVE, // additive transparency
mjRND_SKYBOX, // skybox
mjRND_FOG, // fog
mjRND_HAZE, // haze
mjRND_SEGMENT, // segmentation with random color
mjRND_IDCOLOR, // segmentation with segid+1 color
mjRND_CULL_FACE, // cull backward faces
mjNRNDFLAG // number of rendering flags
} mjtRndFlag;
typedef enum mjtStereo_ { // type of stereo rendering
mjSTEREO_NONE = 0, // no stereo; use left eye only
mjSTEREO_QUADBUFFERED, // quad buffered; revert to side-by-side if no hardware support
mjSTEREO_SIDEBYSIDE // side-by-side
} mjtStereo;
//---------------------------------- mjvPerturb ----------------------------------------------------
struct mjvPerturb_ { // object selection and perturbation
int select; // selected body id; non-positive: none
int flexselect; // selected flex id; negative: none
int skinselect; // selected skin id; negative: none
int active; // perturbation bitmask (mjtPertBit)
int active2; // secondary perturbation bitmask (mjtPertBit)
mjtNum refpos[3]; // reference position for selected object
mjtNum refquat[4]; // reference orientation for selected object
mjtNum refselpos[3]; // reference position for selection point
mjtNum localpos[3]; // selection point in object coordinates
mjtNum localmass; // spatial inertia at selection point
mjtNum scale; // relative mouse motion-to-space scaling (set by initPerturb)
};
typedef struct mjvPerturb_ mjvPerturb;
//---------------------------------- mjvCamera -----------------------------------------------------
struct mjvCamera_ { // abstract camera
// type and ids
int type; // camera type (mjtCamera)
int fixedcamid; // fixed camera id
int trackbodyid; // body id to track
// abstract camera pose specification
mjtNum lookat[3]; // lookat point
mjtNum distance; // distance to lookat point or tracked body
mjtNum azimuth; // camera azimuth (deg)
mjtNum elevation; // camera elevation (deg)
// orthographic / perspective
int orthographic; // 0: perspective; 1: orthographic
};
typedef struct mjvCamera_ mjvCamera;
//---------------------------------- mjvGLCamera ---------------------------------------------------
struct mjvGLCamera_ { // OpenGL camera
// camera frame
float pos[3]; // position
float forward[3]; // forward direction
float up[3]; // up direction
// camera projection
float frustum_center; // hor. center (left,right set to match aspect)
float frustum_width; // width (not used for rendering)
float frustum_bottom; // bottom
float frustum_top; // top
float frustum_near; // near
float frustum_far; // far
// orthographic / perspective
int orthographic; // 0: perspective; 1: orthographic
};
typedef struct mjvGLCamera_ mjvGLCamera;
//---------------------------------- mjvGeom -------------------------------------------------------
struct mjvGeom_ { // abstract geom
// type info
int type; // geom type (mjtGeom)
int dataid; // mesh, hfield or plane id; -1: none; mesh: 2*id or 2*id+1 (hull)
int objtype; // mujoco object type; mjOBJ_UNKNOWN for decor
int objid; // mujoco object id; -1 for decor
int category; // visual category
int matid; // material id; -1: no textured material
int texcoord; // mesh or flex geom has texture coordinates
int segid; // segmentation id; -1: not shown
// spatial transform
float size[3]; // size parameters
float pos[3]; // Cartesian position
float mat[9]; // Cartesian orientation
// material properties
float rgba[4]; // color and transparency
float emission; // emission coef
float specular; // specular coef
float shininess; // shininess coef
float reflectance; // reflectance coef
char label[100]; // text label
// transparency rendering (set internally)
float camdist; // distance to camera (used by sorter)
float modelrbound; // geom rbound from model, 0 if not model geom
mjtByte transparent; // treat geom as transparent
};
typedef struct mjvGeom_ mjvGeom;
//---------------------------------- mjvLight ------------------------------------------------------
struct mjvLight_ { // OpenGL light
int id; // light id, -1 for headlight
float pos[3]; // position rel. to body frame
float dir[3]; // direction rel. to body frame
int type; // type (mjtLightType)
int texid; // texture id for image lights
float attenuation[3]; // OpenGL attenuation (quadratic model)
float cutoff; // OpenGL cutoff
float exponent; // OpenGL exponent
float ambient[3]; // ambient rgb (alpha=1)
float diffuse[3]; // diffuse rgb (alpha=1)
float specular[3]; // specular rgb (alpha=1)
mjtByte headlight; // headlight
mjtByte castshadow; // does light cast shadows
float bulbradius; // bulb radius for soft shadows
float intensity; // intensity, in candelas
float range; // range of effectiveness
};
typedef struct mjvLight_ mjvLight;
//---------------------------------- mjvOption -----------------------------------------------------
struct mjvOption_ { // abstract visualization options
int label; // what objects to label (mjtLabel)
int frame; // which frame to show (mjtFrame)
mjtByte geomgroup[mjNGROUP]; // geom visualization by group
mjtByte sitegroup[mjNGROUP]; // site visualization by group
mjtByte jointgroup[mjNGROUP]; // joint visualization by group
mjtByte tendongroup[mjNGROUP]; // tendon visualization by group
mjtByte actuatorgroup[mjNGROUP]; // actuator visualization by group
mjtByte flexgroup[mjNGROUP]; // flex visualization by group
mjtByte skingroup[mjNGROUP]; // skin visualization by group
mjtByte flags[mjNVISFLAG]; // visualization flags (indexed by mjtVisFlag)
int bvh_depth; // depth of the bounding volume hierarchy to be visualized
int flex_layer; // element layer to be visualized for 3D flex
};
typedef struct mjvOption_ mjvOption;
//---------------------------------- mjvScene ------------------------------------------------------
struct mjvScene_ { // abstract scene passed to OpenGL renderer
// abstract geoms
int maxgeom; // size of allocated geom buffer
int ngeom; // number of geoms currently in buffer
mjvGeom* geoms; // buffer for geoms (ngeom)
int* geomorder; // buffer for ordering geoms by distance to camera (ngeom)
// flex data
int nflex; // number of flexes
int* flexedgeadr; // address of flex edges (nflex)
int* flexedgenum; // number of edges in flex (nflex)
int* flexvertadr; // address of flex vertices (nflex)
int* flexvertnum; // number of vertices in flex (nflex)
int* flexfaceadr; // address of flex faces (nflex)
int* flexfacenum; // number of flex faces allocated (nflex)
int* flexfaceused; // number of flex faces currently in use (nflex)
int* flexedge; // flex edge data (2*nflexedge)
float* flexvert; // flex vertices (3*nflexvert)
float* flexface; // flex faces vertices (9*sum(flexfacenum))
float* flexnormal; // flex face normals (9*sum(flexfacenum))
float* flextexcoord; // flex face texture coordinates (6*sum(flexfacenum))
mjtByte flexvertopt; // copy of mjVIS_FLEXVERT mjvOption flag
mjtByte flexedgeopt; // copy of mjVIS_FLEXEDGE mjvOption flag
mjtByte flexfaceopt; // copy of mjVIS_FLEXFACE mjvOption flag
mjtByte flexskinopt; // copy of mjVIS_FLEXSKIN mjvOption flag
// skin data
int nskin; // number of skins
int* skinfacenum; // number of faces in skin (nskin)
int* skinvertadr; // address of skin vertices (nskin)
int* skinvertnum; // number of vertices in skin (nskin)
float* skinvert; // skin vertex data (3*nskinvert)
float* skinnormal; // skin normal data (3*nskinvert)
// OpenGL lights
int nlight; // number of lights currently in buffer
mjvLight lights[mjMAXLIGHT]; // buffer for lights (nlight)
// OpenGL cameras
mjvGLCamera camera[2]; // left and right camera
// OpenGL model transformation
mjtByte enabletransform; // enable model transformation
float translate[3]; // model translation
float rotate[4]; // model quaternion rotation
float scale; // model scaling
// OpenGL rendering effects
int stereo; // stereoscopic rendering (mjtStereo)
mjtByte flags[mjNRNDFLAG]; // rendering flags (indexed by mjtRndFlag)
// framing
int framewidth; // frame pixel width; 0: disable framing
float framergb[3]; // frame color
int status; // status; 0: ok, 1: geoms exhausted
};
typedef struct mjvScene_ mjvScene;
//---------------------------------- mjvFigure -----------------------------------------------------
struct mjvFigure_ { // abstract 2D figure passed to OpenGL renderer
// enable flags
int flg_legend; // show legend
int flg_ticklabel[2]; // show grid tick labels (x,y)
int flg_extend; // automatically extend axis ranges to fit data
int flg_barplot; // isolated line segments (i.e. GL_LINES)
int flg_selection; // vertical selection line
int flg_symmetric; // symmetric y-axis
// style settings
float linewidth; // line width
float gridwidth; // grid line width
int gridsize[2]; // number of grid points in (x,y)
float gridrgb[3]; // grid line rgb
float figurergba[4]; // figure color and alpha
float panergba[4]; // pane color and alpha
float legendrgba[4]; // legend color and alpha
float textrgb[3]; // text color
float linergb[mjMAXLINE][3]; // line colors
float range[2][2]; // axis ranges; (min>=max) automatic
char xformat[20]; // x-tick label format for sprintf
char yformat[20]; // y-tick label format for sprintf
char minwidth[20]; // string used to determine min y-tick width
// text labels
char title[1000]; // figure title; subplots separated with 2+ spaces
char xlabel[100]; // x-axis label
char linename[mjMAXLINE][100]; // line names for legend
// dynamic settings
int legendoffset; // number of lines to offset legend
int subplot; // selected subplot (for title rendering)
int highlight[2]; // if point is in legend rect, highlight line
int highlightid; // if id>=0 and no point, highlight id
float selection; // selection line x-value
// line data
int linepnt[mjMAXLINE]; // number of points in line; (0) disable
float linedata[mjMAXLINE][2*mjMAXLINEPNT]; // line data (x,y)
// output from renderer
int xaxispixel[2]; // range of x-axis in pixels
int yaxispixel[2]; // range of y-axis in pixels
float xaxisdata[2]; // range of x-axis in data units
float yaxisdata[2]; // range of y-axis in data units
};
typedef struct mjvFigure_ mjvFigure;
#endif // MUJOCO_MJVISUALIZE_H_

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// Copyright 2021 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.
#ifndef MUJOCO_MJXMACRO_H_
#define MUJOCO_MJXMACRO_H_
//-------------------------------- mjOption --------------------------------------------------------
// scalar fields of mjOption
#define MJOPTION_FLOATS \
X( mjtNum, timestep ) \
X( mjtNum, impratio ) \
X( mjtNum, tolerance ) \
X( mjtNum, ls_tolerance ) \
X( mjtNum, noslip_tolerance ) \
X( mjtNum, ccd_tolerance ) \
X( mjtNum, density ) \
X( mjtNum, viscosity ) \
X( mjtNum, o_margin )
#define MJOPTION_INTS \
X( int, integrator ) \
X( int, cone ) \
X( int, jacobian ) \
X( int, solver ) \
X( int, iterations ) \
X( int, ls_iterations ) \
X( int, noslip_iterations ) \
X( int, ccd_iterations ) \
X( int, disableflags ) \
X( int, enableflags ) \
X( int, disableactuator ) \
X( int, sdf_initpoints ) \
X( int, sdf_iterations )
#define MJOPTION_SCALARS \
MJOPTION_FLOATS \
MJOPTION_INTS
// vector fields of mjOption
#define MJOPTION_VECTORS \
X( gravity, 3 ) \
X( wind, 3 ) \
X( magnetic, 3 ) \
X( o_solref, mjNREF ) \
X( o_solimp, mjNIMP ) \
X( o_friction, 5 )
//-------------------------------- mjModel ---------------------------------------------------------
// int fields of mjModel
#define MJMODEL_INTS \
X( nq ) \
X( nv ) \
X( nu ) \
X( na ) \
X( nbody ) \
X( nbvh ) \
X( nbvhstatic ) \
X( nbvhdynamic ) \
X( noct ) \
X( njnt ) \
X( ntree ) \
X( nM ) \
X( nB ) \
X( nC ) \
X( nD ) \
X( ngeom ) \
X( nsite ) \
X( ncam ) \
X( nlight ) \
X( nflex ) \
X( nflexnode ) \
X( nflexvert ) \
X( nflexedge ) \
X( nflexelem ) \
X( nflexelemdata ) \
X( nflexelemedge ) \
X( nflexshelldata ) \
X( nflexevpair ) \
X( nflextexcoord ) \
X( nmesh ) \
X( nmeshvert ) \
X( nmeshnormal ) \
X( nmeshtexcoord ) \
X( nmeshface ) \
X( nmeshgraph ) \
X( nmeshpoly ) \
X( nmeshpolyvert ) \
X( nmeshpolymap ) \
X( nskin ) \
X( nskinvert ) \
X( nskintexvert ) \
X( nskinface ) \
X( nskinbone ) \
X( nskinbonevert ) \
X( nhfield ) \
X( nhfielddata ) \
X( ntex ) \
X( ntexdata ) \
X( nmat ) \
X( npair ) \
X( nexclude ) \
X( neq ) \
X( ntendon ) \
X( nwrap ) \
X( nsensor ) \
X( nnumeric ) \
X( nnumericdata ) \
X( ntext ) \
X( ntextdata ) \
X( ntuple ) \
X( ntupledata ) \
X( nkey ) \
X( nmocap ) \
X( nplugin ) \
X( npluginattr ) \
X( nuser_body ) \
X( nuser_jnt ) \
X( nuser_geom ) \
X( nuser_site ) \
X( nuser_cam ) \
X( nuser_tendon ) \
X( nuser_actuator ) \
X( nuser_sensor ) \
X( nnames ) \
X( npaths ) \
X( nnames_map ) \
X( nJmom ) \
X( ngravcomp ) \
X( nemax ) \
X( njmax ) \
X( nconmax ) \
X( nuserdata ) \
X( nsensordata ) \
X( npluginstate ) \
X( narena ) \
X( nbuffer )
/* nbuffer needs to be the final field */
// define symbols needed in MJMODEL_POINTERS (corresponding to number of columns)
#define MJMODEL_POINTERS_PREAMBLE( m ) \
int nuser_body = m->nuser_body; \
int nuser_jnt = m->nuser_jnt; \
int nuser_geom = m->nuser_geom; \
int nuser_site = m->nuser_site; \
int nuser_cam = m->nuser_cam; \
int nuser_tendon = m->nuser_tendon; \
int nuser_actuator = m->nuser_actuator; \
int nuser_sensor = m->nuser_sensor; \
int nq = m->nq; \
int nv = m->nv; \
int na = m->na; \
int nu = m->nu; \
int nmocap = m->nmocap;
// macro for annotating that an array size in an X macro is a member of mjModel
// by default this macro does nothing, but users can redefine it as necessary
#define MJ_M(n) n
// pointer fields of mjModel
// XNV means that the field is not required to construct mjvScene
// (by default we define XNV to be the same as X)
#define MJMODEL_POINTERS_BODY \
X ( int, body_parentid, nbody, 1 ) \
X ( int, body_rootid, nbody, 1 ) \
X ( int, body_weldid, nbody, 1 ) \
X ( int, body_mocapid, nbody, 1 ) \
X ( int, body_jntnum, nbody, 1 ) \
X ( int, body_jntadr, nbody, 1 ) \
X ( int, body_dofnum, nbody, 1 ) \
X ( int, body_dofadr, nbody, 1 ) \
X ( int, body_treeid, nbody, 1 ) \
X ( int, body_geomnum, nbody, 1 ) \
X ( int, body_geomadr, nbody, 1 ) \
X ( mjtByte, body_simple, nbody, 1 ) \
X ( mjtByte, body_sameframe, nbody, 1 ) \
X ( mjtNum, body_pos, nbody, 3 ) \
X ( mjtNum, body_quat, nbody, 4 ) \
X ( mjtNum, body_ipos, nbody, 3 ) \
X ( mjtNum, body_iquat, nbody, 4 ) \
X ( mjtNum, body_mass, nbody, 1 ) \
X ( mjtNum, body_subtreemass, nbody, 1 ) \
X ( mjtNum, body_inertia, nbody, 3 ) \
X ( mjtNum, body_invweight0, nbody, 2 ) \
X ( mjtNum, body_gravcomp, nbody, 1 ) \
X ( mjtNum, body_margin, nbody, 1 ) \
X ( mjtNum, body_user, nbody, MJ_M(nuser_body) ) \
X ( int, body_plugin, nbody, 1 ) \
X ( int, body_contype, nbody, 1 ) \
X ( int, body_conaffinity, nbody, 1 ) \
X ( int, body_bvhadr, nbody, 1 ) \
X ( int, body_bvhnum, nbody, 1 )
#define MJMODEL_POINTERS_JOINT \
X ( int, jnt_type, njnt, 1 ) \
X ( int, jnt_qposadr, njnt, 1 ) \
X ( int, jnt_dofadr, njnt, 1 ) \
X ( int, jnt_bodyid, njnt, 1 ) \
X ( int, jnt_group, njnt, 1 ) \
X ( mjtByte, jnt_limited, njnt, 1 ) \
X ( mjtByte, jnt_actfrclimited, njnt, 1 ) \
X ( mjtByte, jnt_actgravcomp, njnt, 1 ) \
X ( mjtNum, jnt_solref, njnt, mjNREF ) \
X ( mjtNum, jnt_solimp, njnt, mjNIMP ) \
X ( mjtNum, jnt_pos, njnt, 3 ) \
X ( mjtNum, jnt_axis, njnt, 3 ) \
X ( mjtNum, jnt_stiffness, njnt, 1 ) \
X ( mjtNum, jnt_range, njnt, 2 ) \
X ( mjtNum, jnt_actfrcrange, njnt, 2 ) \
X ( mjtNum, jnt_margin, njnt, 1 ) \
X ( mjtNum, jnt_user, njnt, MJ_M(nuser_jnt) )
#define MJMODEL_POINTERS_DOF \
X ( int, dof_bodyid, nv, 1 ) \
X ( int, dof_jntid, nv, 1 ) \
X ( int, dof_parentid, nv, 1 ) \
X ( int, dof_treeid, nv, 1 ) \
X ( int, dof_Madr, nv, 1 ) \
X ( int, dof_simplenum, nv, 1 ) \
X ( mjtNum, dof_solref, nv, mjNREF ) \
X ( mjtNum, dof_solimp, nv, mjNIMP ) \
X ( mjtNum, dof_frictionloss, nv, 1 ) \
X ( mjtNum, dof_armature, nv, 1 ) \
X ( mjtNum, dof_damping, nv, 1 ) \
X ( mjtNum, dof_invweight0, nv, 1 ) \
X ( mjtNum, dof_M0, nv, 1 )
#define MJMODEL_POINTERS_GEOM \
X ( int, geom_type, ngeom, 1 ) \
X ( int, geom_contype, ngeom, 1 ) \
X ( int, geom_conaffinity, ngeom, 1 ) \
X ( int, geom_condim, ngeom, 1 ) \
X ( int, geom_bodyid, ngeom, 1 ) \
X ( int, geom_dataid, ngeom, 1 ) \
X ( int, geom_matid, ngeom, 1 ) \
X ( int, geom_group, ngeom, 1 ) \
X ( int, geom_priority, ngeom, 1 ) \
X ( int, geom_plugin, ngeom, 1 ) \
X ( mjtByte, geom_sameframe, ngeom, 1 ) \
X ( mjtNum, geom_solmix, ngeom, 1 ) \
X ( mjtNum, geom_solref, ngeom, mjNREF ) \
X ( mjtNum, geom_solimp, ngeom, mjNIMP ) \
X ( mjtNum, geom_size, ngeom, 3 ) \
X ( mjtNum, geom_aabb, ngeom, 6 ) \
X ( mjtNum, geom_rbound, ngeom, 1 ) \
X ( mjtNum, geom_pos, ngeom, 3 ) \
X ( mjtNum, geom_quat, ngeom, 4 ) \
X ( mjtNum, geom_friction, ngeom, 3 ) \
X ( mjtNum, geom_margin, ngeom, 1 ) \
X ( mjtNum, geom_gap, ngeom, 1 ) \
XNV ( mjtNum, geom_fluid, ngeom, mjNFLUID ) \
X ( mjtNum, geom_user, ngeom, MJ_M(nuser_geom) ) \
X ( float, geom_rgba, ngeom, 4 )
#define MJMODEL_POINTERS_SITE \
X ( int, site_type, nsite, 1 ) \
X ( int, site_bodyid, nsite, 1 ) \
X ( int, site_matid, nsite, 1 ) \
X ( int, site_group, nsite, 1 ) \
X ( mjtByte, site_sameframe, nsite, 1 ) \
X ( mjtNum, site_size, nsite, 3 ) \
X ( mjtNum, site_pos, nsite, 3 ) \
X ( mjtNum, site_quat, nsite, 4 ) \
X ( mjtNum, site_user, nsite, MJ_M(nuser_site) ) \
X ( float, site_rgba, nsite, 4 )
#define MJMODEL_POINTERS_CAMERA \
X ( int, cam_mode, ncam, 1 ) \
X ( int, cam_bodyid, ncam, 1 ) \
X ( int, cam_targetbodyid, ncam, 1 ) \
X ( mjtNum, cam_pos, ncam, 3 ) \
X ( mjtNum, cam_quat, ncam, 4 ) \
X ( mjtNum, cam_poscom0, ncam, 3 ) \
X ( mjtNum, cam_pos0, ncam, 3 ) \
X ( mjtNum, cam_mat0, ncam, 9 ) \
X ( int, cam_orthographic, ncam, 1 ) \
X ( mjtNum, cam_fovy, ncam, 1 ) \
X ( mjtNum, cam_ipd, ncam, 1 ) \
X ( int, cam_resolution, ncam, 2 ) \
X ( float, cam_sensorsize, ncam, 2 ) \
X ( float, cam_intrinsic, ncam, 4 ) \
X ( mjtNum, cam_user, ncam, MJ_M(nuser_cam) )
#define MJMODEL_POINTERS_LIGHT \
X ( int, light_mode, nlight, 1 ) \
X ( int, light_bodyid, nlight, 1 ) \
X ( int, light_targetbodyid, nlight, 1 ) \
X ( int, light_type, nlight, 1 ) \
X ( int, light_texid, nlight, 1 ) \
X ( mjtByte, light_castshadow, nlight, 1 ) \
X ( float, light_bulbradius, nlight, 1 ) \
X ( float, light_intensity, nlight, 1 ) \
X ( float, light_range, nlight, 1 ) \
X ( mjtByte, light_active, nlight, 1 ) \
X ( mjtNum, light_pos, nlight, 3 ) \
X ( mjtNum, light_dir, nlight, 3 ) \
X ( mjtNum, light_poscom0, nlight, 3 ) \
X ( mjtNum, light_pos0, nlight, 3 ) \
X ( mjtNum, light_dir0, nlight, 3 ) \
X ( float, light_attenuation, nlight, 3 ) \
X ( float, light_cutoff, nlight, 1 ) \
X ( float, light_exponent, nlight, 1 ) \
X ( float, light_ambient, nlight, 3 ) \
X ( float, light_diffuse, nlight, 3 ) \
X ( float, light_specular, nlight, 3 )
#define MJMODEL_POINTERS_FLEX \
X ( int, flex_contype, nflex, 1 ) \
X ( int, flex_conaffinity, nflex, 1 ) \
X ( int, flex_condim, nflex, 1 ) \
X ( int, flex_priority, nflex, 1 ) \
X ( mjtNum, flex_solmix, nflex, 1 ) \
X ( mjtNum, flex_solref, nflex, mjNREF ) \
X ( mjtNum, flex_solimp, nflex, mjNIMP ) \
X ( mjtNum, flex_friction, nflex, 3 ) \
X ( mjtNum, flex_margin, nflex, 1 ) \
X ( mjtNum, flex_gap, nflex, 1 ) \
X ( mjtByte, flex_internal, nflex, 1 ) \
X ( int, flex_selfcollide, nflex, 1 ) \
X ( int, flex_activelayers, nflex, 1 ) \
X ( int, flex_passive, nflex, 1 ) \
X ( int, flex_dim, nflex, 1 ) \
X ( int, flex_matid, nflex, 1 ) \
X ( int, flex_group, nflex, 1 ) \
X ( int, flex_interp, nflex, 1 ) \
X ( int, flex_nodeadr, nflex, 1 ) \
X ( int, flex_nodenum, nflex, 1 ) \
X ( int, flex_vertadr, nflex, 1 ) \
X ( int, flex_vertnum, nflex, 1 ) \
X ( int, flex_edgeadr, nflex, 1 ) \
X ( int, flex_edgenum, nflex, 1 ) \
X ( int, flex_elemadr, nflex, 1 ) \
X ( int, flex_elemnum, nflex, 1 ) \
X ( int, flex_elemdataadr, nflex, 1 ) \
X ( int, flex_elemedgeadr, nflex, 1 ) \
X ( int, flex_shellnum, nflex, 1 ) \
X ( int, flex_shelldataadr, nflex, 1 ) \
X ( int, flex_evpairadr, nflex, 1 ) \
X ( int, flex_evpairnum, nflex, 1 ) \
X ( int, flex_texcoordadr, nflex, 1 ) \
X ( int, flex_nodebodyid, nflexnode, 1 ) \
X ( int, flex_vertbodyid, nflexvert, 1 ) \
X ( int, flex_edge, nflexedge, 2 ) \
X ( int, flex_edgeflap, nflexedge, 2 ) \
X ( int, flex_elem, nflexelemdata, 1 ) \
X ( int, flex_elemtexcoord, nflexelemdata, 1 ) \
X ( int, flex_elemedge, nflexelemedge, 1 ) \
X ( int, flex_elemlayer, nflexelem, 1 ) \
X ( int, flex_shell, nflexshelldata,1 ) \
X ( int, flex_evpair, nflexevpair, 2 ) \
X ( mjtNum, flex_vert, nflexvert, 3 ) \
X ( mjtNum, flex_vert0, nflexvert, 3 ) \
X ( mjtNum, flex_node, nflexnode, 3 ) \
X ( mjtNum, flex_node0, nflexnode, 3 ) \
X ( mjtNum, flexedge_length0, nflexedge, 1 ) \
X ( mjtNum, flexedge_invweight0, nflexedge, 1 ) \
X ( mjtNum, flex_radius, nflex, 1 ) \
X ( mjtNum, flex_stiffness, nflexelem, 21 ) \
X ( mjtNum, flex_bending, nflexedge, 17 ) \
X ( mjtNum, flex_damping, nflex, 1 ) \
X ( mjtNum, flex_edgestiffness, nflex, 1 ) \
X ( mjtNum, flex_edgedamping, nflex, 1 ) \
X ( mjtByte, flex_edgeequality, nflex, 1 ) \
X ( mjtByte, flex_rigid, nflex, 1 ) \
X ( mjtByte, flexedge_rigid, nflexedge, 1 ) \
X ( mjtByte, flex_centered, nflex, 1 ) \
X ( mjtByte, flex_flatskin, nflex, 1 ) \
X ( int, flex_bvhadr, nflex, 1 ) \
X ( int, flex_bvhnum, nflex, 1 ) \
X ( float, flex_rgba, nflex, 4 ) \
X ( float, flex_texcoord, nflextexcoord, 2 )
#define MJMODEL_POINTERS_MESH \
X ( int, mesh_vertadr, nmesh, 1 ) \
X ( int, mesh_vertnum, nmesh, 1 ) \
X ( int, mesh_faceadr, nmesh, 1 ) \
X ( int, mesh_facenum, nmesh, 1 ) \
X ( int, mesh_bvhadr, nmesh, 1 ) \
X ( int, mesh_bvhnum, nmesh, 1 ) \
X ( int, mesh_octadr, nmesh, 1 ) \
X ( int, mesh_octnum, nmesh, 1 ) \
X ( int, mesh_normaladr, nmesh, 1 ) \
X ( int, mesh_normalnum, nmesh, 1 ) \
X ( int, mesh_texcoordadr, nmesh, 1 ) \
X ( int, mesh_texcoordnum, nmesh, 1 ) \
X ( int, mesh_graphadr, nmesh, 1 ) \
XNV ( float, mesh_vert, nmeshvert, 3 ) \
XNV ( float, mesh_normal, nmeshnormal, 3 ) \
XNV ( float, mesh_texcoord, nmeshtexcoord, 2 ) \
XNV ( int, mesh_face, nmeshface, 3 ) \
XNV ( int, mesh_facenormal, nmeshface, 3 ) \
XNV ( int, mesh_facetexcoord, nmeshface, 3 ) \
XNV ( int, mesh_graph, nmeshgraph, 1 ) \
X ( mjtNum, mesh_scale, nmesh, 3 ) \
X ( mjtNum, mesh_pos, nmesh, 3 ) \
X ( mjtNum, mesh_quat, nmesh, 4 ) \
X ( int, mesh_pathadr, nmesh, 1 ) \
XNV ( int, mesh_polynum, nmesh, 1 ) \
XNV ( int, mesh_polyadr, nmesh, 1 ) \
XNV ( mjtNum, mesh_polynormal, nmeshpoly, 3 ) \
XNV ( int, mesh_polyvertadr, nmeshpoly, 1 ) \
XNV ( int, mesh_polyvertnum, nmeshpoly, 1 ) \
XNV ( int, mesh_polyvert, nmeshpolyvert, 1 ) \
XNV ( int, mesh_polymapadr, nmeshvert, 1 ) \
XNV ( int, mesh_polymapnum, nmeshvert, 1 ) \
XNV ( int, mesh_polymap, nmeshpolymap, 1 )
#define MJMODEL_POINTERS_SKIN \
X ( int, skin_matid, nskin, 1 ) \
X ( int, skin_group, nskin, 1 ) \
X ( float, skin_rgba, nskin, 4 ) \
X ( float, skin_inflate, nskin, 1 ) \
X ( int, skin_vertadr, nskin, 1 ) \
X ( int, skin_vertnum, nskin, 1 ) \
X ( int, skin_texcoordadr, nskin, 1 ) \
X ( int, skin_faceadr, nskin, 1 ) \
X ( int, skin_facenum, nskin, 1 ) \
X ( int, skin_boneadr, nskin, 1 ) \
X ( int, skin_bonenum, nskin, 1 ) \
X ( float, skin_vert, nskinvert, 3 ) \
X ( float, skin_texcoord, nskintexvert, 2 ) \
X ( int, skin_face, nskinface, 3 ) \
X ( int, skin_bonevertadr, nskinbone, 1 ) \
X ( int, skin_bonevertnum, nskinbone, 1 ) \
X ( float, skin_bonebindpos, nskinbone, 3 ) \
X ( float, skin_bonebindquat, nskinbone, 4 ) \
X ( int, skin_bonebodyid, nskinbone, 1 ) \
X ( int, skin_bonevertid, nskinbonevert, 1 ) \
X ( float, skin_bonevertweight, nskinbonevert, 1 ) \
X ( int, skin_pathadr, nskin, 1 )
#define MJMODEL_POINTERS_HFIELD \
X ( mjtNum, hfield_size, nhfield, 4 ) \
X ( int, hfield_nrow, nhfield, 1 ) \
X ( int, hfield_ncol, nhfield, 1 ) \
X ( int, hfield_adr, nhfield, 1 ) \
XNV ( float, hfield_data, nhfielddata, 1 ) \
X ( int, hfield_pathadr, nhfield, 1 )
#define MJMODEL_POINTERS_TEXTURE \
X ( int, tex_type, ntex, 1 ) \
X ( int, tex_colorspace, ntex, 1 ) \
X ( int, tex_height, ntex, 1 ) \
X ( int, tex_width, ntex, 1 ) \
X ( int, tex_nchannel, ntex, 1 ) \
X ( int, tex_adr, ntex, 1 ) \
XNV ( mjtByte, tex_data, ntexdata, 1 ) \
X ( int, tex_pathadr, ntex, 1 )
#define MJMODEL_POINTERS_MATERIAL \
X ( int, mat_texid, nmat, mjNTEXROLE ) \
X ( mjtByte, mat_texuniform, nmat, 1 ) \
X ( float, mat_texrepeat, nmat, 2 ) \
X ( float, mat_emission, nmat, 1 ) \
X ( float, mat_specular, nmat, 1 ) \
X ( float, mat_shininess, nmat, 1 ) \
X ( float, mat_reflectance, nmat, 1 ) \
X ( float, mat_metallic, nmat, 1 ) \
X ( float, mat_roughness, nmat, 1 ) \
X ( float, mat_rgba, nmat, 4 )
#define MJMODEL_POINTERS_PAIR \
X ( int, pair_dim, npair, 1 ) \
X ( int, pair_geom1, npair, 1 ) \
X ( int, pair_geom2, npair, 1 ) \
X ( int, pair_signature, npair, 1 ) \
X ( mjtNum, pair_solref, npair, mjNREF ) \
X ( mjtNum, pair_solreffriction, npair, mjNREF ) \
X ( mjtNum, pair_solimp, npair, mjNIMP ) \
X ( mjtNum, pair_margin, npair, 1 ) \
X ( mjtNum, pair_gap, npair, 1 ) \
X ( mjtNum, pair_friction, npair, 5 )
#define MJMODEL_POINTERS_EXCLUDE \
X ( int, exclude_signature, nexclude, 1 )
#define MJMODEL_POINTERS_EQUALITY \
X ( int, eq_type, neq, 1 ) \
X ( int, eq_obj1id, neq, 1 ) \
X ( int, eq_obj2id, neq, 1 ) \
X ( int, eq_objtype, neq, 1 ) \
X ( mjtByte, eq_active0, neq, 1 ) \
X ( mjtNum, eq_solref, neq, mjNREF ) \
X ( mjtNum, eq_solimp, neq, mjNIMP ) \
X ( mjtNum, eq_data, neq, mjNEQDATA )
#define MJMODEL_POINTERS_TENDON \
X ( int, tendon_adr, ntendon, 1 ) \
X ( int, tendon_num, ntendon, 1 ) \
X ( int, tendon_matid, ntendon, 1 ) \
X ( int, tendon_group, ntendon, 1 ) \
X ( mjtByte, tendon_limited, ntendon, 1 ) \
X ( mjtByte, tendon_actfrclimited, ntendon, 1 ) \
X ( mjtNum, tendon_width, ntendon, 1 ) \
X ( mjtNum, tendon_solref_lim, ntendon, mjNREF ) \
X ( mjtNum, tendon_solimp_lim, ntendon, mjNIMP ) \
X ( mjtNum, tendon_solref_fri, ntendon, mjNREF ) \
X ( mjtNum, tendon_solimp_fri, ntendon, mjNIMP ) \
X ( mjtNum, tendon_range, ntendon, 2 ) \
X ( mjtNum, tendon_actfrcrange, ntendon, 2 ) \
X ( mjtNum, tendon_margin, ntendon, 1 ) \
X ( mjtNum, tendon_stiffness, ntendon, 1 ) \
X ( mjtNum, tendon_damping, ntendon, 1 ) \
X ( mjtNum, tendon_armature, ntendon, 1 ) \
X ( mjtNum, tendon_frictionloss, ntendon, 1 ) \
X ( mjtNum, tendon_lengthspring, ntendon, 2 ) \
X ( mjtNum, tendon_length0, ntendon, 1 ) \
X ( mjtNum, tendon_invweight0, ntendon, 1 ) \
X ( mjtNum, tendon_user, ntendon, MJ_M(nuser_tendon) ) \
X ( float, tendon_rgba, ntendon, 4 )
#define MJMODEL_POINTERS_ACTUATOR \
X ( int, actuator_trntype, nu, 1 ) \
X ( int, actuator_dyntype, nu, 1 ) \
X ( int, actuator_gaintype, nu, 1 ) \
X ( int, actuator_biastype, nu, 1 ) \
X ( int, actuator_trnid, nu, 2 ) \
X ( int, actuator_actadr, nu, 1 ) \
X ( int, actuator_actnum, nu, 1 ) \
X ( int, actuator_group, nu, 1 ) \
X ( mjtByte, actuator_ctrllimited, nu, 1 ) \
X ( mjtByte, actuator_forcelimited, nu, 1 ) \
X ( mjtByte, actuator_actlimited, nu, 1 ) \
X ( mjtNum, actuator_dynprm, nu, mjNDYN ) \
X ( mjtNum, actuator_gainprm, nu, mjNGAIN ) \
X ( mjtNum, actuator_biasprm, nu, mjNBIAS ) \
X ( mjtByte, actuator_actearly, nu, 1 ) \
X ( mjtNum, actuator_ctrlrange, nu, 2 ) \
X ( mjtNum, actuator_forcerange, nu, 2 ) \
X ( mjtNum, actuator_actrange, nu, 2 ) \
X ( mjtNum, actuator_gear, nu, 6 ) \
X ( mjtNum, actuator_cranklength, nu, 1 ) \
X ( mjtNum, actuator_acc0, nu, 1 ) \
X ( mjtNum, actuator_length0, nu, 1 ) \
X ( mjtNum, actuator_lengthrange, nu, 2 ) \
X ( mjtNum, actuator_user, nu, MJ_M(nuser_actuator) ) \
X ( int, actuator_plugin, nu, 1 )
#define MJMODEL_POINTERS_SENSOR \
X ( int, sensor_type, nsensor, 1 ) \
X ( int, sensor_datatype, nsensor, 1 ) \
X ( int, sensor_needstage, nsensor, 1 ) \
X ( int, sensor_objtype, nsensor, 1 ) \
X ( int, sensor_objid, nsensor, 1 ) \
X ( int, sensor_reftype, nsensor, 1 ) \
X ( int, sensor_refid, nsensor, 1 ) \
X ( int, sensor_intprm, nsensor, mjNSENS ) \
X ( int, sensor_dim, nsensor, 1 ) \
X ( int, sensor_adr, nsensor, 1 ) \
X ( mjtNum, sensor_cutoff, nsensor, 1 ) \
X ( mjtNum, sensor_noise, nsensor, 1 ) \
X ( mjtNum, sensor_user, nsensor, MJ_M(nuser_sensor) ) \
X ( int, sensor_plugin, nsensor, 1 )
#define MJMODEL_POINTERS \
X ( mjtNum, qpos0, nq, 1 ) \
X ( mjtNum, qpos_spring, nq, 1 ) \
MJMODEL_POINTERS_BODY \
X ( int, bvh_depth, nbvh, 1 ) \
X ( int, bvh_child, nbvh, 2 ) \
X ( int, bvh_nodeid, nbvh, 1 ) \
X ( mjtNum, bvh_aabb, nbvhstatic, 6 ) \
X ( int, oct_depth, noct, 1 ) \
X ( int, oct_child, noct, 8 ) \
X ( mjtNum, oct_aabb, noct, 6 ) \
X ( mjtNum, oct_coeff, noct, 8 ) \
MJMODEL_POINTERS_JOINT \
MJMODEL_POINTERS_DOF \
MJMODEL_POINTERS_GEOM \
MJMODEL_POINTERS_SITE \
MJMODEL_POINTERS_CAMERA \
MJMODEL_POINTERS_LIGHT \
MJMODEL_POINTERS_FLEX \
MJMODEL_POINTERS_MESH \
MJMODEL_POINTERS_SKIN \
MJMODEL_POINTERS_HFIELD \
MJMODEL_POINTERS_TEXTURE \
MJMODEL_POINTERS_MATERIAL \
MJMODEL_POINTERS_PAIR \
MJMODEL_POINTERS_EXCLUDE \
MJMODEL_POINTERS_EQUALITY \
MJMODEL_POINTERS_TENDON \
X ( int, wrap_type, nwrap, 1 ) \
X ( int, wrap_objid, nwrap, 1 ) \
X ( mjtNum, wrap_prm, nwrap, 1 ) \
MJMODEL_POINTERS_ACTUATOR \
MJMODEL_POINTERS_SENSOR \
X ( int, plugin, nplugin, 1 ) \
X ( int, plugin_stateadr, nplugin, 1 ) \
X ( int, plugin_statenum, nplugin, 1 ) \
X ( char, plugin_attr, npluginattr, 1 ) \
X ( int, plugin_attradr, nplugin, 1 ) \
X ( int, numeric_adr, nnumeric, 1 ) \
X ( int, numeric_size, nnumeric, 1 ) \
X ( mjtNum, numeric_data, nnumericdata, 1 ) \
X ( int, text_adr, ntext, 1 ) \
X ( int, text_size, ntext, 1 ) \
X ( char, text_data, ntextdata, 1 ) \
X ( int, tuple_adr, ntuple, 1 ) \
X ( int, tuple_size, ntuple, 1 ) \
X ( int, tuple_objtype, ntupledata, 1 ) \
X ( int, tuple_objid, ntupledata, 1 ) \
X ( mjtNum, tuple_objprm, ntupledata, 1 ) \
X ( mjtNum, key_time, nkey, 1 ) \
X ( mjtNum, key_qpos, nkey, MJ_M(nq) ) \
X ( mjtNum, key_qvel, nkey, MJ_M(nv) ) \
X ( mjtNum, key_act, nkey, MJ_M(na) ) \
X ( mjtNum, key_mpos, nkey, MJ_M(nmocap)*3 ) \
X ( mjtNum, key_mquat, nkey, MJ_M(nmocap)*4 ) \
X ( mjtNum, key_ctrl, nkey, MJ_M(nu) ) \
X ( int, name_bodyadr, nbody, 1 ) \
X ( int, name_jntadr, njnt, 1 ) \
X ( int, name_geomadr, ngeom, 1 ) \
X ( int, name_siteadr, nsite, 1 ) \
X ( int, name_camadr, ncam, 1 ) \
X ( int, name_lightadr, nlight, 1 ) \
X ( int, name_flexadr, nflex, 1 ) \
X ( int, name_meshadr, nmesh, 1 ) \
X ( int, name_skinadr, nskin, 1 ) \
X ( int, name_hfieldadr, nhfield, 1 ) \
X ( int, name_texadr, ntex, 1 ) \
X ( int, name_matadr, nmat, 1 ) \
X ( int, name_pairadr, npair, 1 ) \
X ( int, name_excludeadr, nexclude, 1 ) \
X ( int, name_eqadr, neq, 1 ) \
X ( int, name_tendonadr, ntendon, 1 ) \
X ( int, name_actuatoradr, nu, 1 ) \
X ( int, name_sensoradr, nsensor, 1 ) \
X ( int, name_numericadr, nnumeric, 1 ) \
X ( int, name_textadr, ntext, 1 ) \
X ( int, name_tupleadr, ntuple, 1 ) \
X ( int, name_keyadr, nkey, 1 ) \
X ( int, name_pluginadr, nplugin, 1 ) \
X ( char, names, nnames, 1 ) \
X ( int, names_map, nnames_map, 1 ) \
X ( char, paths, npaths, 1 ) \
X ( int, B_rownnz, nbody, 1 ) \
X ( int, B_rowadr, nbody, 1 ) \
X ( int, B_colind, nB, 1 ) \
X ( int, M_rownnz, nv, 1 ) \
X ( int, M_rowadr, nv, 1 ) \
X ( int, M_colind, nC, 1 ) \
X ( int, mapM2M, nC, 1 ) \
X ( int, D_rownnz, nv, 1 ) \
X ( int, D_rowadr, nv, 1 ) \
X ( int, D_diag, nv, 1 ) \
X ( int, D_colind, nD, 1 ) \
X ( int, mapM2D, nD, 1 ) \
X ( int, mapD2M, nC, 1 )
//-------------------------------- mjData ----------------------------------------------------------
// define symbols needed in MJDATA_POINTERS (corresponding to number of columns)
#define MJDATA_POINTERS_PREAMBLE( m ) \
int nv = m->nv;
// pointer fields of mjData
// XNV means that the field is not required to construct mjvScene
// (by default we define XNV to be the same as X)
#define MJDATA_POINTERS \
X ( mjtNum, qpos, nq, 1 ) \
X ( mjtNum, qvel, nv, 1 ) \
X ( mjtNum, act, na, 1 ) \
X ( mjtNum, qacc_warmstart, nv, 1 ) \
X ( mjtNum, plugin_state, npluginstate, 1 ) \
X ( mjtNum, ctrl, nu, 1 ) \
X ( mjtNum, qfrc_applied, nv, 1 ) \
X ( mjtNum, xfrc_applied, nbody, 6 ) \
X ( mjtByte, eq_active, neq, 1 ) \
X ( mjtNum, mocap_pos, nmocap, 3 ) \
X ( mjtNum, mocap_quat, nmocap, 4 ) \
X ( mjtNum, qacc, nv, 1 ) \
X ( mjtNum, act_dot, na, 1 ) \
X ( mjtNum, userdata, nuserdata, 1 ) \
X ( mjtNum, sensordata, nsensordata, 1 ) \
X ( int, plugin, nplugin, 1 ) \
X ( uintptr_t, plugin_data, nplugin, 1 ) \
X ( mjtNum, xpos, nbody, 3 ) \
X ( mjtNum, xquat, nbody, 4 ) \
X ( mjtNum, xmat, nbody, 9 ) \
X ( mjtNum, xipos, nbody, 3 ) \
X ( mjtNum, ximat, nbody, 9 ) \
X ( mjtNum, xanchor, njnt, 3 ) \
X ( mjtNum, xaxis, njnt, 3 ) \
X ( mjtNum, geom_xpos, ngeom, 3 ) \
X ( mjtNum, geom_xmat, ngeom, 9 ) \
X ( mjtNum, site_xpos, nsite, 3 ) \
X ( mjtNum, site_xmat, nsite, 9 ) \
X ( mjtNum, cam_xpos, ncam, 3 ) \
X ( mjtNum, cam_xmat, ncam, 9 ) \
X ( mjtNum, light_xpos, nlight, 3 ) \
X ( mjtNum, light_xdir, nlight, 3 ) \
X ( mjtNum, subtree_com, nbody, 3 ) \
X ( mjtNum, cdof, nv, 6 ) \
X ( mjtNum, cinert, nbody, 10 ) \
X ( mjtNum, flexvert_xpos, nflexvert, 3 ) \
X ( mjtNum, flexelem_aabb, nflexelem, 6 ) \
X ( int, flexedge_J_rownnz, nflexedge, 1 ) \
X ( int, flexedge_J_rowadr, nflexedge, 1 ) \
X ( int, flexedge_J_colind, nflexedge, MJ_M(nv) ) \
X ( mjtNum, flexedge_J, nflexedge, MJ_M(nv) ) \
X ( mjtNum, flexedge_length, nflexedge, 1 ) \
X ( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
X ( int, ten_wrapadr, ntendon, 1 ) \
X ( int, ten_wrapnum, ntendon, 1 ) \
X ( int, ten_J_rownnz, ntendon, 1 ) \
X ( int, ten_J_rowadr, ntendon, 1 ) \
X ( int, ten_J_colind, ntendon, MJ_M(nv) ) \
X ( mjtNum, ten_J, ntendon, MJ_M(nv) ) \
X ( mjtNum, ten_length, ntendon, 1 ) \
X ( int, wrap_obj, nwrap, 2 ) \
X ( mjtNum, wrap_xpos, nwrap, 6 ) \
X ( mjtNum, actuator_length, nu, 1 ) \
X ( int, moment_rownnz, nu, 1 ) \
X ( int, moment_rowadr, nu, 1 ) \
X ( int, moment_colind, nJmom, 1 ) \
X ( mjtNum, actuator_moment, nJmom, 1 ) \
XNV ( mjtNum, crb, nbody, 10 ) \
XNV ( mjtNum, qM, nM, 1 ) \
XNV ( mjtNum, M, nC, 1 ) \
XNV ( mjtNum, qLD, nC, 1 ) \
X ( mjtNum, qLDiagInv, nv, 1 ) \
X ( mjtByte, bvh_active, nbvh, 1 ) \
X ( mjtNum, flexedge_velocity, nflexedge, 1 ) \
X ( mjtNum, ten_velocity, ntendon, 1 ) \
X ( mjtNum, actuator_velocity, nu, 1 ) \
X ( mjtNum, cvel, nbody, 6 ) \
X ( mjtNum, cdof_dot, nv, 6 ) \
X ( mjtNum, qfrc_bias, nv, 1 ) \
X ( mjtNum, qfrc_spring, nv, 1 ) \
X ( mjtNum, qfrc_damper, nv, 1 ) \
X ( mjtNum, qfrc_gravcomp, nv, 1 ) \
X ( mjtNum, qfrc_fluid, nv, 1 ) \
X ( mjtNum, qfrc_passive, nv, 1 ) \
X ( mjtNum, subtree_linvel, nbody, 3 ) \
X ( mjtNum, subtree_angmom, nbody, 3 ) \
XNV ( mjtNum, qH, nC, 1 ) \
X ( mjtNum, qHDiagInv, nv, 1 ) \
XNV ( mjtNum, qDeriv, nD, 1 ) \
XNV ( mjtNum, qLU, nD, 1 ) \
X ( mjtNum, actuator_force, nu, 1 ) \
X ( mjtNum, qfrc_actuator, nv, 1 ) \
X ( mjtNum, qfrc_smooth, nv, 1 ) \
X ( mjtNum, qacc_smooth, nv, 1 ) \
X ( mjtNum, qfrc_constraint, nv, 1 ) \
X ( mjtNum, qfrc_inverse, nv, 1 ) \
X ( mjtNum, cacc, nbody, 6 ) \
X ( mjtNum, cfrc_int, nbody, 6 ) \
X ( mjtNum, cfrc_ext, nbody, 6 )
// macro for annotating that an array size in an X macro is a member of mjData
// by default this macro does nothing, but users can redefine it as necessary
#define MJ_D(n) n
// array of contacts
#define MJDATA_ARENA_POINTERS_CONTACT \
X( mjContact, contact, MJ_D(ncon), 1 )
// array fields of mjData that are used in the primal problem
#define MJDATA_ARENA_POINTERS_SOLVER \
X ( int, efc_type, MJ_D(nefc), 1 ) \
X ( int, efc_id, MJ_D(nefc), 1 ) \
XNV( int, efc_J_rownnz, MJ_D(nefc), 1 ) \
XNV( int, efc_J_rowadr, MJ_D(nefc), 1 ) \
XNV( int, efc_J_rowsuper, MJ_D(nefc), 1 ) \
XNV( int, efc_J_colind, MJ_D(nJ), 1 ) \
XNV( mjtNum, efc_J, MJ_D(nJ), 1 ) \
X ( mjtNum, efc_pos, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_margin, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_frictionloss, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_diagApprox, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_KBIP, MJ_D(nefc), 4 ) \
X ( mjtNum, efc_D, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_R, MJ_D(nefc), 1 ) \
X ( int, tendon_efcadr, MJ_M(ntendon), 1 ) \
X ( mjtNum, efc_vel, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_aref, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_b, MJ_D(nefc), 1 ) \
X ( int, efc_state, MJ_D(nefc), 1 ) \
X ( mjtNum, efc_force, MJ_D(nefc), 1 )
// array fields of mjData that are used in the dual problem
#define MJDATA_ARENA_POINTERS_DUAL \
XNV( int, efc_AR_rownnz, MJ_D(nefc), 1 ) \
XNV( int, efc_AR_rowadr, MJ_D(nefc), 1 ) \
XNV( int, efc_AR_colind, MJ_D(nA), 1 ) \
XNV( mjtNum, efc_AR, MJ_D(nA), 1 )
// array fields of mjData that are used for constraint islands
#define MJDATA_ARENA_POINTERS_ISLAND \
X ( int, dof_island, MJ_M(nv), 1 ) \
X ( int, island_nv, MJ_D(nisland), 1 ) \
X ( int, island_idofadr, MJ_D(nisland), 1 ) \
X ( int, island_dofadr, MJ_D(nisland), 1 ) \
X ( int, map_dof2idof, MJ_M(nv), 1 ) \
X ( int, map_idof2dof, MJ_M(nv), 1 ) \
X ( mjtNum, ifrc_smooth, MJ_D(nidof), 1 ) \
X ( mjtNum, iacc_smooth, MJ_D(nidof), 1 ) \
XNV( int, iM_rownnz, MJ_D(nidof), 1 ) \
XNV( int, iM_rowadr, MJ_D(nidof), 1 ) \
XNV( int, iM_colind, MJ_M(nC), 1 ) \
XNV( mjtNum, iM, MJ_M(nC), 1 ) \
XNV( mjtNum, iLD, MJ_M(nC), 1 ) \
X ( mjtNum, iLDiagInv, MJ_D(nidof), 1 ) \
X ( mjtNum, iacc, MJ_D(nidof), 1 ) \
X ( int, efc_island, MJ_D(nefc), 1 ) \
X ( int, island_ne, MJ_D(nisland), 1 ) \
X ( int, island_nf, MJ_D(nisland), 1 ) \
X ( int, island_nefc, MJ_D(nisland), 1 ) \
X ( int, island_iefcadr, MJ_D(nisland), 1 ) \
X ( int, map_efc2iefc, MJ_D(nefc), 1 ) \
X ( int, map_iefc2efc, MJ_D(nefc), 1 ) \
X ( int, iefc_type, MJ_D(nefc), 1 ) \
X ( int, iefc_id, MJ_D(nefc), 1 ) \
XNV( int, iefc_J_rownnz, MJ_D(nefc), 1 ) \
XNV( int, iefc_J_rowadr, MJ_D(nefc), 1 ) \
XNV( int, iefc_J_rowsuper, MJ_D(nefc), 1 ) \
XNV( int, iefc_J_colind, MJ_D(nJ), 1 ) \
XNV( mjtNum, iefc_J, MJ_D(nJ), 1 ) \
X ( mjtNum, iefc_frictionloss, MJ_D(nefc), 1 ) \
X ( mjtNum, iefc_D, MJ_D(nefc), 1 ) \
X ( mjtNum, iefc_R, MJ_D(nefc), 1 ) \
X ( mjtNum, iefc_aref, MJ_D(nefc), 1 ) \
X ( int, iefc_state, MJ_D(nefc), 1 ) \
X ( mjtNum, iefc_force, MJ_D(nefc), 1 ) \
X ( mjtNum, ifrc_constraint, MJ_D(nidof), 1 )
// array fields of mjData that live in d->arena
#define MJDATA_ARENA_POINTERS \
MJDATA_ARENA_POINTERS_CONTACT \
MJDATA_ARENA_POINTERS_SOLVER \
MJDATA_ARENA_POINTERS_DUAL \
MJDATA_ARENA_POINTERS_ISLAND
// scalar fields of mjData
#define MJDATA_SCALAR \
X( size_t, narena ) \
X( size_t, nbuffer ) \
X( int, nplugin ) \
X( size_t, pstack ) \
X( size_t, pbase ) \
X( size_t, parena ) \
X( size_t, maxuse_stack ) \
X( size_t, maxuse_arena ) \
X( int, maxuse_con ) \
X( int, maxuse_efc ) \
X( int, ncon ) \
X( int, ne ) \
X( int, nf ) \
X( int, nl ) \
X( int, nefc ) \
X( int, nJ ) \
X( int, nA ) \
X( int, nisland ) \
X( int, nidof ) \
X( mjtNum, time ) \
X( uintptr_t, threadpool )
// vector fields of mjData
#define MJDATA_VECTOR \
X( size_t, maxuse_threadstack, mjMAXTHREAD, 1 ) \
X( mjSolverStat, solver, mjNISLAND, mjNSOLVER ) \
X( int, solver_niter, mjNISLAND, 1 ) \
X( int, solver_nnz, mjNISLAND, 1 ) \
X( mjtNum, solver_fwdinv, 2, 1 ) \
X( mjWarningStat, warning, mjNWARNING, 1 ) \
X( mjTimerStat, timer, mjNTIMER, 1 ) \
X( mjtNum, energy, 2, 1 )
// alias XNV to be the same as X
// to obtain only X macros for fields that are relevant for mjvScene creation,
// redefine XNV to expand to nothing
#define XNV X
#endif // MUJOCO_MJXMACRO_H_

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libmujoco.so.3.3.7

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# Active adhesion example
This example model shows how to use adhesion actuators.
The video below is a screen capture of a user interacting with the model:
[![Active adhesion example model](https://img.youtube.com/vi/BcHZ5BFeTmU/0.jpg)](https://www.youtube.com/watch?v=BcHZ5BFeTmU)

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<mujoco model="Active adhesion example">
<!--
Adding some fluid viscosity to prevent the hanging sphere from jiggling too much.
-->
<option viscosity="1"/>
<size memory="10M"/>
<visual>
<headlight diffuse=".2 .2 .2"/>
</visual>
<default>
<joint damping=".3" axis="0 1 0"/>
<geom type="box" friction=".5"/>
<default class="wall">
<geom rgba=".5 .5 .5 .4"/>
</default>
<default class="mechanical">
<geom rgba=".5 .5 .8 1"/>
<tendon rgba=".5 .5 .8 1"/>
</default>
<default class="active_adhesion">
<!--
Geoms in the active_adhesion class are "inflated" with a margin of 1cm, but contacts are
activated only at a depth gap of 1cm, leading to a layer of inactive contacts at a 1cm
distance from the surface. However the contacts can be used by the adhesion actuator.
-->
<geom rgba=".8 .5 .5 1" margin=".01" gap=".01"/>
</default>
<default class="object">
<geom rgba=".5 .8 .5 1" density="100"/>
</default>
</default>
<worldbody>
<light pos="0.4 -.15 .6" dir="-1 .5 -1" diffuse=".7 .7 .7"/>
<light pos="-.4 -.15 .6" dir="1 .5 -1" diffuse=".7 .7 .7"/>
<body name="two crates">
<joint name="conveyor" type="slide" damping="100" axis="1 0 0"/>
<geom size=".2 .1 .01" pos="0 0 -.01"/>
<geom size=".01 .08 .031" pos="-.19 0 .03" class="wall"/>
<geom size=".01 .08 .031" pos="0 0 .03" class="wall"/>
<geom size=".01 .08 .031" pos="0.19 0 .03" class="wall"/>
<geom size="0.2 .01 .031" pos="0 -.09 .03" class="wall"/>
<geom size="0.2 .01 .031" pos="0 0.09 .03" class="wall"/>
</body>
<body name="arm1" pos="-.1 0 .3" childclass="mechanical">
<joint name="arm1"/>
<geom type="cylinder" size=".015 .01" zaxis="0 1 0"/>
<geom type="capsule" size=".01" fromto="0 0 0 -.12 0 -.07"/>
<body name="arm2" pos="-.12 0 -.07">
<joint name="arm2"/>
<geom type="cylinder" size=".015 .01" zaxis="0 1 0"/>
<geom type="capsule" size=".01" fromto="0 0 0 .12 0 -.07"/>
<body name="4boxes" pos=".12 0 -.08" childclass="active_adhesion">
<site name="force_sensor" group="3"/>
<joint name="arm3" damping=".01" pos="0 -.03 0"/>
<geom size=".015 .015 .01" pos="0.015 0.015 0"/>
<geom size=".015 .015 .01" pos="0.015 -.015 0"/>
<geom size=".015 .015 .01" pos="-.015 0.015 0"/>
<geom size=".015 .015 .01" pos="-.015 -.015 0"/>
</body>
</body>
</body>
<body name="box" pos="-.1 0 .05">
<freejoint/>
<geom size=".05 .05 .05" class="object"/>
</body>
<body name="winch" pos="-.01 0 .35" childclass="mechanical">
<joint name="winch" damping="1"/>
<geom type="cylinder" size=".015 .01" zaxis="0 1 0"/>
<geom type="capsule" size=".01" fromto="0 0 0 .1 0 .05"/>
<site name="anchor" pos=".1 0 .04"/>
</body>
<site name="pulley" pos=".1 0 .32"/>
<site name="hook_left" pos=".08 0 .3"/>
<site name="hook_right" pos=".12 0 .3"/>
<body name="sphere" pos=".1 0 .2" childclass="active_adhesion">
<freejoint/>
<!--
The composite balls in the crate have only 3 linear DoFs with condim=1, effectively
frictionless point particles. In order to make them stick to the sphere we give the sphere
priority 2, to force condim=3.
Also note the sphere has a margin+gap of 3cm as opposed to the 1cm of the arm box.
-->
<geom type="sphere" size=".03" priority="2" margin=".03" gap=".03"/>
<site name="pin_left" pos="-.025 0 .025"/>
<site name="pin_right" pos=".025 0 .025"/>
</body>
<replicate count="4" offset=".025 0 0">
<replicate count="4" offset="0 .025 0">
<replicate count="4" offset="0 0 .025">
<body pos=".06 -.04 .05">
<joint type="slide" axis="1 0 0"/>
<joint type="slide" axis="0 1 0"/>
<joint type="slide" axis="0 0 1"/>
<geom type="sphere" size=".012" rgba=".5 .8 .5 1" solref=".005 1" condim="1"/>
</body>
</replicate>
</replicate>
</replicate>
</worldbody>
<equality>
<joint joint1="arm1" joint2="arm2" polycoef="0 -.5 0 0 0"/>
<joint joint1="arm3" joint2="arm1"/>
</equality>
<!--
By using divisor=3 in the pullies we increase the distance by which the hanging sphere moves
relative to the motion of the winch arm. One should imagine a double spindle with two radii that
creates a ratio of 1.5 between the motion of tendon before the pullies and after the pullies.
(1.5 rather than 3 because the tendon has 2 branches and the length is split between them)
-->
<tendon>
<spatial range="0 .19" limited="true" solreflimit=".01 2" class="mechanical">
<site site="anchor"/>
<site site="pulley"/>
<pulley divisor="3"/>
<site site="pulley"/>
<site site="hook_left"/>
<site site="pin_left"/>
<pulley divisor="3"/>
<site site="pulley"/>
<site site="hook_right"/>
<site site="pin_right"/>
</spatial>
</tendon>
<actuator>
<position name="conveyor" joint="conveyor" ctrlrange="-.2 .2" ctrllimited="true" kp="400"/>
<position name="arm" joint="arm2" ctrlrange="-.8 1" ctrllimited="true" kp="10"/>
<adhesion name="adhere_arm" body="4boxes" ctrlrange="0 1" gain="5"/>
<position name="winch" joint="winch" ctrlrange="-.7 .5" ctrllimited="true" kp="10"/>
<adhesion name="adhere_winch" body="sphere" ctrlrange="0 1" gain="5"/>
</actuator>
<sensor>
<force site="force_sensor"/>
</sensor>
</mujoco>

108
third_party/mujoco/3.3.7/model/balloons/balloons.xml vendored Normal file
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@ -0,0 +1,108 @@
<mujoco>
<option density="1.204" viscosity="1.8e-5" integrator="implicit"/>
<visual>
<global elevation="-10"/>
</visual>
<default>
<tendon limited="true" width="0.003" rgba="1 1 1 1"/>
<geom friction=".2"/>
<default class="weight">
<geom rgba=".8 .4 .8 1"/>
<site rgba=".8 .4 .8 1"/>
</default>
<default class="balloon">
<!--
0.167 is the MKS density of helium at room temperature.
Note this does not take into account the mass of the rubber,
which is likely not insignificant.
-->
<geom density="0.167" fluidshape="ellipsoid"/>
<default class="pink">
<geom rgba="1 .6 .7 1"/>
<site rgba="1 .6 .7 1"/>
</default>
<default class="blue">
<geom rgba=".3 .7 .9 1"/>
<site rgba=".3 .7 .9 1"/>
</default>
<default class="green">
<geom rgba=".4 .9 .5 1"/>
<site rgba=".4 .9 .5 1"/>
</default>
<default class="orange">
<geom rgba="1 .4 0 1"/>
<site rgba="1 .4 0 1"/>
</default>
</default>
</default>
<asset>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb2="0 0 0" rgb1="1 1 1"/>
<material name="grid" texture="grid" texrepeat="2 2" texuniform="true" reflectance=".6"/>
</asset>
<worldbody>
<geom name="ground" type="plane" size="5 5 .05" pos="0 0 -.5" material="grid"/>
<geom name="ramp" type="box" size=".4 .2 .03" pos="0 0 -.4" euler="0 20 0" rgba="1 1 1 1"/>
<body name="weight" childclass="weight" pos=".3 0 .2">
<freejoint/>
<light pos="1 0 3" dir="-1 0 -3" mode="trackcom"/>
<light pos="-1 0 3" dir="1 0 -3" mode="trackcom"/>
<!-- The mass of the weight was chosen to be slightly bigger than the total buoyancy of the balloons. -->
<geom name="weight" type="box" size=".015 .015 .015" mass=".0347"/>
<site name="weight1" pos=" .013 .013 .013" size="0.005"/>
<site name="weight2" pos="-.013 -.013 .013" size="0.005"/>
</body>
<!-- The gravcomp value of 7.2 is the ratio of air and helium densities at room temperature. -->
<body name="pink" gravcomp="7.2" pos="-.2 .1 .2" childclass="pink">
<freejoint />
<geom name="pink" type="ellipsoid" size=".11 .11 .15"/>
<geom name="pink_knot" pos="0 0 -.15" size=".02"/>
<site name="pink" pos="0 0 -.17" size="0.01"/>
</body>
<body name="blue" gravcomp="7.2" pos=".1 .1 .2" childclass="blue">
<freejoint />
<geom name="blue" type="ellipsoid" size=".12 .12 .15"/>
<geom name="blue_knot" pos="0 0 -.15" size=".02"/>
<site name="blue" pos="0 0 -.17" size="0.01"/>
</body>
<body name="green" gravcomp="7.2" pos=".1 -.1 .2" childclass="green">
<freejoint />
<geom name="green" type="ellipsoid" size=".12 .12 .14"/>
<geom name="green_knot" pos="0 0 -.14" size=".02"/>
<site name="green" pos="0 0 -.16" size="0.01"/>
</body>
<body name="orange" gravcomp="7.2" pos="-.12 -.12 .2" childclass="orange">
<freejoint />
<geom name="orange" type="ellipsoid" size=".12 .12 .13"/>
<geom name="orange_knot" pos="0 0 -.13" size=".02"/>
<site name="orange" pos="0 0 -.15" size="0.01"/>
</body>
</worldbody>
<tendon>
<spatial range="0 0.6">
<site site="pink"/>
<site site="weight1"/>
</spatial>
<spatial range="0 0.4">
<site site="blue"/>
<site site="weight1"/>
</spatial>
<spatial range="0 0.3">
<site site="green"/>
<site site="weight2"/>
</spatial>
<spatial range="0 0.5">
<site site="orange"/>
<site site="weight2"/>
</spatial>
</tendon>
</mujoco>

72
third_party/mujoco/3.3.7/model/car/car.xml vendored Normal file
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@ -0,0 +1,72 @@
<mujoco>
<compiler autolimits="true"/>
<asset>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
<mesh name="chasis" scale=".01 .006 .0015"
vertex=" 9 2 0
-10 10 10
9 -2 0
10 3 -10
10 -3 -10
-8 10 -10
-10 -10 10
-8 -10 -10
-5 0 20"/>
</asset>
<default>
<joint damping=".03" actuatorfrcrange="-0.5 0.5"/>
<default class="wheel">
<geom type="cylinder" size=".03 .01" rgba=".5 .5 1 1"/>
</default>
<default class="decor">
<site type="box" rgba=".5 1 .5 1"/>
</default>
</default>
<worldbody>
<geom type="plane" size="3 3 .01" material="grid"/>
<body name="car" pos="0 0 .03">
<freejoint/>
<light name="top light" pos="0 0 2" mode="trackcom" diffuse=".4 .4 .4"/>
<geom name="chasis" type="mesh" mesh="chasis"/>
<geom name="front wheel" pos=".08 0 -.015" type="sphere" size=".015" condim="1" priority="1"/>
<light name="front light" pos=".1 0 .02" dir="2 0 -1" diffuse="1 1 1"/>
<body name="left wheel" pos="-.07 .06 0" zaxis="0 1 0">
<joint name="left"/>
<geom class="wheel"/>
<site class="decor" size=".006 .025 .012"/>
<site class="decor" size=".025 .006 .012"/>
</body>
<body name="right wheel" pos="-.07 -.06 0" zaxis="0 1 0">
<joint name="right"/>
<geom class="wheel"/>
<site class="decor" size=".006 .025 .012"/>
<site class="decor" size=".025 .006 .012"/>
</body>
</body>
</worldbody>
<tendon>
<fixed name="forward">
<joint joint="left" coef=".5"/>
<joint joint="right" coef=".5"/>
</fixed>
<fixed name="turn">
<joint joint="left" coef="-.5"/>
<joint joint="right" coef=".5"/>
</fixed>
</tendon>
<actuator>
<motor name="forward" tendon="forward" ctrlrange="-1 1"/>
<motor name="turn" tendon="turn" ctrlrange="-1 1"/>
</actuator>
<sensor>
<jointactuatorfrc name="right" joint="right"/>
<jointactuatorfrc name="left" joint="left"/>
</sensor>
</mujoco>

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