| .. |
| AUTOGENERATED: DO NOT EDIT MANUALLY |
|
|
|
|
| .. _Parseandcompile: |
|
|
| Parse and compile |
| ^^^^^^^^^^^^^^^^^ |
|
|
| The key function here is :ref:`mj_loadXML`. It invokes the built-in parser and compiler, and either returns a pointer to |
| a valid mjModel, or NULL - in which case the user should check the error information in the user-provided string. |
| The model and all files referenced in it can be loaded from disk or from a VFS when provided. |
|
|
| .. _mj_loadXML: |
|
|
| `mj_loadXML <#mj_loadXML>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_loadXML |
|
|
| Parse XML file in MJCF or URDF format, compile it, return low-level model. |
| If vfs is not NULL, look up files in vfs before reading from disk. |
| If error is not NULL, it must have size error_sz. |
|
|
| .. _mj_parseXML: |
|
|
| `mj_parseXML <#mj_parseXML>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_parseXML |
|
|
| Parse spec from XML file. |
|
|
| .. _mj_parseXMLString: |
|
|
| `mj_parseXMLString <#mj_parseXMLString>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_parseXMLString |
|
|
| Parse spec from XML string. |
|
|
| .. _mj_compile: |
|
|
| `mj_compile <#mj_compile>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_compile |
|
|
| Compile :ref:`mjSpec` to :ref:`mjModel`. A spec can be edited and compiled multiple times, returning a new |
| :ref:`mjModel` instance that takes the edits into account. |
| If compilation fails, :ref:`mj_compile` returns ``NULL``; the error can be read with :ref:`mjs_getError`. |
|
|
| .. _mj_copyBack: |
|
|
| `mj_copyBack <#mj_copyBack>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_copyBack |
|
|
| Copy real-valued arrays from model to spec, returns 1 on success. |
|
|
| .. _mj_recompile: |
|
|
| `mj_recompile <#mj_recompile>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_recompile |
|
|
| Recompile spec to model, preserving the state. Like :ref:`mj_compile`, this function compiles an :ref:`mjSpec` to an |
| :ref:`mjModel`, with two differences. First, rather than returning an entirely new model, it will |
| reallocate existing :ref:`mjModel` and :ref:`mjData` instances in-place. Second, it will preserve the |
| :ref:`integration state<geIntegrationState>`, as given in the provided :ref:`mjData` instance, while accounting for |
| newly added or removed degrees of freedom. This allows the user to continue simulation with the same model and data |
| struct pointers while editing the model programmatically. |
|
|
| :ref:`mj_recompile` returns 0 if compilation succeed. In the case of failure, the given :ref:`mjModel` and :ref:`mjData` |
| instances will be deleted; as in :ref:`mj_compile`, the compilation error can be read with :ref:`mjs_getError`. |
|
|
| .. _mj_saveLastXML: |
|
|
| `mj_saveLastXML <#mj_saveLastXML>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_saveLastXML |
|
|
| Update XML data structures with info from low-level model created with :ref:`mj_loadXML`, save as MJCF. |
| If error is not NULL, it must have size error_sz. |
|
|
| Note that this function only saves models that have been loaded with :ref:`mj_loadXML`, the legacy loading mechanism. |
| See the :ref:`model editing<meOverview>` chapter to understand the difference between the old and new model loading and |
| saving mechanisms. |
|
|
| .. _mj_freeLastXML: |
|
|
| `mj_freeLastXML <#mj_freeLastXML>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_freeLastXML |
|
|
| Free last XML model if loaded. Called internally at each load. |
|
|
| .. _mj_saveXMLString: |
|
|
| `mj_saveXMLString <#mj_saveXMLString>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_saveXMLString |
|
|
| Save spec to XML string, return 0 on success, -1 on failure. If the length of the output buffer is too small, returns |
| the required size. XML saving automatically compiles the spec before saving. |
|
|
| .. _mj_saveXML: |
|
|
| `mj_saveXML <#mj_saveXML>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_saveXML |
|
|
| Save spec to XML file, return 0 on success, -1 otherwise. XML saving requires that the spec first be compiled. |
|
|
| .. _Mainsimulation: |
|
|
| Main simulation |
| ^^^^^^^^^^^^^^^ |
|
|
| These are the main entry points to the simulator. Most users will only need to call :ref:`mj_step`, which computes |
| everything and advanced the simulation state by one time step. Controls and applied forces must either be set in advance |
| (in ``mjData.{ctrl, qfrc_applied, xfrc_applied}``), or a control callback :ref:`mjcb_control` must be installed which |
| will be called just before the controls and applied forces are needed. Alternatively, one can use :ref:`mj_step1` and |
| :ref:`mj_step2` which break down the simulation pipeline into computations that are executed before and after the |
| controls are needed; in this way one can set controls that depend on the results from :ref:`mj_step1`. Keep in mind |
| though that the RK4 solver does not work with mj_step1/2. See :ref:`Pipeline` for a more detailed description. |
|
|
| mj_forward performs the same computations as :ref:`mj_step` but without the integration. It is useful after loading or |
| resetting a model (to put the entire mjData in a valid state), and also for out-of-order computations that involve |
| sampling or finite-difference approximations. |
|
|
| :ref:`mj_inverse` runs the inverse dynamics, and writes its output in ``mjData.qfrc_inverse``. Note that ``mjData.qacc`` |
| must be set before calling this function. Given the state (qpos, qvel, act), mj_forward maps from force to acceleration, |
| while mj_inverse maps from acceleration to force. Mathematically these functions are inverse of each other, but |
| numerically this may not always be the case because the forward dynamics rely on a constraint optimization algorithm |
| which is usually terminated early. The difference between the results of forward and inverse dynamics can be computed |
| with the function :ref:`mj_compareFwdInv`, which can be thought of as another solver accuracy check (as well as a |
| general sanity check). |
|
|
| The skip version of :ref:`mj_forward` and :ref:`mj_inverse` are useful for example when qpos was unchanged but qvel was |
| changed (usually in the context of finite differencing). Then there is no point repeating the computations that only |
| depend on qpos. Calling the dynamics with skipstage = :ref:`mjSTAGE_POS<mjtStage>` will achieve these savings. |
|
|
| .. _mj_step: |
|
|
| `mj_step <#mj_step>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_step |
|
|
| Advance simulation, use control callback to obtain external force and control. |
|
|
| .. _mj_step1: |
|
|
| `mj_step1 <#mj_step1>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_step1 |
|
|
| Advance simulation in two steps: before external force and control is set by user. |
|
|
| .. _mj_step2: |
|
|
| `mj_step2 <#mj_step2>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_step2 |
|
|
| Advance simulation in two steps: after external force and control is set by user. |
|
|
| .. _mj_forward: |
|
|
| `mj_forward <#mj_forward>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_forward |
|
|
| Forward dynamics: same as mj_step but do not integrate in time. |
|
|
| .. _mj_inverse: |
|
|
| `mj_inverse <#mj_inverse>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_inverse |
|
|
| Inverse dynamics: qacc must be set before calling. |
|
|
| .. _mj_forwardSkip: |
|
|
| `mj_forwardSkip <#mj_forwardSkip>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_forwardSkip |
|
|
| Forward dynamics with skip; skipstage is mjtStage. |
|
|
| .. _mj_inverseSkip: |
|
|
| `mj_inverseSkip <#mj_inverseSkip>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_inverseSkip |
|
|
| Inverse dynamics with skip; skipstage is mjtStage. |
|
|
| .. _Support: |
|
|
| Support |
| ^^^^^^^ |
|
|
| These are support functions that need access to :ref:`mjModel` and :ref:`mjData`, unlike the utility functions which do |
| not need such access. Support functions are called within the simulator but some of them can also be useful for custom |
| computations, and are documented in more detail below. |
|
|
| .. _mj_stateSize: |
|
|
| `mj_stateSize <#mj_stateSize>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_stateSize |
|
|
| Returns the number of :ref:`mjtNum` |-| s required for a given state specification. The bits of the integer ``spec`` |
| correspond to element fields of :ref:`mjtState`. |
|
|
| .. _mj_getState: |
|
|
| `mj_getState <#mj_getState>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_getState |
|
|
| Copy concatenated state components specified by ``spec`` from ``d`` into ``state``. The bits of the integer |
| ``spec`` correspond to element fields of :ref:`mjtState`. Fails with :ref:`mju_error` if ``spec`` is invalid. |
|
|
| .. _mj_setState: |
|
|
| `mj_setState <#mj_setState>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_setState |
|
|
| Copy concatenated state components specified by ``spec`` from ``state`` into ``d``. The bits of the integer |
| ``spec`` correspond to element fields of :ref:`mjtState`. Fails with :ref:`mju_error` if ``spec`` is invalid. |
|
|
| .. _mj_setKeyframe: |
|
|
| `mj_setKeyframe <#mj_setKeyframe>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_setKeyframe |
|
|
| Copy current state to the k-th model keyframe. |
|
|
| .. _mj_addContact: |
|
|
| `mj_addContact <#mj_addContact>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_addContact |
|
|
| Add contact to d->contact list; return 0 if success; 1 if buffer full. |
|
|
| .. _mj_isPyramidal: |
|
|
| `mj_isPyramidal <#mj_isPyramidal>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_isPyramidal |
|
|
| Determine type of friction cone. |
|
|
| .. _mj_isSparse: |
|
|
| `mj_isSparse <#mj_isSparse>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_isSparse |
|
|
| Determine type of constraint Jacobian. |
|
|
| .. _mj_isDual: |
|
|
| `mj_isDual <#mj_isDual>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_isDual |
|
|
| Determine type of solver (PGS is dual, CG and Newton are primal). |
|
|
| .. _mj_mulJacVec: |
|
|
| `mj_mulJacVec <#mj_mulJacVec>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_mulJacVec |
|
|
| This function multiplies the constraint Jacobian mjData.efc_J by a vector. Note that the Jacobian can be either dense or |
| sparse; the function is aware of this setting. Multiplication by J maps velocities from joint space to constraint space. |
|
|
| .. _mj_mulJacTVec: |
|
|
| `mj_mulJacTVec <#mj_mulJacTVec>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_mulJacTVec |
|
|
| Same as mj_mulJacVec but multiplies by the transpose of the Jacobian. This maps forces from constraint space to joint |
| space. |
|
|
| .. _mj_jac: |
|
|
| `mj_jac <#mj_jac>`__ |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_jac |
|
|
| This function computes an end-effector kinematic Jacobian, describing the local linear relationship between the |
| degrees-of-freedom and a given point. Given a body specified by its integer id (``body``) and a 3D point in the world |
| frame (``point``) treated as attached to the body, the Jacobian has both translational (``jacp``) and rotational |
| (``jacr``) components. Passing ``NULL`` for either pointer will skip that part of the computation. Each component is a |
| 3-by-nv matrix. Each row of this matrix is the gradient of the corresponding coordinate of the specified point with |
| respect to the degrees-of-freedom. The frame with respect to which the Jacobian is computed is centered at the body |
| center-of-mass but aligned with the world frame. The minimal :ref:`pipeline stages<piForward>` required for Jacobian |
| computations to be consistent with the current generalized positions ``mjData.qpos`` are :ref:`mj_kinematics` followed |
| by :ref:`mj_comPos`. |
|
|
| .. _mj_jacBody: |
|
|
| `mj_jacBody <#mj_jacBody>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_jacBody |
|
|
| This and the remaining variants of the Jacobian function call mj_jac internally, with the center of the body, geom or |
| site. They are just shortcuts; the same can be achieved by calling mj_jac directly. |
|
|
| .. _mj_jacBodyCom: |
|
|
| `mj_jacBodyCom <#mj_jacBodyCom>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_jacBodyCom |
|
|
| Compute body center-of-mass end-effector Jacobian. |
|
|
| .. _mj_jacSubtreeCom: |
|
|
| `mj_jacSubtreeCom <#mj_jacSubtreeCom>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_jacSubtreeCom |
|
|
| Compute subtree center-of-mass end-effector Jacobian. |
|
|
| .. _mj_jacGeom: |
|
|
| `mj_jacGeom <#mj_jacGeom>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_jacGeom |
|
|
| Compute geom end-effector Jacobian. |
|
|
| .. _mj_jacSite: |
|
|
| `mj_jacSite <#mj_jacSite>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_jacSite |
|
|
| Compute site end-effector Jacobian. |
|
|
| .. _mj_jacPointAxis: |
|
|
| `mj_jacPointAxis <#mj_jacPointAxis>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_jacPointAxis |
|
|
| Compute translation end-effector Jacobian of point, and rotation Jacobian of axis. |
|
|
| .. _mj_jacDot: |
|
|
| `mj_jacDot <#mj_jacDot>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_jacDot |
|
|
| This function computes the time-derivative of an end-effector kinematic Jacobian computed by :ref:`mj_jac`. |
| The minimal :ref:`pipeline stages<piStages>` required for computation to be |
| consistent with the current generalized positions and velocities ``mjData.{qpos, qvel}`` are |
| :ref:`mj_kinematics`, :ref:`mj_comPos`, :ref:`mj_comVel` (in that order). |
|
|
| .. _mj_angmomMat: |
|
|
| `mj_angmomMat <#mj_angmomMat>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_angmomMat |
|
|
| This function computes the ``3 x nv`` angular momentum matrix :math:`H(q)`, providing the linear mapping from |
| generalized velocities to subtree angular momentum. More precisely if :math:`h` is the subtree angular momentum of |
| body index ``body`` in ``mjData.subtree_angmom`` (reported by the :ref:`subtreeangmom<sensor-subtreeangmom>` sensor) |
| and :math:`\dot q` is the generalized velocity ``mjData.qvel``, then :math:`h = H \dot q`. |
|
|
| .. _mj_name2id: |
|
|
| `mj_name2id <#mj_name2id>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_name2id |
|
|
| Get id of object with the specified :ref:`mjtObj` type and name, returns -1 if id not found. |
|
|
| .. _mj_id2name: |
|
|
| `mj_id2name <#mj_id2name>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_id2name |
|
|
| Get name of object with the specified :ref:`mjtObj` type and id, returns ``NULL`` if name not found. |
|
|
| .. _mj_fullM: |
|
|
| `mj_fullM <#mj_fullM>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_fullM |
|
|
| Convert sparse inertia matrix ``M`` into full (i.e. dense) matrix. |
| |br| ``dst`` must be of size ``nv x nv``, ``M`` must be of the same size as ``mjData.qM``. |
|
|
| .. _mj_mulM: |
|
|
| `mj_mulM <#mj_mulM>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_mulM |
|
|
| This function multiplies the joint-space inertia matrix stored in mjData.qM by a vector. qM has a custom sparse format |
| that the user should not attempt to manipulate directly. Alternatively one can convert qM to a dense matrix with |
| mj_fullM and then user regular matrix-vector multiplication, but this is slower because it no longer benefits from |
| sparsity. |
|
|
| .. _mj_mulM2: |
|
|
| `mj_mulM2 <#mj_mulM2>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_mulM2 |
|
|
| Multiply vector by (inertia matrix)^(1/2). |
|
|
| .. _mj_addM: |
|
|
| `mj_addM <#mj_addM>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_addM |
|
|
| Add inertia matrix to destination matrix. |
| Destination can be sparse or dense when all int* are NULL. |
|
|
| .. _mj_applyFT: |
|
|
| `mj_applyFT <#mj_applyFT>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_applyFT |
|
|
| This function can be used to apply a Cartesian force and torque to a point on a body, and add the result to the vector |
| mjData.qfrc_applied of all applied forces. Note that the function requires a pointer to this vector, because sometimes |
| we want to add the result to a different vector. |
|
|
| .. _mj_objectVelocity: |
|
|
| `mj_objectVelocity <#mj_objectVelocity>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_objectVelocity |
|
|
| Compute object 6D velocity (rot:lin) in object-centered frame, world/local orientation. |
|
|
| .. _mj_objectAcceleration: |
|
|
| `mj_objectAcceleration <#mj_objectAcceleration>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_objectAcceleration |
|
|
| Compute object 6D acceleration (rot:lin) in object-centered frame, world/local orientation. If acceleration or force |
| sensors are not present in the model, :ref:`mj_rnePostConstraint` must be manually called in order to calculate |
| mjData.cacc -- the total body acceleration, including contributions from the constraint solver. |
|
|
| .. _mj_geomDistance: |
|
|
| `mj_geomDistance <#mj_geomDistance>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_geomDistance |
|
|
| Returns the smallest signed distance between two geoms and optionally the segment from ``geom1`` to ``geom2``. |
| Returned distances are bounded from above by ``distmax``. |br| If no collision of distance smaller than ``distmax`` is |
| found, the function will return ``distmax`` and ``fromto``, if given, will be set to (0, 0, 0, 0, 0, 0). |
|
|
| .. admonition:: different (correct) behavior under `nativeccd` |
| :class: note |
|
|
| As explained in :ref:`Collision Detection<coDistance>`, distances are inaccurate when using the |
| :ref:`legacy CCD pipeline<coCCD>`, and its use is discouraged. |
|
|
| .. _mj_contactForce: |
|
|
| `mj_contactForce <#mj_contactForce>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_contactForce |
|
|
| Extract 6D force:torque given contact id, in the contact frame. |
|
|
| .. _mj_differentiatePos: |
|
|
| `mj_differentiatePos <#mj_differentiatePos>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_differentiatePos |
|
|
| This function subtracts two vectors in the format of qpos (and divides the result by dt), while respecting the |
| properties of quaternions. Recall that unit quaternions represent spatial orientations. They are points on the unit |
| sphere in 4D. The tangent to that sphere is a 3D plane of rotational velocities. Thus when we subtract two quaternions |
| in the right way, the result is a 3D vector and not a 4D vector. Thus the output qvel has dimensionality nv while the |
| inputs have dimensionality nq. |
|
|
| .. _mj_integratePos: |
|
|
| `mj_integratePos <#mj_integratePos>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_integratePos |
|
|
| This is the opposite of mj_differentiatePos. It adds a vector in the format of qvel (scaled by dt) to a vector in the |
| format of qpos. |
|
|
| .. _mj_normalizeQuat: |
|
|
| `mj_normalizeQuat <#mj_normalizeQuat>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_normalizeQuat |
|
|
| Normalize all quaternions in qpos-type vector. |
|
|
| .. _mj_local2Global: |
|
|
| `mj_local2Global <#mj_local2Global>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_local2Global |
|
|
| Map from body local to global Cartesian coordinates, sameframe takes values from mjtSameFrame. |
|
|
| .. _mj_getTotalmass: |
|
|
| `mj_getTotalmass <#mj_getTotalmass>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_getTotalmass |
|
|
| Sum all body masses. |
|
|
| .. _mj_setTotalmass: |
|
|
| `mj_setTotalmass <#mj_setTotalmass>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_setTotalmass |
|
|
| Scale body masses and inertias to achieve specified total mass. |
|
|
| .. _mj_getPluginConfig: |
|
|
| `mj_getPluginConfig <#mj_getPluginConfig>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_getPluginConfig |
|
|
| Return a config attribute value of a plugin instance; |
| NULL: invalid plugin instance ID or attribute name |
|
|
| .. _mj_loadPluginLibrary: |
|
|
| `mj_loadPluginLibrary <#mj_loadPluginLibrary>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_loadPluginLibrary |
|
|
| Load a dynamic library. The dynamic library is assumed to register one or more plugins. |
|
|
| .. _mj_loadAllPluginLibraries: |
|
|
| `mj_loadAllPluginLibraries <#mj_loadAllPluginLibraries>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_loadAllPluginLibraries |
|
|
| Scan a directory and load all dynamic libraries. Dynamic libraries in the specified directory |
| are assumed to register one or more plugins. Optionally, if a callback is specified, it is called |
| for each dynamic library encountered that registers plugins. |
|
|
| .. _mj_version: |
|
|
| `mj_version <#mj_version>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_version |
|
|
| Return version number: 1.0.2 is encoded as 102. |
|
|
| .. _mj_versionString: |
|
|
| `mj_versionString <#mj_versionString>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_versionString |
|
|
| Return the current version of MuJoCo as a null-terminated string. |
|
|
| .. _Components: |
|
|
| Components |
| ^^^^^^^^^^ |
|
|
| These are components of the simulation pipeline, called internally from :ref:`mj_step`, :ref:`mj_forward` and |
| :ref:`mj_inverse`. It is unlikely that the user will need to call them. |
|
|
| .. _mj_fwdPosition: |
|
|
| `mj_fwdPosition <#mj_fwdPosition>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_fwdPosition |
|
|
| Run position-dependent computations. |
|
|
| .. _mj_fwdVelocity: |
|
|
| `mj_fwdVelocity <#mj_fwdVelocity>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_fwdVelocity |
|
|
| Run velocity-dependent computations. |
|
|
| .. _mj_fwdActuation: |
|
|
| `mj_fwdActuation <#mj_fwdActuation>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_fwdActuation |
|
|
| Compute actuator force qfrc_actuator. |
|
|
| .. _mj_fwdAcceleration: |
|
|
| `mj_fwdAcceleration <#mj_fwdAcceleration>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_fwdAcceleration |
|
|
| Add up all non-constraint forces, compute qacc_smooth. |
|
|
| .. _mj_fwdConstraint: |
|
|
| `mj_fwdConstraint <#mj_fwdConstraint>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_fwdConstraint |
|
|
| Run selected constraint solver. |
|
|
| .. _mj_Euler: |
|
|
| `mj_Euler <#mj_Euler>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_Euler |
|
|
| Euler integrator, semi-implicit in velocity. |
|
|
| .. _mj_RungeKutta: |
|
|
| `mj_RungeKutta <#mj_RungeKutta>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_RungeKutta |
|
|
| Runge-Kutta explicit order-N integrator. |
|
|
| .. _mj_implicit: |
|
|
| `mj_implicit <#mj_implicit>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_implicit |
|
|
| Integrates the simulation state using an implicit-in-velocity integrator (either "implicit" or "implicitfast", see |
| :ref:`Numerical Integration<geIntegration>`), and advances simulation time. See `mjdata.h |
| <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjdata.h>`__ for fields computed by this function. |
|
|
| .. _mj_invPosition: |
|
|
| `mj_invPosition <#mj_invPosition>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_invPosition |
|
|
| Run position-dependent computations in inverse dynamics. |
|
|
| .. _mj_invVelocity: |
|
|
| `mj_invVelocity <#mj_invVelocity>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_invVelocity |
|
|
| Run velocity-dependent computations in inverse dynamics. |
|
|
| .. _mj_invConstraint: |
|
|
| `mj_invConstraint <#mj_invConstraint>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_invConstraint |
|
|
| Apply the analytical formula for inverse constraint dynamics. |
|
|
| .. _mj_compareFwdInv: |
|
|
| `mj_compareFwdInv <#mj_compareFwdInv>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_compareFwdInv |
|
|
| Compare forward and inverse dynamics, save results in fwdinv. |
|
|
| .. _Subcomponents: |
|
|
| Sub components |
| ^^^^^^^^^^^^^^ |
|
|
| These are sub-components of the simulation pipeline, called internally from the components above. |
|
|
| .. _mj_sensorPos: |
|
|
| `mj_sensorPos <#mj_sensorPos>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_sensorPos |
|
|
| Evaluate position-dependent sensors. |
|
|
| .. _mj_sensorVel: |
|
|
| `mj_sensorVel <#mj_sensorVel>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_sensorVel |
|
|
| Evaluate velocity-dependent sensors. |
|
|
| .. _mj_sensorAcc: |
|
|
| `mj_sensorAcc <#mj_sensorAcc>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_sensorAcc |
|
|
| Evaluate acceleration and force-dependent sensors. |
|
|
| .. _mj_energyPos: |
|
|
| `mj_energyPos <#mj_energyPos>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_energyPos |
|
|
| Evaluate position-dependent energy (potential). |
|
|
| .. _mj_energyVel: |
|
|
| `mj_energyVel <#mj_energyVel>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_energyVel |
|
|
| Evaluate velocity-dependent energy (kinetic). |
|
|
| .. _mj_checkPos: |
|
|
| `mj_checkPos <#mj_checkPos>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_checkPos |
|
|
| Check qpos, reset if any element is too big or nan. |
|
|
| .. _mj_checkVel: |
|
|
| `mj_checkVel <#mj_checkVel>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_checkVel |
|
|
| Check qvel, reset if any element is too big or nan. |
|
|
| .. _mj_checkAcc: |
|
|
| `mj_checkAcc <#mj_checkAcc>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_checkAcc |
|
|
| Check qacc, reset if any element is too big or nan. |
|
|
| .. _mj_kinematics: |
|
|
| `mj_kinematics <#mj_kinematics>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_kinematics |
|
|
| Run forward kinematics. |
|
|
| .. _mj_comPos: |
|
|
| `mj_comPos <#mj_comPos>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_comPos |
|
|
| Map inertias and motion dofs to global frame centered at CoM. |
|
|
| .. _mj_camlight: |
|
|
| `mj_camlight <#mj_camlight>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_camlight |
|
|
| Compute camera and light positions and orientations. |
|
|
| .. _mj_flex: |
|
|
| `mj_flex <#mj_flex>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_flex |
|
|
| Compute flex-related quantities. |
|
|
| .. _mj_tendon: |
|
|
| `mj_tendon <#mj_tendon>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_tendon |
|
|
| Compute tendon lengths, velocities and moment arms. |
|
|
| .. _mj_transmission: |
|
|
| `mj_transmission <#mj_transmission>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_transmission |
|
|
| Compute actuator transmission lengths and moments. |
|
|
| .. _mj_crb: |
|
|
| `mj_crb <#mj_crb>`__ |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_crb |
|
|
| Run composite rigid body inertia algorithm (CRB). |
|
|
| .. _mj_makeM: |
|
|
| `mj_makeM <#mj_makeM>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_makeM |
|
|
| Compute the composite rigid body inertia with :ref:`mj_crb`, add terms due |
| to :ref:`tendon armature<tendon-spatial-armature>`. The joint-space inertia matrix is stored in both ``mjData.qM`` and |
| ``mjData.M``. These arrays represent the same quantity using different layouts (parent-based and compressed sparse row, |
| respectively). |
|
|
| .. _mj_factorM: |
|
|
| `mj_factorM <#mj_factorM>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_factorM |
|
|
| Compute sparse :math:`L^T D L` factorizaton of inertia matrix. |
|
|
| .. _mj_solveM: |
|
|
| `mj_solveM <#mj_solveM>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_solveM |
|
|
| Solve linear system :math:`M x = y` using factorization: :math:`x = (L^T D L)^{-1} y` |
|
|
| .. _mj_solveM2: |
|
|
| `mj_solveM2 <#mj_solveM2>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_solveM2 |
|
|
| Half of linear solve: :math:`x = \sqrt{D^{-1}} (L^T)^{-1} y` |
|
|
| .. _mj_comVel: |
|
|
| `mj_comVel <#mj_comVel>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_comVel |
|
|
| Compute cvel, cdof_dot. |
|
|
| .. _mj_passive: |
|
|
| `mj_passive <#mj_passive>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_passive |
|
|
| Compute qfrc_passive from spring-dampers, gravity compensation and fluid forces. |
|
|
| .. _mj_subtreeVel: |
|
|
| `mj_subtreeVel <#mj_subtreeVel>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_subtreeVel |
|
|
| Sub-tree linear velocity and angular momentum: compute ``subtree_linvel``, ``subtree_angmom``. |
| This function is triggered automatically if the subtree :ref:`velocity<sensor-subtreelinvel>` or |
| :ref:`momentum<sensor-subtreeangmom>` sensors are present in the model. |
| It is also triggered for :ref:`user sensors<sensor-user>` of :ref:`stage<sensor-user-needstage>` "vel". |
|
|
| .. _mj_rne: |
|
|
| `mj_rne <#mj_rne>`__ |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_rne |
|
|
| Recursive Newton Euler: compute :math:`M(q) \ddot q + C(q,\dot q)`. ``flg_acc=0`` removes the inertial term (i.e. |
| assumes :math:`\ddot q = 0`). |
|
|
| .. _mj_rnePostConstraint: |
|
|
| `mj_rnePostConstraint <#mj_rnePostConstraint>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_rnePostConstraint |
|
|
| Recursive Newton Euler with final computed forces and accelerations. |
| Computes three body-level ``nv x 6`` arrays, all defined in the subtreecom-based |
| :ref:`c-frame<tyNotesCom>` and arranged in ``[rotation(3), translation(3)]`` order. |
|
|
| - ``cacc``: Body acceleration, required for :ref:`mj_objectAcceleration`. |
| - ``cfrc_int``: Interaction force with the parent body. |
| - ``cfrc_ext``: External force acting on the body. |
| |
| This function is triggered automatically if the following sensors are present in the model: |
| :ref:`accelerometer<sensor-accelerometer>`, :ref:`force<sensor-force>`, :ref:`torque<sensor-torque>`, |
| :ref:`framelinacc<sensor-framelinacc>`, :ref:`frameangacc<sensor-frameangacc>`. |
| It is also triggered for :ref:`user sensors<sensor-user>` of :ref:`stage<sensor-user-needstage>` "acc". |
|
|
| The computed force arrays ``cfrc_int`` and ``cfrc_ext`` currently suffer from a know bug, they do not take into account |
| the effect of spatial tendons, see :github:issue:`832`. |
|
|
| .. _mj_collision: |
|
|
| `mj_collision <#mj_collision>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_collision |
|
|
| Run collision detection. |
|
|
| .. _mj_makeConstraint: |
|
|
| `mj_makeConstraint <#mj_makeConstraint>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_makeConstraint |
|
|
| Construct constraints. |
|
|
| .. _mj_island: |
|
|
| `mj_island <#mj_island>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_island |
|
|
| Find constraint islands. |
|
|
| .. _mj_projectConstraint: |
|
|
| `mj_projectConstraint <#mj_projectConstraint>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_projectConstraint |
|
|
| Compute inverse constraint inertia efc_AR. |
|
|
| .. _mj_referenceConstraint: |
|
|
| `mj_referenceConstraint <#mj_referenceConstraint>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_referenceConstraint |
|
|
| Compute efc_vel, efc_aref. |
|
|
| .. _mj_constraintUpdate: |
|
|
| `mj_constraintUpdate <#mj_constraintUpdate>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_constraintUpdate |
|
|
| Compute ``efc_state``, ``efc_force``, ``qfrc_constraint``, and (optionally) cone Hessians. |
| If ``cost`` is not ``NULL``, set ``*cost = s(jar)`` where ``jar = Jac*qacc - aref``. |
|
|
| .. _Raycollisions: |
|
|
| Ray casting |
| ^^^^^^^^^^^ |
|
|
| Ray collisions, also known as ray casting, find the distance ``x`` of a ray's intersection with a geom, where a ray is |
| a line emanating from the 3D point ``p`` in the direction ``v`` i.e., ``(p + x*v, x >= 0)``. All functions in this |
| family return the distance to the nearest geom surface, or -1 if there is no intersection. Note that if ``p`` is inside |
| a geom, the ray will intersect the surface from the inside which still counts as an intersection. |
|
|
| All ray collision functions rely on quantities computed by :ref:`mj_kinematics` (see :ref:`mjData`), so must be called |
| after :ref:`mj_kinematics`, or functions that call it (e.g. :ref:`mj_fwdPosition`). The top level functions, which |
| intersect with all geoms types, are :ref:`mj_ray` which casts a single ray, and :ref:`mj_multiRay` which casts multiple |
| rays from a single point. |
|
|
| .. _mj_multiRay: |
|
|
| `mj_multiRay <#mj_multiRay>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_multiRay |
|
|
| Intersect multiple rays emanating from a single point. |
| Similar semantics to mj_ray, but vec is an array of (nray x 3) directions. |
|
|
| .. _mj_ray: |
|
|
| `mj_ray <#mj_ray>`__ |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_ray |
|
|
| Intersect ray ``(pnt+x*vec, x >= 0)`` with visible geoms, except geoms in bodyexclude. |
|
|
| Return geomid and distance (x) to nearest surface, or -1 if no intersection. |
|
|
| geomgroup is an array of length mjNGROUP, where 1 means the group should be included. Pass geomgroup=NULL to skip |
| group exclusion. |
|
|
| If flg_static is 0, static geoms will be excluded. |
|
|
| bodyexclude=-1 can be used to indicate that all bodies are included. |
|
|
| .. _mj_rayHfield: |
|
|
| `mj_rayHfield <#mj_rayHfield>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_rayHfield |
|
|
| Intersect ray with hfield, return nearest distance or -1 if no intersection. |
|
|
| .. _mj_rayMesh: |
|
|
| `mj_rayMesh <#mj_rayMesh>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_rayMesh |
|
|
| Intersect ray with mesh, return nearest distance or -1 if no intersection. |
|
|
| .. _mju_rayGeom: |
|
|
| `mju_rayGeom <#mju_rayGeom>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_rayGeom |
|
|
| Intersect ray with pure geom, return nearest distance or -1 if no intersection. |
|
|
| .. _mju_rayFlex: |
|
|
| `mju_rayFlex <#mju_rayFlex>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_rayFlex |
|
|
| Intersect ray with flex, return nearest distance or -1 if no intersection, |
| and also output nearest vertex id. |
|
|
| .. _mju_raySkin: |
|
|
| `mju_raySkin <#mju_raySkin>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_raySkin |
|
|
| Intersect ray with skin, return nearest distance or -1 if no intersection, |
| and also output nearest vertex id. |
|
|
| .. _Printing: |
|
|
| Printing |
| ^^^^^^^^ |
|
|
| These functions can be used to print various quantities to the screen for debugging purposes. |
|
|
| .. _mj_printFormattedModel: |
|
|
| `mj_printFormattedModel <#mj_printFormattedModel>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_printFormattedModel |
|
|
| Print mjModel to text file, specifying format. |
| float_format must be a valid printf-style format string for a single float value. |
|
|
| .. _mj_printModel: |
|
|
| `mj_printModel <#mj_printModel>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_printModel |
|
|
| Print model to text file. |
|
|
| .. _mj_printFormattedData: |
|
|
| `mj_printFormattedData <#mj_printFormattedData>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_printFormattedData |
|
|
| Print mjData to text file, specifying format. |
| float_format must be a valid printf-style format string for a single float value |
|
|
| .. _mj_printData: |
|
|
| `mj_printData <#mj_printData>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_printData |
|
|
| Print data to text file. |
|
|
| .. _mju_printMat: |
|
|
| `mju_printMat <#mju_printMat>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_printMat |
|
|
| Print matrix to screen. |
|
|
| .. _mju_printMatSparse: |
|
|
| `mju_printMatSparse <#mju_printMatSparse>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_printMatSparse |
|
|
| Print sparse matrix to screen. |
|
|
| .. _mj_printSchema: |
|
|
| `mj_printSchema <#mj_printSchema>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_printSchema |
|
|
| Print internal XML schema as plain text or HTML, with style-padding or `` ``. |
|
|
| .. _Virtualfilesystem: |
|
|
| Virtual file system |
| ^^^^^^^^^^^^^^^^^^^ |
|
|
| Virtual file system (VFS) enables the user to load all necessary files in memory, including MJB binary model files, XML |
| files (MJCF, URDF and included files), STL meshes, PNGs for textures and height fields, and HF files in our custom |
| height field format. Model and resource files in the VFS can also be constructed programmatically (say using a Python |
| library that writes to memory). Once all desired files are in the VFS, the user can call :ref:`mj_loadModel` or |
| :ref:`mj_loadXML` with a pointer to the VFS. When this pointer is not NULL, the loaders will first check the VFS for any |
| files they are about to load, and only access the disk if the file is not found in the VFS. |
|
|
| The VFS must first be allocated using :ref:`mj_defaultVFS` and must be freed with :ref:`mj_deleteVFS`. |
|
|
|
|
| .. _mj_defaultVFS: |
|
|
| `mj_defaultVFS <#mj_defaultVFS>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_defaultVFS |
|
|
| Initialize an empty VFS, :ref:`mj_deleteVFS` must be called to deallocate the VFS. |
|
|
| .. _mj_addFileVFS: |
|
|
| `mj_addFileVFS <#mj_addFileVFS>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_addFileVFS |
|
|
| Add file to VFS. The directory argument is optional and can be NULL or empty. Returns 0 on success, |
| 2 on name collision, or -1 when an internal error occurs. |
|
|
| .. _mj_addBufferVFS: |
|
|
| `mj_addBufferVFS <#mj_addBufferVFS>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_addBufferVFS |
|
|
| Add file to VFS from buffer, return 0: success, 2: repeated name, -1: failed to load. |
|
|
| .. _mj_deleteFileVFS: |
|
|
| `mj_deleteFileVFS <#mj_deleteFileVFS>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_deleteFileVFS |
|
|
| Delete file from VFS, return 0: success, -1: not found in VFS. |
|
|
| .. _mj_deleteVFS: |
|
|
| `mj_deleteVFS <#mj_deleteVFS>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_deleteVFS |
|
|
| Delete all files from VFS and deallocates VFS internal memory. |
|
|
| .. _Initialization: |
|
|
| Initialization |
| ^^^^^^^^^^^^^^ |
|
|
| This section contains functions that load/initialize the model or other data structures. Their use is well illustrated |
| in the code samples. |
|
|
| .. _mj_defaultLROpt: |
|
|
| `mj_defaultLROpt <#mj_defaultLROpt>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_defaultLROpt |
|
|
| Set default options for length range computation. |
|
|
| .. _mj_defaultSolRefImp: |
|
|
| `mj_defaultSolRefImp <#mj_defaultSolRefImp>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_defaultSolRefImp |
|
|
| Set solver parameters to default values. |
|
|
| .. _mj_defaultOption: |
|
|
| `mj_defaultOption <#mj_defaultOption>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_defaultOption |
|
|
| Set physics options to default values. |
|
|
| .. _mj_defaultVisual: |
|
|
| `mj_defaultVisual <#mj_defaultVisual>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_defaultVisual |
|
|
| Set visual options to default values. |
|
|
| .. _mj_copyModel: |
|
|
| `mj_copyModel <#mj_copyModel>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_copyModel |
|
|
| Copy mjModel, allocate new if dest is NULL. |
|
|
| .. _mj_saveModel: |
|
|
| `mj_saveModel <#mj_saveModel>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_saveModel |
|
|
| Save model to binary MJB file or memory buffer; buffer has precedence when given. |
|
|
| .. _mj_loadModel: |
|
|
| `mj_loadModel <#mj_loadModel>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_loadModel |
|
|
| Load model from binary MJB file. |
| If vfs is not NULL, look up file in vfs before reading from disk. |
|
|
| .. _mj_deleteModel: |
|
|
| `mj_deleteModel <#mj_deleteModel>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_deleteModel |
|
|
| Free memory allocation in model. |
|
|
| .. _mj_sizeModel: |
|
|
| `mj_sizeModel <#mj_sizeModel>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_sizeModel |
|
|
| Return size of buffer needed to hold model. |
|
|
| .. _mj_makeData: |
|
|
| `mj_makeData <#mj_makeData>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_makeData |
|
|
| Allocate mjData corresponding to given model. |
| If the model buffer is unallocated the initial configuration will not be set. |
|
|
| .. _mj_copyData: |
|
|
| `mj_copyData <#mj_copyData>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_copyData |
|
|
| Copy mjData. |
| m is only required to contain the size fields from MJMODEL_INTS. |
|
|
| .. _mjv_copyData: |
|
|
| `mjv_copyData <#mjv_copyData>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_copyData |
|
|
| Copy mjData, skip large arrays not required for visualization. |
|
|
| .. _mj_resetData: |
|
|
| `mj_resetData <#mj_resetData>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_resetData |
|
|
| Reset data to defaults. |
|
|
| .. _mj_resetDataDebug: |
|
|
| `mj_resetDataDebug <#mj_resetDataDebug>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_resetDataDebug |
|
|
| Reset data to defaults, fill everything else with debug_value. |
|
|
| .. _mj_resetDataKeyframe: |
|
|
| `mj_resetDataKeyframe <#mj_resetDataKeyframe>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_resetDataKeyframe |
|
|
| Reset data. If 0 <= key < nkey, set fields from specified keyframe. |
|
|
| .. _mj_markStack: |
|
|
| `mj_markStack <#mj_markStack>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_markStack |
|
|
| Mark a new frame on the mjData stack. |
|
|
| .. _mj_freeStack: |
|
|
| `mj_freeStack <#mj_freeStack>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_freeStack |
|
|
| Free the current mjData stack frame. All pointers returned by mj_stackAlloc since the last call |
| to mj_markStack must no longer be used afterwards. |
|
|
| .. _mj_stackAllocByte: |
|
|
| `mj_stackAllocByte <#mj_stackAllocByte>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_stackAllocByte |
|
|
| Allocate a number of bytes on mjData stack at a specific alignment. |
| Call mju_error on stack overflow. |
|
|
| .. _mj_stackAllocNum: |
|
|
| `mj_stackAllocNum <#mj_stackAllocNum>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_stackAllocNum |
|
|
| Allocate array of mjtNums on mjData stack. Call mju_error on stack overflow. |
|
|
| .. _mj_stackAllocInt: |
|
|
| `mj_stackAllocInt <#mj_stackAllocInt>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_stackAllocInt |
|
|
| Allocate array of ints on mjData stack. Call mju_error on stack overflow. |
|
|
| .. _mj_deleteData: |
|
|
| `mj_deleteData <#mj_deleteData>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_deleteData |
|
|
| Free memory allocation in mjData. |
|
|
| .. _mj_resetCallbacks: |
|
|
| `mj_resetCallbacks <#mj_resetCallbacks>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_resetCallbacks |
|
|
| Reset all callbacks to NULL pointers (NULL is the default). |
|
|
| .. _mj_setConst: |
|
|
| `mj_setConst <#mj_setConst>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_setConst |
|
|
| Set constant fields of mjModel, corresponding to qpos0 configuration. |
|
|
| .. _mj_setLengthRange: |
|
|
| `mj_setLengthRange <#mj_setLengthRange>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_setLengthRange |
|
|
| Set actuator_lengthrange for specified actuator; return 1 if ok, 0 if error. |
|
|
| .. _mj_makeSpec: |
|
|
| `mj_makeSpec <#mj_makeSpec>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_makeSpec |
|
|
| Create empty spec. |
|
|
| .. _mj_copySpec: |
|
|
| `mj_copySpec <#mj_copySpec>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_copySpec |
|
|
| Copy spec. |
|
|
| .. _mj_deleteSpec: |
|
|
| `mj_deleteSpec <#mj_deleteSpec>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_deleteSpec |
|
|
| Free memory allocation in mjSpec. |
|
|
| .. _mjs_activatePlugin: |
|
|
| `mjs_activatePlugin <#mjs_activatePlugin>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_activatePlugin |
|
|
| Activate plugin. Returns 0 on success. |
|
|
| .. _mjs_setDeepCopy: |
|
|
| `mjs_setDeepCopy <#mjs_setDeepCopy>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_setDeepCopy |
|
|
| Turn deep copy on or off attach. Returns 0 on success. |
|
|
| .. _Errorandmemory: |
|
|
| Error and memory |
| ^^^^^^^^^^^^^^^^ |
|
|
| .. _mju_error: |
|
|
| `mju_error <#mju_error>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_error |
|
|
| Main error function; does not return to caller. |
|
|
| .. _mju_error_i: |
|
|
| `mju_error_i <#mju_error_i>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_error_i |
|
|
| Deprecated: use mju_error. |
|
|
| .. _mju_error_s: |
|
|
| `mju_error_s <#mju_error_s>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_error_s |
|
|
| Deprecated: use mju_error. |
|
|
| .. _mju_warning: |
|
|
| `mju_warning <#mju_warning>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_warning |
|
|
| Main warning function; returns to caller. |
|
|
| .. _mju_warning_i: |
|
|
| `mju_warning_i <#mju_warning_i>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_warning_i |
|
|
| Deprecated: use mju_warning. |
|
|
| .. _mju_warning_s: |
|
|
| `mju_warning_s <#mju_warning_s>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_warning_s |
|
|
| Deprecated: use mju_warning. |
|
|
| .. _mju_clearHandlers: |
|
|
| `mju_clearHandlers <#mju_clearHandlers>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_clearHandlers |
|
|
| Clear user error and memory handlers. |
|
|
| .. _mju_malloc: |
|
|
| `mju_malloc <#mju_malloc>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_malloc |
|
|
| Allocate memory; byte-align on 64; pad size to multiple of 64. |
|
|
| .. _mju_free: |
|
|
| `mju_free <#mju_free>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_free |
|
|
| Free memory, using free() by default. |
|
|
| .. _mj_warning: |
|
|
| `mj_warning <#mj_warning>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mj_warning |
|
|
| High-level warning function: count warnings in mjData, print only the first. |
|
|
| .. _mju_writeLog: |
|
|
| `mju_writeLog <#mju_writeLog>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_writeLog |
|
|
| Write [datetime, type: message] to MUJOCO_LOG.TXT. |
|
|
| .. _mjs_getError: |
|
|
| `mjs_getError <#mjs_getError>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_getError |
|
|
| Get compiler error message from spec. |
|
|
| .. _mjs_isWarning: |
|
|
| `mjs_isWarning <#mjs_isWarning>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_isWarning |
|
|
| Return 1 if compiler error is a warning. |
|
|
| .. _Miscellaneous: |
|
|
| Miscellaneous |
| ^^^^^^^^^^^^^ |
|
|
| .. _mju_muscleGain: |
|
|
| `mju_muscleGain <#mju_muscleGain>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_muscleGain |
|
|
| Muscle active force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax). |
|
|
| .. _mju_muscleBias: |
|
|
| `mju_muscleBias <#mju_muscleBias>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_muscleBias |
|
|
| Muscle passive force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax). |
|
|
| .. _mju_muscleDynamics: |
|
|
| `mju_muscleDynamics <#mju_muscleDynamics>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_muscleDynamics |
|
|
| Muscle activation dynamics, prm = (tau_act, tau_deact, smoothing_width). |
|
|
| .. _mju_encodePyramid: |
|
|
| `mju_encodePyramid <#mju_encodePyramid>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_encodePyramid |
|
|
| Convert contact force to pyramid representation. |
|
|
| .. _mju_decodePyramid: |
|
|
| `mju_decodePyramid <#mju_decodePyramid>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_decodePyramid |
|
|
| Convert pyramid representation to contact force. |
|
|
| .. _mju_springDamper: |
|
|
| `mju_springDamper <#mju_springDamper>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_springDamper |
|
|
| Integrate spring-damper analytically, return pos(dt). |
|
|
| .. _mju_min: |
|
|
| `mju_min <#mju_min>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_min |
|
|
| Return min(a,b) with single evaluation of a and b. |
|
|
| .. _mju_max: |
|
|
| `mju_max <#mju_max>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_max |
|
|
| Return max(a,b) with single evaluation of a and b. |
|
|
| .. _mju_clip: |
|
|
| `mju_clip <#mju_clip>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_clip |
|
|
| Clip x to the range [min, max]. |
|
|
| .. _mju_sign: |
|
|
| `mju_sign <#mju_sign>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_sign |
|
|
| Return sign of x: +1, -1 or 0. |
|
|
| .. _mju_round: |
|
|
| `mju_round <#mju_round>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_round |
|
|
| Round x to nearest integer. |
|
|
| .. _mju_type2Str: |
|
|
| `mju_type2Str <#mju_type2Str>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_type2Str |
|
|
| Convert type id (mjtObj) to type name. |
|
|
| .. _mju_str2Type: |
|
|
| `mju_str2Type <#mju_str2Type>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_str2Type |
|
|
| Convert type name to type id (mjtObj). |
|
|
| .. _mju_writeNumBytes: |
|
|
| `mju_writeNumBytes <#mju_writeNumBytes>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_writeNumBytes |
|
|
| Return human readable number of bytes using standard letter suffix. |
|
|
| .. _mju_warningText: |
|
|
| `mju_warningText <#mju_warningText>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_warningText |
|
|
| Construct a warning message given the warning type and info. |
|
|
| .. _mju_isBad: |
|
|
| `mju_isBad <#mju_isBad>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_isBad |
|
|
| Return 1 if nan or abs(x)>mjMAXVAL, 0 otherwise. Used by check functions. |
|
|
| .. _mju_isZero: |
|
|
| `mju_isZero <#mju_isZero>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_isZero |
|
|
| Return 1 if all elements are 0. |
|
|
| .. _mju_standardNormal: |
|
|
| `mju_standardNormal <#mju_standardNormal>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_standardNormal |
|
|
| Standard normal random number generator (optional second number). |
|
|
| .. _mju_f2n: |
|
|
| `mju_f2n <#mju_f2n>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_f2n |
|
|
| Convert from float to mjtNum. |
|
|
| .. _mju_n2f: |
|
|
| `mju_n2f <#mju_n2f>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_n2f |
|
|
| Convert from mjtNum to float. |
|
|
| .. _mju_d2n: |
|
|
| `mju_d2n <#mju_d2n>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_d2n |
|
|
| Convert from double to mjtNum. |
|
|
| .. _mju_n2d: |
|
|
| `mju_n2d <#mju_n2d>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_n2d |
|
|
| Convert from mjtNum to double. |
|
|
| .. _mju_insertionSort: |
|
|
| `mju_insertionSort <#mju_insertionSort>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_insertionSort |
|
|
| Insertion sort, resulting list is in increasing order. |
|
|
| .. _mju_insertionSortInt: |
|
|
| `mju_insertionSortInt <#mju_insertionSortInt>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_insertionSortInt |
|
|
| Integer insertion sort, resulting list is in increasing order. |
|
|
| .. _mju_Halton: |
|
|
| `mju_Halton <#mju_Halton>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_Halton |
|
|
| Generate Halton sequence. |
|
|
| .. _mju_strncpy: |
|
|
| `mju_strncpy <#mju_strncpy>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_strncpy |
|
|
| Call strncpy, then set dst[n-1] = 0. |
|
|
| .. _mju_sigmoid: |
|
|
| `mju_sigmoid <#mju_sigmoid>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_sigmoid |
|
|
| Twice continuously differentiable sigmoid function using a quintic polynomial: |
|
|
| .. math:: |
| s(x) = |
| \begin{cases} |
| 0, & & x \le 0 \\ |
| 6x^5 - 15x^4 + 10x^3, & 0 \lt & x \lt 1 \\ |
| 1, & 1 \le & x \qquad |
| \end{cases} |
|
|
| .. _Interaction: |
|
|
| Interaction |
| ^^^^^^^^^^^ |
|
|
| These functions implement abstract mouse interactions, allowing control over cameras and perturbations. Their use is well |
| illustrated in :ref:`simulate<saSimulate>`. |
|
|
| .. _mjv_defaultCamera: |
|
|
| `mjv_defaultCamera <#mjv_defaultCamera>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_defaultCamera |
|
|
| Set default camera. |
|
|
| .. _mjv_defaultFreeCamera: |
|
|
| `mjv_defaultFreeCamera <#mjv_defaultFreeCamera>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_defaultFreeCamera |
|
|
| Set default free camera. |
|
|
| .. _mjv_defaultPerturb: |
|
|
| `mjv_defaultPerturb <#mjv_defaultPerturb>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_defaultPerturb |
|
|
| Set default perturbation. |
|
|
| .. _mjv_room2model: |
|
|
| `mjv_room2model <#mjv_room2model>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_room2model |
|
|
| Transform pose from room to model space. |
|
|
| .. _mjv_model2room: |
|
|
| `mjv_model2room <#mjv_model2room>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_model2room |
|
|
| Transform pose from model to room space. |
|
|
| .. _mjv_cameraInModel: |
|
|
| `mjv_cameraInModel <#mjv_cameraInModel>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_cameraInModel |
|
|
| Get camera info in model space; average left and right OpenGL cameras. |
|
|
| .. _mjv_cameraInRoom: |
|
|
| `mjv_cameraInRoom <#mjv_cameraInRoom>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_cameraInRoom |
|
|
| Get camera info in room space; average left and right OpenGL cameras. |
|
|
| .. _mjv_frustumHeight: |
|
|
| `mjv_frustumHeight <#mjv_frustumHeight>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_frustumHeight |
|
|
| Get frustum height at unit distance from camera; average left and right OpenGL cameras. |
|
|
| .. _mjv_alignToCamera: |
|
|
| `mjv_alignToCamera <#mjv_alignToCamera>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_alignToCamera |
|
|
| Rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y). |
|
|
| .. _mjv_moveCamera: |
|
|
| `mjv_moveCamera <#mjv_moveCamera>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_moveCamera |
|
|
| Move camera with mouse; action is mjtMouse. |
|
|
| .. _mjv_movePerturb: |
|
|
| `mjv_movePerturb <#mjv_movePerturb>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_movePerturb |
|
|
| Move perturb object with mouse; action is mjtMouse. |
|
|
| .. _mjv_moveModel: |
|
|
| `mjv_moveModel <#mjv_moveModel>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_moveModel |
|
|
| Move model with mouse; action is mjtMouse. |
|
|
| .. _mjv_initPerturb: |
|
|
| `mjv_initPerturb <#mjv_initPerturb>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_initPerturb |
|
|
| Copy perturb pos,quat from selected body; set scale for perturbation. |
|
|
| .. _mjv_applyPerturbPose: |
|
|
| `mjv_applyPerturbPose <#mjv_applyPerturbPose>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_applyPerturbPose |
|
|
| Set perturb pos,quat in d->mocap when selected body is mocap, and in d->qpos otherwise. |
| Write d->qpos only if flg_paused and subtree root for selected body has free joint. |
|
|
| .. _mjv_applyPerturbForce: |
|
|
| `mjv_applyPerturbForce <#mjv_applyPerturbForce>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_applyPerturbForce |
|
|
| Set perturb force,torque in d->xfrc_applied, if selected body is dynamic. |
|
|
| .. _mjv_averageCamera: |
|
|
| `mjv_averageCamera <#mjv_averageCamera>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_averageCamera |
|
|
| Return the average of two OpenGL cameras. |
|
|
| .. _mjv_select: |
|
|
| `mjv_select <#mjv_select>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_select |
|
|
| This function is used for mouse selection, relying on ray intersections. aspectratio is the viewport width/height. relx |
| and rely are the relative coordinates of the 2D point of interest in the viewport (usually mouse cursor). The function |
| returns the id of the geom under the specified 2D point, or -1 if there is no geom (note that they skybox if present is |
| not a model geom). The 3D coordinates of the clicked point are returned in selpnt. See :ref:`simulate<saSimulate>` for |
| an illustration. |
|
|
| .. _Visualization-api: |
|
|
| Visualization |
| ^^^^^^^^^^^^^ |
|
|
| The functions in this section implement abstract visualization. The results are used by the OpenGL renderer, and can |
| also be used by users wishing to implement their own renderer, or hook up MuJoCo to advanced rendering tools such as |
| Unity or Unreal Engine. See :ref:`simulate<saSimulate>` for illustration of how to use these functions. |
|
|
| .. _mjv_defaultOption: |
|
|
| `mjv_defaultOption <#mjv_defaultOption>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_defaultOption |
|
|
| Set default visualization options. |
|
|
| .. _mjv_defaultFigure: |
|
|
| `mjv_defaultFigure <#mjv_defaultFigure>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_defaultFigure |
|
|
| Set default figure. |
|
|
| .. _mjv_initGeom: |
|
|
| `mjv_initGeom <#mjv_initGeom>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_initGeom |
|
|
| Initialize given geom fields when not NULL, set the rest to their default values. |
|
|
| .. _mjv_connector: |
|
|
| `mjv_connector <#mjv_connector>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_connector |
|
|
| Set (type, size, pos, mat) for connector-type geom between given points. |
| Assume that mjv_initGeom was already called to set all other properties. |
| Width of mjGEOM_LINE is denominated in pixels. |
|
|
| .. _mjv_defaultScene: |
|
|
| `mjv_defaultScene <#mjv_defaultScene>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_defaultScene |
|
|
| Set default abstract scene. |
|
|
| .. _mjv_makeScene: |
|
|
| `mjv_makeScene <#mjv_makeScene>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_makeScene |
|
|
| Allocate resources in abstract scene. |
|
|
| .. _mjv_freeScene: |
|
|
| `mjv_freeScene <#mjv_freeScene>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_freeScene |
|
|
| Free abstract scene. |
|
|
| .. _mjv_updateScene: |
|
|
| `mjv_updateScene <#mjv_updateScene>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_updateScene |
|
|
| Update entire scene given model state. |
|
|
| .. _mjv_copyModel: |
|
|
| `mjv_copyModel <#mjv_copyModel>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_copyModel |
|
|
| Copy mjModel, skip large arrays not required for abstract visualization. |
|
|
| .. _mjv_addGeoms: |
|
|
| `mjv_addGeoms <#mjv_addGeoms>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_addGeoms |
|
|
| Add geoms from selected categories. |
|
|
| .. _mjv_makeLights: |
|
|
| `mjv_makeLights <#mjv_makeLights>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_makeLights |
|
|
| Make list of lights. |
|
|
| .. _mjv_updateCamera: |
|
|
| `mjv_updateCamera <#mjv_updateCamera>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_updateCamera |
|
|
| Update camera. |
|
|
| .. _mjv_updateSkin: |
|
|
| `mjv_updateSkin <#mjv_updateSkin>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjv_updateSkin |
|
|
| Update skins. |
|
|
| .. _OpenGLrendering: |
|
|
| OpenGL rendering |
| ^^^^^^^^^^^^^^^^ |
|
|
| These functions expose the OpenGL renderer. See :ref:`simulate<saSimulate>` for an illustration |
| of how to use these functions. |
|
|
| .. _mjr_defaultContext: |
|
|
| `mjr_defaultContext <#mjr_defaultContext>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_defaultContext |
|
|
| Set default mjrContext. |
|
|
| .. _mjr_makeContext: |
|
|
| `mjr_makeContext <#mjr_makeContext>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_makeContext |
|
|
| Allocate resources in custom OpenGL context; fontscale is mjtFontScale. |
|
|
| .. _mjr_changeFont: |
|
|
| `mjr_changeFont <#mjr_changeFont>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_changeFont |
|
|
| Change font of existing context. |
|
|
| .. _mjr_addAux: |
|
|
| `mjr_addAux <#mjr_addAux>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_addAux |
|
|
| Add Aux buffer with given index to context; free previous Aux buffer. |
|
|
| .. _mjr_freeContext: |
|
|
| `mjr_freeContext <#mjr_freeContext>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_freeContext |
|
|
| Free resources in custom OpenGL context, set to default. |
|
|
| .. _mjr_resizeOffscreen: |
|
|
| `mjr_resizeOffscreen <#mjr_resizeOffscreen>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_resizeOffscreen |
|
|
| Resize offscreen buffers. |
|
|
| .. _mjr_uploadTexture: |
|
|
| `mjr_uploadTexture <#mjr_uploadTexture>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_uploadTexture |
|
|
| Upload texture to GPU, overwriting previous upload if any. |
|
|
| .. _mjr_uploadMesh: |
|
|
| `mjr_uploadMesh <#mjr_uploadMesh>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_uploadMesh |
|
|
| Upload mesh to GPU, overwriting previous upload if any. |
|
|
| .. _mjr_uploadHField: |
|
|
| `mjr_uploadHField <#mjr_uploadHField>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_uploadHField |
|
|
| Upload height field to GPU, overwriting previous upload if any. |
|
|
| .. _mjr_restoreBuffer: |
|
|
| `mjr_restoreBuffer <#mjr_restoreBuffer>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_restoreBuffer |
|
|
| Make con->currentBuffer current again. |
|
|
| .. _mjr_setBuffer: |
|
|
| `mjr_setBuffer <#mjr_setBuffer>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_setBuffer |
|
|
| Set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN. |
| If only one buffer is available, set that buffer and ignore framebuffer argument. |
|
|
| .. _mjr_readPixels: |
|
|
| `mjr_readPixels <#mjr_readPixels>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_readPixels |
|
|
| Read pixels from current OpenGL framebuffer to client buffer. |
| Viewport is in OpenGL framebuffer; client buffer starts at (0,0). |
|
|
| .. _mjr_drawPixels: |
|
|
| `mjr_drawPixels <#mjr_drawPixels>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_drawPixels |
|
|
| Draw pixels from client buffer to current OpenGL framebuffer. |
| Viewport is in OpenGL framebuffer; client buffer starts at (0,0). |
|
|
| .. _mjr_blitBuffer: |
|
|
| `mjr_blitBuffer <#mjr_blitBuffer>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_blitBuffer |
|
|
| Blit from src viewpoint in current framebuffer to dst viewport in other framebuffer. |
| If src, dst have different size and flg_depth==0, color is interpolated with GL_LINEAR. |
|
|
| .. _mjr_setAux: |
|
|
| `mjr_setAux <#mjr_setAux>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_setAux |
|
|
| Set Aux buffer for custom OpenGL rendering (call restoreBuffer when done). |
|
|
| .. _mjr_blitAux: |
|
|
| `mjr_blitAux <#mjr_blitAux>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_blitAux |
|
|
| Blit from Aux buffer to con->currentBuffer. |
|
|
| .. _mjr_text: |
|
|
| `mjr_text <#mjr_text>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_text |
|
|
| Draw text at (x,y) in relative coordinates; font is mjtFont. |
|
|
| .. _mjr_overlay: |
|
|
| `mjr_overlay <#mjr_overlay>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_overlay |
|
|
| Draw text overlay; font is mjtFont; gridpos is mjtGridPos. |
|
|
| .. _mjr_maxViewport: |
|
|
| `mjr_maxViewport <#mjr_maxViewport>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_maxViewport |
|
|
| Get maximum viewport for active buffer. |
|
|
| .. _mjr_rectangle: |
|
|
| `mjr_rectangle <#mjr_rectangle>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_rectangle |
|
|
| Draw rectangle. |
|
|
| .. _mjr_label: |
|
|
| `mjr_label <#mjr_label>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_label |
|
|
| Draw rectangle with centered text. |
|
|
| .. _mjr_figure: |
|
|
| `mjr_figure <#mjr_figure>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_figure |
|
|
| Draw 2D figure. |
|
|
| .. _mjr_render: |
|
|
| `mjr_render <#mjr_render>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_render |
|
|
| Render 3D scene. |
|
|
| .. _mjr_finish: |
|
|
| `mjr_finish <#mjr_finish>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_finish |
|
|
| Call glFinish. |
|
|
| .. _mjr_getError: |
|
|
| `mjr_getError <#mjr_getError>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_getError |
|
|
| Call glGetError and return result. |
|
|
| .. _mjr_findRect: |
|
|
| `mjr_findRect <#mjr_findRect>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjr_findRect |
|
|
| Find first rectangle containing mouse, -1: not found. |
|
|
| .. _UIframework: |
|
|
| UI framework |
| ^^^^^^^^^^^^ |
|
|
| For a high-level description of the UI framework, see :ref:`UI`. |
|
|
| .. _mjui_themeSpacing: |
|
|
| `mjui_themeSpacing <#mjui_themeSpacing>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjui_themeSpacing |
|
|
| Get builtin UI theme spacing (ind: 0-1). |
|
|
| .. _mjui_themeColor: |
|
|
| `mjui_themeColor <#mjui_themeColor>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjui_themeColor |
|
|
| Get builtin UI theme color (ind: 0-3). |
|
|
| .. _mjui_add: |
|
|
| `mjui_add <#mjui_add>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjui_add |
|
|
| This is the helper function used to construct a UI. The second argument points to an array of :ref:`mjuiDef` structs, |
| each corresponding to one item. The last (unused) item has its type set to -1, to mark termination. The items are added |
| after the end of the last used section. There is also another version of this function |
| (:ref:`mjui_addToSection<mjui_addToSection>`) which adds items to a specified section instead of adding them at the end |
| of the UI. Keep in mind that there is a maximum preallocated number of sections and items per section, given by |
| :ref:`mjMAXUISECT<glNumeric>` and :ref:`mjMAXUIITEM<glNumeric>`. Exceeding these maxima results in low-level errors. |
|
|
| .. _mjui_addToSection: |
|
|
| `mjui_addToSection <#mjui_addToSection>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjui_addToSection |
|
|
| Add definitions to UI section. |
|
|
| .. _mjui_resize: |
|
|
| `mjui_resize <#mjui_resize>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjui_resize |
|
|
| Compute UI sizes. |
|
|
| .. _mjui_update: |
|
|
| `mjui_update <#mjui_update>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjui_update |
|
|
| This is the main UI update function. It needs to be called whenever the user data (pointed to by the item data pointers) |
| changes, or when the UI state itself changes. It is normally called by a higher-level function implemented by the user |
| (``UiModify`` in :ref:`simulate.cc <saSimulate>`) which also recomputes the layout of all rectangles and associated |
| auxiliary buffers. The function updates the pixels in the offscreen OpenGL buffer. To perform minimal updates, the user |
| specifies the section and the item that was modified. A value of -1 means all items and/or sections need to be updated |
| (which is needed following major changes.) |
|
|
| .. _mjui_event: |
|
|
| `mjui_event <#mjui_event>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjui_event |
|
|
| This function is the low-level event handler. It makes the necessary changes in the UI and returns a pointer to the item |
| that received the event (or ``NULL`` if no valid event was recorded). This is normally called within the event handler |
| implemented by the user (``UiEvent`` in :ref:`simulate.cc <saSimulate>`), and then some action is taken by user code |
| depending on which UI item was modified and what the state of that item is after the event is handled. |
|
|
| .. _mjui_render: |
|
|
| `mjui_render <#mjui_render>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjui_render |
|
|
| This function is called in the screen refresh loop. It copies the offscreen OpenGL buffer to the window framebuffer. If |
| there are multiple UIs in the application, it should be called once for each UI. Thus ``mjui_render`` is called all the |
| time, while :ref:`mjui_update` is called only when changes in the UI take place. dsffsdg |
|
|
| .. _Derivatives-api: |
|
|
| Derivatives |
| ^^^^^^^^^^^ |
|
|
| The functions below provide useful derivatives of various functions, both analytic and |
| finite-differenced. The latter have names with the suffix ``FD``. Note that unlike much of the API, |
| outputs of derivative functions are the trailing rather than leading arguments. |
|
|
| .. _mjd_transitionFD: |
|
|
| `mjd_transitionFD <#mjd_transitionFD>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjd_transitionFD |
|
|
| Compute finite-differenced discrete-time transition matrices. |
|
|
| Letting :math:`x, u` denote the current :ref:`state<gePhysicsState>` and :ref:`control<geInput>` |
| vector in an mjData instance, and letting :math:`y, s` denote the next state and sensor |
| values, the top-level :ref:`mj_step` function computes :math:`(x,u) \rightarrow (y,s)` |
| :ref:`mjd_transitionFD` computes the four associated Jacobians using finite-differencing. |
| These matrices and their dimensions are: |
|
|
| .. csv-table:: |
| :header: "matrix", "Jacobian", "dimension" |
| :widths: auto |
| :align: left |
|
|
| ``A``, :math:`\partial y / \partial x`, ``2*nv+na x 2*nv+na`` |
| ``B``, :math:`\partial y / \partial u`, ``2*nv+na x nu`` |
| ``C``, :math:`\partial s / \partial x`, ``nsensordata x 2*nv+na`` |
| ``D``, :math:`\partial s / \partial u`, ``nsensordata x nu`` |
|
|
| - All outputs are optional (can be NULL). |
| - ``eps`` is the finite-differencing epsilon. |
| - ``flg_centered`` denotes whether to use forward (0) or centered (1) differences. |
| - The Runge-Kutta integrator (:ref:`mjINT_RK4<mjtIntegrator>`) is not supported. |
|
|
| .. admonition:: Improving speed and accuracy |
| :class: tip |
|
|
| warmstart |
| If warm-starts are not :ref:`disabled<option-flag-warmstart>`, the warm-start accelerations |
| ``mjData.qacc_warmstart`` which are present at call-time are loaded at the start of every relevant pipeline call, |
| to preserve determinism. If solver computations are an expensive part of the simulation, the following trick can |
| lead to significant speed-ups: First call :ref:`mj_forward` to let the solver converge, then reduce :ref:`solver |
| iterations<option-iterations>` significantly, then call :ref:`mjd_transitionFD`, finally, restore the original |
| value of :ref:`iterations<option-iterations>`. Because we are already near the solution, few iteration are required |
| to find the new minimum. This is especially true for the :ref:`Newton<option-solver>` solver, where the required |
| number of iteration for convergence near the minimum can be as low as 1. |
|
|
| tolerance |
| Accuracy can be improved if solver :ref:`tolerance<option-tolerance>` is set to 0. This means that all calls to |
| the solver will perform exactly the same number of iterations, preventing numerical errors due to early |
| termination. Of course, this means that :ref:`solver iterations<option-iterations>` should be small, to not tread |
| water at the minimum. This method and the one described above can and should be combined. |
|
|
| .. _mjd_inverseFD: |
|
|
| `mjd_inverseFD <#mjd_inverseFD>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjd_inverseFD |
|
|
| Finite differenced continuous-time inverse-dynamics Jacobians. |
|
|
| Letting :math:`x, a` denote the current :ref:`state<gePhysicsState>` and acceleration vectors in an mjData instance, and |
| letting :math:`f, s` denote the forces computed by the inverse dynamics (``qfrc_inverse``), the function |
| :ref:`mj_inverse` computes :math:`(x,a) \rightarrow (f,s)`. :ref:`mjd_inverseFD` computes seven associated Jacobians |
| using finite-differencing. These matrices and their dimensions are: |
|
|
| .. csv-table:: |
| :header: "matrix", "Jacobian", "dimension" |
| :widths: auto |
| :align: left |
|
|
| ``DfDq``, :math:`\partial f / \partial q`, ``nv x nv`` |
| ``DfDv``, :math:`\partial f / \partial v`, ``nv x nv`` |
| ``DfDa``, :math:`\partial f / \partial a`, ``nv x nv`` |
| ``DsDq``, :math:`\partial s / \partial q`, ``nv x nsensordata`` |
| ``DsDv``, :math:`\partial s / \partial v`, ``nv x nsensordata`` |
| ``DsDa``, :math:`\partial s / \partial a`, ``nv x nsensordata`` |
| ``DmDq``, :math:`\partial M / \partial q`, ``nv x nM`` |
|
|
| - All outputs are optional (can be NULL). |
| - All outputs are transposed relative to Control Theory convention (i.e., column major). |
| - ``DmDq``, which contains a sparse representation of the ``nv x nv x nv`` tensor :math:`\partial M / \partial q`, is |
| not strictly an inverse dynamics Jacobian but is useful in related applications. It is provided as a convenience to |
| the user, since the required values are already computed if either of the other two :math:`\partial / \partial q` |
| Jacobians are requested. |
| - ``eps`` is the (forward) finite-differencing epsilon. |
| - ``flg_actuation`` denotes whether to subtract actuation forces (``qfrc_actuator``) from the output of the inverse |
| dynamics. If this flag is positive, actuator forces are not considered as external. |
| - The model option flag ``invdiscrete`` should correspond to the representation of ``mjData.qacc`` in order to compute |
| the correct derivative information. |
|
|
| .. attention:: |
| - The Runge-Kutta 4th-order integrator (``mjINT_RK4``) is not supported. |
| - The noslip solver is not supported. |
|
|
| .. _mjd_subQuat: |
|
|
| `mjd_subQuat <#mjd_subQuat>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjd_subQuat |
|
|
| Derivatives of :ref:`mju_subQuat` (quaternion difference). |
|
|
| .. _mjd_quatIntegrate: |
|
|
| `mjd_quatIntegrate <#mjd_quatIntegrate>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjd_quatIntegrate |
|
|
| Derivatives of :ref:`mju_quatIntegrate`. |
|
|
| :math:`{\tt \small mju\_quatIntegrate}(q, v, h)` performs the in-place rotation :math:`q \leftarrow q + v h`, |
| where :math:`q \in \mathbf{S}^3` is a unit quaternion, :math:`v \in \mathbf{R}^3` is a 3D angular velocity and |
| :math:`h \in \mathbf{R^+}` is a timestep. This is equivalent to :math:`{\tt \small mju\_quatIntegrate}(q, s, 1.0)`, |
| where :math:`s` is the scaled velocity :math:`s = h v`. |
|
|
| :math:`{\tt \small mjd\_quatIntegrate}(v, h, D_q, D_v, D_h)` computes the Jacobians of the output :math:`q` with respect |
| to the inputs. Below, :math:`\bar q` denotes the pre-modified quaternion: |
|
|
| .. math:: |
| \begin{aligned} |
| D_q &= \partial q / \partial \bar q \\ |
| D_v &= \partial q / \partial v \\ |
| D_h &= \partial q / \partial h |
| \end{aligned} |
|
|
| Note that derivatives depend only on :math:`h` and :math:`v` (in fact, on :math:`s = h v`). |
| All outputs are optional. |
|
|
| .. _Plugins-api: |
|
|
| Plugins |
| ^^^^^^^ |
| .. _mjp_defaultPlugin: |
|
|
| `mjp_defaultPlugin <#mjp_defaultPlugin>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjp_defaultPlugin |
|
|
| Set default plugin definition. |
|
|
| .. _mjp_registerPlugin: |
|
|
| `mjp_registerPlugin <#mjp_registerPlugin>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjp_registerPlugin |
|
|
| Globally register a plugin. This function is thread-safe. |
| If an identical mjpPlugin is already registered, this function does nothing. |
| If a non-identical mjpPlugin with the same name is already registered, an mju_error is raised. |
| Two mjpPlugins are considered identical if all member function pointers and numbers are equal, |
| and the name and attribute strings are all identical, however the char pointers to the strings |
| need not be the same. |
|
|
| .. _mjp_pluginCount: |
|
|
| `mjp_pluginCount <#mjp_pluginCount>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjp_pluginCount |
|
|
| Return the number of globally registered plugins. |
|
|
| .. _mjp_getPlugin: |
|
|
| `mjp_getPlugin <#mjp_getPlugin>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjp_getPlugin |
|
|
| Look up a plugin by name. If slot is not NULL, also write its registered slot number into it. |
|
|
| .. _mjp_getPluginAtSlot: |
|
|
| `mjp_getPluginAtSlot <#mjp_getPluginAtSlot>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjp_getPluginAtSlot |
|
|
| Look up a plugin by the registered slot number that was returned by mjp_registerPlugin. |
|
|
| .. _mjp_defaultResourceProvider: |
|
|
| `mjp_defaultResourceProvider <#mjp_defaultResourceProvider>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjp_defaultResourceProvider |
|
|
| Set default resource provider definition. |
|
|
| .. _mjp_registerResourceProvider: |
|
|
| `mjp_registerResourceProvider <#mjp_registerResourceProvider>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjp_registerResourceProvider |
|
|
| Globally register a resource provider in a thread-safe manner. The provider must have a prefix |
| that is not a sub-prefix or super-prefix of any current registered providers. This function |
| returns a slot number > 0 on success. |
|
|
| .. _mjp_resourceProviderCount: |
|
|
| `mjp_resourceProviderCount <#mjp_resourceProviderCount>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjp_resourceProviderCount |
|
|
| Return the number of globally registered resource providers. |
|
|
| .. _mjp_getResourceProvider: |
|
|
| `mjp_getResourceProvider <#mjp_getResourceProvider>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjp_getResourceProvider |
|
|
| Return the resource provider with the prefix that matches against the resource name. |
| If no match, return NULL. |
|
|
| .. _mjp_getResourceProviderAtSlot: |
|
|
| `mjp_getResourceProviderAtSlot <#mjp_getResourceProviderAtSlot>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjp_getResourceProviderAtSlot |
|
|
| Look up a resource provider by slot number returned by mjp_registerResourceProvider. |
| If invalid slot number, return NULL. |
|
|
| .. _Thread: |
|
|
| Threads |
| ^^^^^^^ |
| .. _mju_threadPoolCreate: |
|
|
| `mju_threadPoolCreate <#mju_threadPoolCreate>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_threadPoolCreate |
|
|
| Create a thread pool with the specified number of threads running. |
|
|
| .. _mju_bindThreadPool: |
|
|
| `mju_bindThreadPool <#mju_bindThreadPool>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_bindThreadPool |
|
|
| Adds a thread pool to mjData and configures it for multi-threaded use. |
|
|
| .. _mju_threadPoolEnqueue: |
|
|
| `mju_threadPoolEnqueue <#mju_threadPoolEnqueue>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_threadPoolEnqueue |
|
|
| Enqueue a task in a thread pool. |
|
|
| .. _mju_threadPoolDestroy: |
|
|
| `mju_threadPoolDestroy <#mju_threadPoolDestroy>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_threadPoolDestroy |
|
|
| Destroy a thread pool. |
|
|
| .. _mju_defaultTask: |
|
|
| `mju_defaultTask <#mju_defaultTask>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_defaultTask |
|
|
| Initialize an mjTask. |
|
|
| .. _mju_taskJoin: |
|
|
| `mju_taskJoin <#mju_taskJoin>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_taskJoin |
|
|
| Wait for a task to complete. |
|
|
| .. _Standardmath: |
|
|
| Standard math |
| ^^^^^^^^^^^^^ |
|
|
| The "functions" in this section are preprocessor macros replaced with the corresponding C standard library math |
| functions. When MuJoCo is compiled with single precision (which is not currently available to the public, but we |
| sometimes use it internally) these macros are replaced with the corresponding single-precision functions (not shown |
| here). So one can think of them as having inputs and outputs of type mjtNum, where mjtNum is defined as double or float |
| depending on how MuJoCo is compiled. We will not document these functions here; see the C standard library |
| specification. |
|
|
| mju_sqrt |
| ~~~~~~~~ |
|
|
| .. code-block:: C |
|
|
| #define mju_sqrt sqrt |
|
|
| mju_exp |
| ~~~~~~~ |
|
|
| .. code-block:: C |
|
|
| #define mju_exp exp |
|
|
| mju_sin |
| ~~~~~~~ |
|
|
| .. code-block:: C |
|
|
| #define mju_sin sin |
|
|
| mju_cos |
| ~~~~~~~ |
|
|
| .. code-block:: C |
|
|
| #define mju_cos cos |
|
|
| mju_tan |
| ~~~~~~~ |
|
|
| .. code-block:: C |
|
|
| #define mju_tan tan |
|
|
| mju_asin |
| ~~~~~~~~ |
|
|
| .. code-block:: C |
|
|
| #define mju_asin asin |
|
|
| mju_acos |
| ~~~~~~~~ |
|
|
| .. code-block:: C |
|
|
| #define mju_acos acos |
|
|
| mju_atan2 |
| ~~~~~~~~~ |
|
|
| .. code-block:: C |
|
|
| #define mju_atan2 atan2 |
|
|
| mju_tanh |
| ~~~~~~~~ |
|
|
| .. code-block:: C |
|
|
| #define mju_tanh tanh |
|
|
| mju_pow |
| ~~~~~~~ |
|
|
| .. code-block:: C |
|
|
| #define mju_pow pow |
|
|
| mju_abs |
| ~~~~~~~ |
|
|
| .. code-block:: C |
|
|
| #define mju_abs fabs |
|
|
| mju_log |
| ~~~~~~~ |
|
|
| .. code-block:: C |
|
|
| #define mju_log log |
|
|
| mju_log10 |
| ~~~~~~~~~ |
|
|
| .. code-block:: C |
|
|
| #define mju_log10 log10 |
|
|
| mju_floor |
| ~~~~~~~~~ |
|
|
| .. code-block:: C |
|
|
| #define mju_floor floor |
|
|
| mju_ceil |
| ~~~~~~~~ |
|
|
| .. code-block:: C |
|
|
| #define mju_ceil ceil |
|
|
| .. _Vectormath: |
|
|
| Vector math |
| ^^^^^^^^^^^ |
|
|
| .. _mju_zero3: |
|
|
| `mju_zero3 <#mju_zero3>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_zero3 |
|
|
| Set res = 0. |
|
|
| .. _mju_copy3: |
|
|
| `mju_copy3 <#mju_copy3>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_copy3 |
|
|
| Set res = vec. |
|
|
| .. _mju_scl3: |
|
|
| `mju_scl3 <#mju_scl3>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_scl3 |
|
|
| Set res = vec*scl. |
|
|
| .. _mju_add3: |
|
|
| `mju_add3 <#mju_add3>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_add3 |
|
|
| Set res = vec1 + vec2. |
|
|
| .. _mju_sub3: |
|
|
| `mju_sub3 <#mju_sub3>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_sub3 |
|
|
| Set res = vec1 - vec2. |
|
|
| .. _mju_addTo3: |
|
|
| `mju_addTo3 <#mju_addTo3>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_addTo3 |
|
|
| Set res = res + vec. |
|
|
| .. _mju_subFrom3: |
|
|
| `mju_subFrom3 <#mju_subFrom3>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_subFrom3 |
|
|
| Set res = res - vec. |
|
|
| .. _mju_addToScl3: |
|
|
| `mju_addToScl3 <#mju_addToScl3>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_addToScl3 |
|
|
| Set res = res + vec*scl. |
|
|
| .. _mju_addScl3: |
|
|
| `mju_addScl3 <#mju_addScl3>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_addScl3 |
|
|
| Set res = vec1 + vec2*scl. |
|
|
| .. _mju_normalize3: |
|
|
| `mju_normalize3 <#mju_normalize3>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_normalize3 |
|
|
| Normalize vector, return length before normalization. |
|
|
| .. _mju_norm3: |
|
|
| `mju_norm3 <#mju_norm3>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_norm3 |
|
|
| Return vector length (without normalizing the vector). |
|
|
| .. _mju_dot3: |
|
|
| `mju_dot3 <#mju_dot3>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_dot3 |
|
|
| Return dot-product of vec1 and vec2. |
|
|
| .. _mju_dist3: |
|
|
| `mju_dist3 <#mju_dist3>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_dist3 |
|
|
| Return Cartesian distance between 3D vectors pos1 and pos2. |
|
|
| .. _mju_mulMatVec3: |
|
|
| `mju_mulMatVec3 <#mju_mulMatVec3>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_mulMatVec3 |
|
|
| Multiply 3-by-3 matrix by vector: res = mat * vec. |
|
|
| .. _mju_mulMatTVec3: |
|
|
| `mju_mulMatTVec3 <#mju_mulMatTVec3>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_mulMatTVec3 |
|
|
| Multiply transposed 3-by-3 matrix by vector: res = mat' * vec. |
|
|
| .. _mju_cross: |
|
|
| `mju_cross <#mju_cross>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_cross |
|
|
| Compute cross-product: res = cross(a, b). |
|
|
| .. _mju_zero4: |
|
|
| `mju_zero4 <#mju_zero4>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_zero4 |
|
|
| Set res = 0. |
|
|
| .. _mju_unit4: |
|
|
| `mju_unit4 <#mju_unit4>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_unit4 |
|
|
| Set res = (1,0,0,0). |
|
|
| .. _mju_copy4: |
|
|
| `mju_copy4 <#mju_copy4>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_copy4 |
|
|
| Set res = vec. |
|
|
| .. _mju_normalize4: |
|
|
| `mju_normalize4 <#mju_normalize4>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_normalize4 |
|
|
| Normalize vector, return length before normalization. |
|
|
| .. _mju_zero: |
|
|
| `mju_zero <#mju_zero>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_zero |
|
|
| Set res = 0. |
|
|
| .. _mju_fill: |
|
|
| `mju_fill <#mju_fill>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_fill |
|
|
| Set res = val. |
|
|
| .. _mju_copy: |
|
|
| `mju_copy <#mju_copy>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_copy |
|
|
| Set res = vec. |
|
|
| .. _mju_sum: |
|
|
| `mju_sum <#mju_sum>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_sum |
|
|
| Return sum(vec). |
|
|
| .. _mju_L1: |
|
|
| `mju_L1 <#mju_L1>`__ |
| ~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_L1 |
|
|
| Return L1 norm: sum(abs(vec)). |
|
|
| .. _mju_scl: |
|
|
| `mju_scl <#mju_scl>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_scl |
|
|
| Set res = vec*scl. |
|
|
| .. _mju_add: |
|
|
| `mju_add <#mju_add>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_add |
|
|
| Set res = vec1 + vec2. |
|
|
| .. _mju_sub: |
|
|
| `mju_sub <#mju_sub>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_sub |
|
|
| Set res = vec1 - vec2. |
|
|
| .. _mju_addTo: |
|
|
| `mju_addTo <#mju_addTo>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_addTo |
|
|
| Set res = res + vec. |
|
|
| .. _mju_subFrom: |
|
|
| `mju_subFrom <#mju_subFrom>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_subFrom |
|
|
| Set res = res - vec. |
|
|
| .. _mju_addToScl: |
|
|
| `mju_addToScl <#mju_addToScl>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_addToScl |
|
|
| Set res = res + vec*scl. |
|
|
| .. _mju_addScl: |
|
|
| `mju_addScl <#mju_addScl>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_addScl |
|
|
| Set res = vec1 + vec2*scl. |
|
|
| .. _mju_normalize: |
|
|
| `mju_normalize <#mju_normalize>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_normalize |
|
|
| Normalize vector, return length before normalization. |
|
|
| .. _mju_norm: |
|
|
| `mju_norm <#mju_norm>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_norm |
|
|
| Return vector length (without normalizing vector). |
|
|
| .. _mju_dot: |
|
|
| `mju_dot <#mju_dot>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_dot |
|
|
| Return dot-product of vec1 and vec2. |
|
|
| .. _mju_mulMatVec: |
|
|
| `mju_mulMatVec <#mju_mulMatVec>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_mulMatVec |
|
|
| Multiply matrix and vector: res = mat * vec. |
|
|
| .. _mju_mulMatTVec: |
|
|
| `mju_mulMatTVec <#mju_mulMatTVec>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_mulMatTVec |
|
|
| Multiply transposed matrix and vector: res = mat' * vec. |
|
|
| .. _mju_mulVecMatVec: |
|
|
| `mju_mulVecMatVec <#mju_mulVecMatVec>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_mulVecMatVec |
|
|
| Multiply square matrix with vectors on both sides: returns vec1' * mat * vec2. |
|
|
| .. _mju_transpose: |
|
|
| `mju_transpose <#mju_transpose>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_transpose |
|
|
| Transpose matrix: res = mat'. |
|
|
| .. _mju_symmetrize: |
|
|
| `mju_symmetrize <#mju_symmetrize>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_symmetrize |
|
|
| Symmetrize square matrix :math:`R = \frac{1}{2}(M + M^T)`. |
|
|
| .. _mju_eye: |
|
|
| `mju_eye <#mju_eye>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_eye |
|
|
| Set mat to the identity matrix. |
|
|
| .. _mju_mulMatMat: |
|
|
| `mju_mulMatMat <#mju_mulMatMat>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_mulMatMat |
|
|
| Multiply matrices: res = mat1 * mat2. |
|
|
| .. _mju_mulMatMatT: |
|
|
| `mju_mulMatMatT <#mju_mulMatMatT>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_mulMatMatT |
|
|
| Multiply matrices, second argument transposed: res = mat1 * mat2'. |
|
|
| .. _mju_mulMatTMat: |
|
|
| `mju_mulMatTMat <#mju_mulMatTMat>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_mulMatTMat |
|
|
| Multiply matrices, first argument transposed: res = mat1' * mat2. |
|
|
| .. _mju_sqrMatTD: |
|
|
| `mju_sqrMatTD <#mju_sqrMatTD>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_sqrMatTD |
|
|
| Set res = mat' * diag * mat if diag is not NULL, and res = mat' * mat otherwise. |
|
|
| .. _mju_transformSpatial: |
|
|
| `mju_transformSpatial <#mju_transformSpatial>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_transformSpatial |
|
|
| Coordinate transform of 6D motion or force vector in rotation:translation format. |
| rotnew2old is 3-by-3, NULL means no rotation; flg_force specifies force or motion type. |
|
|
| .. _Sparsemath: |
|
|
| Sparse math |
| ^^^^^^^^^^^ |
| .. _mju_dense2sparse: |
|
|
| `mju_dense2sparse <#mju_dense2sparse>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_dense2sparse |
|
|
| Convert matrix from dense to sparse. |
| nnz is size of res and colind, return 1 if too small, 0 otherwise. |
|
|
| .. _mju_sparse2dense: |
|
|
| `mju_sparse2dense <#mju_sparse2dense>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_sparse2dense |
|
|
| Convert matrix from sparse to dense. |
|
|
| .. _Quaternions: |
|
|
| Quaternions |
| ^^^^^^^^^^^ |
|
|
| .. _mju_rotVecQuat: |
|
|
| `mju_rotVecQuat <#mju_rotVecQuat>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_rotVecQuat |
|
|
| Rotate vector by quaternion. |
|
|
| .. _mju_negQuat: |
|
|
| `mju_negQuat <#mju_negQuat>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_negQuat |
|
|
| Conjugate quaternion, corresponding to opposite rotation. |
|
|
| .. _mju_mulQuat: |
|
|
| `mju_mulQuat <#mju_mulQuat>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_mulQuat |
|
|
| Multiply quaternions. |
|
|
| .. _mju_mulQuatAxis: |
|
|
| `mju_mulQuatAxis <#mju_mulQuatAxis>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_mulQuatAxis |
|
|
| Multiply quaternion and axis. |
|
|
| .. _mju_axisAngle2Quat: |
|
|
| `mju_axisAngle2Quat <#mju_axisAngle2Quat>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_axisAngle2Quat |
|
|
| Convert axisAngle to quaternion. |
|
|
| .. _mju_quat2Vel: |
|
|
| `mju_quat2Vel <#mju_quat2Vel>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_quat2Vel |
|
|
| Convert quaternion (corresponding to orientation difference) to 3D velocity. |
|
|
| .. _mju_subQuat: |
|
|
| `mju_subQuat <#mju_subQuat>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_subQuat |
|
|
| Subtract quaternions, express as 3D velocity: qb*quat(res) = qa. |
|
|
| .. _mju_quat2Mat: |
|
|
| `mju_quat2Mat <#mju_quat2Mat>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_quat2Mat |
|
|
| Convert quaternion to 3D rotation matrix. |
|
|
| .. _mju_mat2Quat: |
|
|
| `mju_mat2Quat <#mju_mat2Quat>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_mat2Quat |
|
|
| Convert 3D rotation matrix to quaternion. |
|
|
| .. _mju_derivQuat: |
|
|
| `mju_derivQuat <#mju_derivQuat>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_derivQuat |
|
|
| Compute time-derivative of quaternion, given 3D rotational velocity. |
|
|
| .. _mju_quatIntegrate: |
|
|
| `mju_quatIntegrate <#mju_quatIntegrate>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_quatIntegrate |
|
|
| Integrate quaternion given 3D angular velocity. |
|
|
| .. _mju_quatZ2Vec: |
|
|
| `mju_quatZ2Vec <#mju_quatZ2Vec>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_quatZ2Vec |
|
|
| Construct quaternion performing rotation from z-axis to given vector. |
|
|
| .. _mju_mat2Rot: |
|
|
| `mju_mat2Rot <#mju_mat2Rot>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_mat2Rot |
|
|
| Extract 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion. |
| Returns the number of iterations required to converge |
|
|
| .. _mju_euler2Quat: |
|
|
| `mju_euler2Quat <#mju_euler2Quat>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_euler2Quat |
|
|
| Convert sequence of Euler angles (radians) to quaternion. |
| seq[0,1,2] must be in 'xyzXYZ', lower/upper-case mean intrinsic/extrinsic rotations. |
|
|
| .. _Poses: |
|
|
| Poses |
| ^^^^^ |
|
|
| .. _mju_mulPose: |
|
|
| `mju_mulPose <#mju_mulPose>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_mulPose |
|
|
| Multiply two poses. |
|
|
| .. _mju_negPose: |
|
|
| `mju_negPose <#mju_negPose>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_negPose |
|
|
| Conjugate pose, corresponding to the opposite spatial transformation. |
|
|
| .. _mju_trnVecPose: |
|
|
| `mju_trnVecPose <#mju_trnVecPose>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_trnVecPose |
|
|
| Transform vector by pose. |
|
|
| .. _Decompositions: |
|
|
| Decompositions / Solvers |
| ^^^^^^^^^^^^^^^^^^^^^^^^ |
|
|
| .. _mju_cholFactor: |
|
|
| `mju_cholFactor <#mju_cholFactor>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_cholFactor |
|
|
| Cholesky decomposition: mat = L*L'; return rank, decomposition performed in-place into mat. |
|
|
| .. _mju_cholSolve: |
|
|
| `mju_cholSolve <#mju_cholSolve>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_cholSolve |
|
|
| Solve (mat*mat') * res = vec, where mat is a Cholesky factor. |
|
|
| .. _mju_cholUpdate: |
|
|
| `mju_cholUpdate <#mju_cholUpdate>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_cholUpdate |
|
|
| Cholesky rank-one update: L*L' +/- x*x'; return rank. |
|
|
| .. _mju_cholFactorBand: |
|
|
| `mju_cholFactorBand <#mju_cholFactorBand>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_cholFactorBand |
|
|
| Band-dense Cholesky decomposition. |
| |br| Add ``diagadd + diagmul*mat_ii`` to diagonal before decomposition. |
| |br| Returns the minimum value of the factorized diagonal or 0 if rank-deficient. |
|
|
| **Symmetric band-dense matrices** |
|
|
| :ref:`mju_cholFactorBand` and subsequent functions containing the substring "band" operate on matrices which are a |
| generalization of symmetric `band matrices <https://en.wikipedia.org/wiki/Band_matrix>`_. *Symmetric band-dense* or |
| "arrowhead" matrices have non-zeros along proximal diagonal bands and dense blocks on the bottom rows and right |
| columns. These matrices have the property that Cholesky factorization creates no fill-in and can therefore be |
| performed efficiently in-place. Matrix structure is defined by three integers: |
|
|
| - ``ntotal``: the number of rows (columns) of the symmetric matrix. |
| - ``nband``: the number of bands under (over) the diagonal, inclusive of the diagonal. |
| - ``ndense``: the number of dense rows (columns) at the bottom (right). |
|
|
| The non-zeros are stored in memory as two contiguous row-major blocks, colored green and blue in the illustration |
| below. The first block has size ``nband x (ntotal-ndense)`` and contains the diagonal and the bands below it. The |
| second block has size ``ndense x ntotal`` and contains the dense part. Total required memory is the sum of the block |
| sizes. |
|
|
| .. figure:: /images/APIreference/arrowhead.svg |
| :width: 750px |
| :align: left |
|
|
| For example, consider an arrowhead matrix with ``nband = 3``, ``ndense = 2`` and ``ntotal = 8``. In this example, the |
| total memory required is ``3*(8-2) + 2*8 = 34`` mjtNum's, laid out as follows: |
|
|
| .. code-block:: |
| |
| 0 1 2 |
| 3 4 5 |
| 6 7 8 |
| 9 10 11 |
| 12 13 14 |
| 15 16 17 |
| 18 19 20 21 22 23 24 25 |
| 26 27 28 29 30 31 32 33 |
|
|
|
|
| The diagonal elements are ``2, 5, 8, 11, 14, 17, 24, 33``. |
| |br| Elements ``0, 1, 3, 25`` are present in memory but never touched. |
|
|
| .. _mju_cholSolveBand: |
|
|
| `mju_cholSolveBand <#mju_cholSolveBand>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_cholSolveBand |
|
|
| Solve (mat*mat')*res = vec where mat is a band-dense Cholesky factor. |
|
|
| .. _mju_band2Dense: |
|
|
| `mju_band2Dense <#mju_band2Dense>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_band2Dense |
|
|
| Convert banded matrix to dense matrix, fill upper triangle if flg_sym>0. |
|
|
| .. _mju_dense2Band: |
|
|
| `mju_dense2Band <#mju_dense2Band>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_dense2Band |
|
|
| Convert dense matrix to banded matrix. |
|
|
| .. _mju_bandMulMatVec: |
|
|
| `mju_bandMulMatVec <#mju_bandMulMatVec>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_bandMulMatVec |
|
|
| Multiply band-diagonal matrix with nvec vectors, include upper triangle if flg_sym>0. |
|
|
| .. _mju_bandDiag: |
|
|
| `mju_bandDiag <#mju_bandDiag>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_bandDiag |
|
|
| Address of diagonal element i in band-dense matrix representation. |
|
|
| .. _mju_eig3: |
|
|
| `mju_eig3 <#mju_eig3>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_eig3 |
|
|
| Eigenvalue decomposition of symmetric 3x3 matrix, mat = eigvec * diag(eigval) * eigvec'. |
|
|
| .. _mju_boxQP: |
|
|
| `mju_boxQP <#mju_boxQP>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_boxQP |
|
|
| Minimize :math:`\tfrac{1}{2} x^T H x + x^T g \quad \text{s.t.} \quad l \le x \le u`, return rank or -1 if failed. |
|
|
| inputs: |
| ``n`` - problem dimension |
|
|
| ``H`` - SPD matrix ``n*n`` |
|
|
| ``g`` - bias vector ``n`` |
|
|
| ``lower`` - lower bounds ``n`` |
|
|
| ``upper`` - upper bounds ``n`` |
|
|
| ``res`` - solution warmstart ``n`` |
|
|
| return value: |
| ``nfree <= n`` - rank of unconstrained subspace, -1 if failure |
|
|
| outputs (required): |
| ``res`` - solution ``n`` |
|
|
| ``R`` - subspace Cholesky factor ``nfree*nfree``, allocated: ``n*(n+7)`` |
|
|
| outputs (optional): |
| ``index`` - set of free dimensions ``nfree``, allocated: ``n`` |
|
|
| notes: |
| The initial value of ``res`` is used to warmstart the solver. |
| ``R`` must have allocated size ``n*(n+7)``, but only ``nfree*nfree`` values are used as output. |
| ``index`` (if given) must have allocated size ``n``, but only ``nfree`` values are used as output. |
| The convenience function :ref:`mju_boxQPmalloc` allocates the required data structures. |
| Only the lower triangles of H and R are read from and written to, respectively. |
|
|
| .. _mju_boxQPmalloc: |
|
|
| `mju_boxQPmalloc <#mju_boxQPmalloc>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mju_boxQPmalloc |
|
|
| Allocate heap memory for box-constrained Quadratic Program. |
| As in :ref:`mju_boxQP`, ``index``, ``lower``, and ``upper`` are optional. |
| Free all pointers with ``mju_free()``. |
| |
| .. _Attachment: |
|
|
| Attachment |
| ^^^^^^^^^^ |
| .. _mjs_attach: |
|
|
| `mjs_attach <#mjs_attach>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_attach |
|
|
| Attach child to a parent, return the attached element if success or NULL otherwise. |
|
|
| .. _AddTreeElements: |
|
|
| Tree elements |
| ^^^^^^^^^^^^^ |
| .. _mjs_addBody: |
|
|
| `mjs_addBody <#mjs_addBody>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addBody |
|
|
| Add child body to body, return child. |
|
|
| .. _mjs_addSite: |
|
|
| `mjs_addSite <#mjs_addSite>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addSite |
|
|
| Add site to body, return site spec. |
|
|
| .. _mjs_addJoint: |
|
|
| `mjs_addJoint <#mjs_addJoint>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addJoint |
|
|
| Add joint to body. |
|
|
| .. _mjs_addFreeJoint: |
|
|
| `mjs_addFreeJoint <#mjs_addFreeJoint>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addFreeJoint |
|
|
| Add freejoint to body. |
|
|
| .. _mjs_addGeom: |
|
|
| `mjs_addGeom <#mjs_addGeom>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addGeom |
|
|
| Add geom to body. |
|
|
| .. _mjs_addCamera: |
|
|
| `mjs_addCamera <#mjs_addCamera>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addCamera |
|
|
| Add camera to body. |
|
|
| .. _mjs_addLight: |
|
|
| `mjs_addLight <#mjs_addLight>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addLight |
|
|
| Add light to body. |
|
|
| .. _mjs_addFrame: |
|
|
| `mjs_addFrame <#mjs_addFrame>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addFrame |
|
|
| Add frame to body. |
|
|
| .. _mjs_delete: |
|
|
| `mjs_delete <#mjs_delete>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_delete |
|
|
| Remove object corresponding to the given element, return 0 on success. |
|
|
| .. _AddNonTreeElements: |
|
|
| Non-tree elements |
| ^^^^^^^^^^^^^^^^^ |
| .. _mjs_addActuator: |
|
|
| `mjs_addActuator <#mjs_addActuator>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addActuator |
|
|
| Add actuator. |
|
|
| .. _mjs_addSensor: |
|
|
| `mjs_addSensor <#mjs_addSensor>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addSensor |
|
|
| Add sensor. |
|
|
| .. _mjs_addFlex: |
|
|
| `mjs_addFlex <#mjs_addFlex>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addFlex |
|
|
| Add flex. |
|
|
| .. _mjs_addPair: |
|
|
| `mjs_addPair <#mjs_addPair>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addPair |
|
|
| Add contact pair. |
|
|
| .. _mjs_addExclude: |
|
|
| `mjs_addExclude <#mjs_addExclude>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addExclude |
|
|
| Add excluded body pair. |
|
|
| .. _mjs_addEquality: |
|
|
| `mjs_addEquality <#mjs_addEquality>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addEquality |
|
|
| Add equality. |
|
|
| .. _mjs_addTendon: |
|
|
| `mjs_addTendon <#mjs_addTendon>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addTendon |
|
|
| Add tendon. |
|
|
| .. _mjs_wrapSite: |
|
|
| `mjs_wrapSite <#mjs_wrapSite>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_wrapSite |
|
|
| Wrap site using tendon. |
|
|
| .. _mjs_wrapGeom: |
|
|
| `mjs_wrapGeom <#mjs_wrapGeom>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_wrapGeom |
|
|
| Wrap geom using tendon. |
|
|
| .. _mjs_wrapJoint: |
|
|
| `mjs_wrapJoint <#mjs_wrapJoint>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_wrapJoint |
|
|
| Wrap joint using tendon. |
|
|
| .. _mjs_wrapPulley: |
|
|
| `mjs_wrapPulley <#mjs_wrapPulley>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_wrapPulley |
|
|
| Wrap pulley using tendon. |
|
|
| .. _mjs_addNumeric: |
|
|
| `mjs_addNumeric <#mjs_addNumeric>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addNumeric |
|
|
| Add numeric. |
|
|
| .. _mjs_addText: |
|
|
| `mjs_addText <#mjs_addText>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addText |
|
|
| Add text. |
|
|
| .. _mjs_addTuple: |
|
|
| `mjs_addTuple <#mjs_addTuple>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addTuple |
|
|
| Add tuple. |
|
|
| .. _mjs_addKey: |
|
|
| `mjs_addKey <#mjs_addKey>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addKey |
|
|
| Add keyframe. |
|
|
| .. _mjs_addPlugin: |
|
|
| `mjs_addPlugin <#mjs_addPlugin>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addPlugin |
|
|
| Add plugin. |
|
|
| .. _mjs_addDefault: |
|
|
| `mjs_addDefault <#mjs_addDefault>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addDefault |
|
|
| Add default. |
|
|
| .. _AddAssets: |
|
|
| Assets |
| ^^^^^^ |
| .. _mjs_addMesh: |
|
|
| `mjs_addMesh <#mjs_addMesh>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addMesh |
|
|
| Add mesh. |
|
|
| .. _mjs_addHField: |
|
|
| `mjs_addHField <#mjs_addHField>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addHField |
|
|
| Add height field. |
|
|
| .. _mjs_addSkin: |
|
|
| `mjs_addSkin <#mjs_addSkin>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addSkin |
|
|
| Add skin. |
|
|
| .. _mjs_addTexture: |
|
|
| `mjs_addTexture <#mjs_addTexture>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addTexture |
|
|
| Add texture. |
|
|
| .. _mjs_addMaterial: |
|
|
| `mjs_addMaterial <#mjs_addMaterial>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_addMaterial |
|
|
| Add material. |
|
|
| .. _FindAndGetUtilities: |
|
|
| Find and get utilities |
| ^^^^^^^^^^^^^^^^^^^^^^ |
| .. _mjs_getSpec: |
|
|
| `mjs_getSpec <#mjs_getSpec>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_getSpec |
|
|
| Get spec from body. |
|
|
| .. _mjs_findSpec: |
|
|
| `mjs_findSpec <#mjs_findSpec>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_findSpec |
|
|
| Find spec (model asset) by name. |
|
|
| .. _mjs_findBody: |
|
|
| `mjs_findBody <#mjs_findBody>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_findBody |
|
|
| Find body in spec by name. |
|
|
| .. _mjs_findElement: |
|
|
| `mjs_findElement <#mjs_findElement>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_findElement |
|
|
| Find element in spec by name. |
|
|
| .. _mjs_findChild: |
|
|
| `mjs_findChild <#mjs_findChild>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_findChild |
|
|
| Find child body by name. |
|
|
| .. _mjs_getParent: |
|
|
| `mjs_getParent <#mjs_getParent>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_getParent |
|
|
| Get parent body. |
|
|
| .. _mjs_getFrame: |
|
|
| `mjs_getFrame <#mjs_getFrame>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_getFrame |
|
|
| Get parent frame. |
|
|
| .. _mjs_findFrame: |
|
|
| `mjs_findFrame <#mjs_findFrame>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_findFrame |
|
|
| Find frame by name. |
|
|
| .. _mjs_getDefault: |
|
|
| `mjs_getDefault <#mjs_getDefault>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_getDefault |
|
|
| Get default corresponding to an element. |
|
|
| .. _mjs_findDefault: |
|
|
| `mjs_findDefault <#mjs_findDefault>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_findDefault |
|
|
| Find default in model by class name. |
|
|
| .. _mjs_getSpecDefault: |
|
|
| `mjs_getSpecDefault <#mjs_getSpecDefault>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_getSpecDefault |
|
|
| Get global default from model. |
|
|
| .. _mjs_getId: |
|
|
| `mjs_getId <#mjs_getId>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_getId |
|
|
| Get element id. |
|
|
| .. _mjs_firstChild: |
|
|
| `mjs_firstChild <#mjs_firstChild>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_firstChild |
|
|
| Return body's first child of given type. If recurse is nonzero, also search the body's subtree. |
|
|
| .. _mjs_nextChild: |
|
|
| `mjs_nextChild <#mjs_nextChild>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_nextChild |
|
|
| Return body's next child of the same type; return NULL if child is last. |
| If recurse is nonzero, also search the body's subtree. |
|
|
| .. _mjs_firstElement: |
|
|
| `mjs_firstElement <#mjs_firstElement>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_firstElement |
|
|
| Return spec's first element of selected type. |
|
|
| .. _mjs_nextElement: |
|
|
| `mjs_nextElement <#mjs_nextElement>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_nextElement |
|
|
| Return spec's next element; return NULL if element is last. |
|
|
| .. _AttributeSetters: |
|
|
| Attribute setters |
| ^^^^^^^^^^^^^^^^^ |
| .. _mjs_setName: |
|
|
| `mjs_setName <#mjs_setName>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_setName |
|
|
| Set element's name, return 0 on success. |
|
|
| .. _mjs_setBuffer: |
|
|
| `mjs_setBuffer <#mjs_setBuffer>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_setBuffer |
|
|
| Copy buffer. |
|
|
| .. _mjs_setString: |
|
|
| `mjs_setString <#mjs_setString>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_setString |
|
|
| Copy text to string. |
|
|
| .. _mjs_setStringVec: |
|
|
| `mjs_setStringVec <#mjs_setStringVec>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_setStringVec |
|
|
| Split text to entries and copy to string vector. |
|
|
| .. _mjs_setInStringVec: |
|
|
| `mjs_setInStringVec <#mjs_setInStringVec>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_setInStringVec |
|
|
| Set entry in string vector. |
|
|
| .. _mjs_appendString: |
|
|
| `mjs_appendString <#mjs_appendString>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_appendString |
|
|
| Append text entry to string vector. |
|
|
| .. _mjs_setInt: |
|
|
| `mjs_setInt <#mjs_setInt>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_setInt |
|
|
| Copy int array to vector. |
|
|
| .. _mjs_appendIntVec: |
|
|
| `mjs_appendIntVec <#mjs_appendIntVec>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_appendIntVec |
|
|
| Append int array to vector of arrays. |
|
|
| .. _mjs_setFloat: |
|
|
| `mjs_setFloat <#mjs_setFloat>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_setFloat |
|
|
| Copy float array to vector. |
|
|
| .. _mjs_appendFloatVec: |
|
|
| `mjs_appendFloatVec <#mjs_appendFloatVec>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_appendFloatVec |
|
|
| Append float array to vector of arrays. |
|
|
| .. _mjs_setDouble: |
|
|
| `mjs_setDouble <#mjs_setDouble>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_setDouble |
|
|
| Copy double array to vector. |
|
|
| .. _mjs_setPluginAttributes: |
|
|
| `mjs_setPluginAttributes <#mjs_setPluginAttributes>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_setPluginAttributes |
|
|
| Set plugin attributes. |
|
|
| .. _AttributeGetters: |
|
|
| Attribute getters |
| ^^^^^^^^^^^^^^^^^ |
| .. _mjs_getName: |
|
|
| `mjs_getName <#mjs_getName>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_getName |
|
|
| Get element's name. |
|
|
| .. _mjs_getString: |
|
|
| `mjs_getString <#mjs_getString>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_getString |
|
|
| Get string contents. |
|
|
| .. _mjs_getDouble: |
|
|
| `mjs_getDouble <#mjs_getDouble>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_getDouble |
|
|
| Get double array contents and optionally its size. |
|
|
| .. _mjs_getPluginAttributes: |
|
|
| `mjs_getPluginAttributes <#mjs_getPluginAttributes>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_getPluginAttributes |
|
|
| Get plugin attributes. |
|
|
| .. _SpecUtilities: |
|
|
| Spec utilities |
| ^^^^^^^^^^^^^^ |
| .. _mjs_setDefault: |
|
|
| `mjs_setDefault <#mjs_setDefault>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_setDefault |
|
|
| Set element's default. |
|
|
| .. _mjs_setFrame: |
|
|
| `mjs_setFrame <#mjs_setFrame>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_setFrame |
|
|
| Set element's enclosing frame, return 0 on success. |
|
|
| .. _mjs_resolveOrientation: |
|
|
| `mjs_resolveOrientation <#mjs_resolveOrientation>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_resolveOrientation |
|
|
| Resolve alternative orientations to quat, return error if any. |
|
|
| .. _mjs_bodyToFrame: |
|
|
| `mjs_bodyToFrame <#mjs_bodyToFrame>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_bodyToFrame |
|
|
| Transform body into a frame. |
|
|
| .. _mjs_setUserValue: |
|
|
| `mjs_setUserValue <#mjs_setUserValue>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_setUserValue |
|
|
| Set user payload, overriding the existing value for the specified key if present. |
|
|
| .. _mjs_setUserValueWithCleanup: |
|
|
| `mjs_setUserValueWithCleanup <#mjs_setUserValueWithCleanup>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_setUserValueWithCleanup |
|
|
| Set user payload, overriding the existing value for the specified key if |
| present. This version differs from mjs_setUserValue in that it takes a |
| cleanup function that will be called when the user payload is deleted. |
|
|
| .. _mjs_getUserValue: |
|
|
| `mjs_getUserValue <#mjs_getUserValue>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_getUserValue |
|
|
| Return user payload or NULL if none found. |
|
|
| .. _mjs_deleteUserValue: |
|
|
| `mjs_deleteUserValue <#mjs_deleteUserValue>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_deleteUserValue |
|
|
| Delete user payload. |
|
|
| .. _ElementInitialization: |
|
|
| Element initialization |
| ^^^^^^^^^^^^^^^^^^^^^^ |
| .. _mjs_defaultSpec: |
|
|
| `mjs_defaultSpec <#mjs_defaultSpec>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultSpec |
|
|
| Default spec attributes. |
|
|
| .. _mjs_defaultOrientation: |
|
|
| `mjs_defaultOrientation <#mjs_defaultOrientation>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultOrientation |
|
|
| Default orientation attributes. |
|
|
| .. _mjs_defaultBody: |
|
|
| `mjs_defaultBody <#mjs_defaultBody>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultBody |
|
|
| Default body attributes. |
|
|
| .. _mjs_defaultFrame: |
|
|
| `mjs_defaultFrame <#mjs_defaultFrame>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultFrame |
|
|
| Default frame attributes. |
|
|
| .. _mjs_defaultJoint: |
|
|
| `mjs_defaultJoint <#mjs_defaultJoint>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultJoint |
|
|
| Default joint attributes. |
|
|
| .. _mjs_defaultGeom: |
|
|
| `mjs_defaultGeom <#mjs_defaultGeom>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultGeom |
|
|
| Default geom attributes. |
|
|
| .. _mjs_defaultSite: |
|
|
| `mjs_defaultSite <#mjs_defaultSite>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultSite |
|
|
| Default site attributes. |
|
|
| .. _mjs_defaultCamera: |
|
|
| `mjs_defaultCamera <#mjs_defaultCamera>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultCamera |
|
|
| Default camera attributes. |
|
|
| .. _mjs_defaultLight: |
|
|
| `mjs_defaultLight <#mjs_defaultLight>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultLight |
|
|
| Default light attributes. |
|
|
| .. _mjs_defaultFlex: |
|
|
| `mjs_defaultFlex <#mjs_defaultFlex>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultFlex |
|
|
| Default flex attributes. |
|
|
| .. _mjs_defaultMesh: |
|
|
| `mjs_defaultMesh <#mjs_defaultMesh>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultMesh |
|
|
| Default mesh attributes. |
|
|
| .. _mjs_defaultHField: |
|
|
| `mjs_defaultHField <#mjs_defaultHField>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultHField |
|
|
| Default height field attributes. |
|
|
| .. _mjs_defaultSkin: |
|
|
| `mjs_defaultSkin <#mjs_defaultSkin>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultSkin |
|
|
| Default skin attributes. |
|
|
| .. _mjs_defaultTexture: |
|
|
| `mjs_defaultTexture <#mjs_defaultTexture>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultTexture |
|
|
| Default texture attributes. |
|
|
| .. _mjs_defaultMaterial: |
|
|
| `mjs_defaultMaterial <#mjs_defaultMaterial>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultMaterial |
|
|
| Default material attributes. |
|
|
| .. _mjs_defaultPair: |
|
|
| `mjs_defaultPair <#mjs_defaultPair>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultPair |
|
|
| Default pair attributes. |
|
|
| .. _mjs_defaultEquality: |
|
|
| `mjs_defaultEquality <#mjs_defaultEquality>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultEquality |
|
|
| Default equality attributes. |
|
|
| .. _mjs_defaultTendon: |
|
|
| `mjs_defaultTendon <#mjs_defaultTendon>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultTendon |
|
|
| Default tendon attributes. |
|
|
| .. _mjs_defaultActuator: |
|
|
| `mjs_defaultActuator <#mjs_defaultActuator>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultActuator |
|
|
| Default actuator attributes. |
|
|
| .. _mjs_defaultSensor: |
|
|
| `mjs_defaultSensor <#mjs_defaultSensor>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultSensor |
|
|
| Default sensor attributes. |
|
|
| .. _mjs_defaultNumeric: |
|
|
| `mjs_defaultNumeric <#mjs_defaultNumeric>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultNumeric |
|
|
| Default numeric attributes. |
|
|
| .. _mjs_defaultText: |
|
|
| `mjs_defaultText <#mjs_defaultText>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultText |
|
|
| Default text attributes. |
|
|
| .. _mjs_defaultTuple: |
|
|
| `mjs_defaultTuple <#mjs_defaultTuple>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultTuple |
|
|
| Default tuple attributes. |
|
|
| .. _mjs_defaultKey: |
|
|
| `mjs_defaultKey <#mjs_defaultKey>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultKey |
|
|
| Default keyframe attributes. |
|
|
| .. _mjs_defaultPlugin: |
|
|
| `mjs_defaultPlugin <#mjs_defaultPlugin>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_defaultPlugin |
|
|
| Default plugin attributes. |
|
|
| .. _ElementCasting: |
|
|
| Element casting |
| ^^^^^^^^^^^^^^^ |
| .. _mjs_asBody: |
|
|
| `mjs_asBody <#mjs_asBody>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asBody |
|
|
| Safely cast an element as mjsBody, or return NULL if the element is not an mjsBody. |
|
|
| .. _mjs_asGeom: |
|
|
| `mjs_asGeom <#mjs_asGeom>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asGeom |
|
|
| Safely cast an element as mjsGeom, or return NULL if the element is not an mjsGeom. |
|
|
| .. _mjs_asJoint: |
|
|
| `mjs_asJoint <#mjs_asJoint>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asJoint |
|
|
| Safely cast an element as mjsJoint, or return NULL if the element is not an mjsJoint. |
|
|
| .. _mjs_asSite: |
|
|
| `mjs_asSite <#mjs_asSite>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asSite |
|
|
| Safely cast an element as mjsSite, or return NULL if the element is not an mjsSite. |
|
|
| .. _mjs_asCamera: |
|
|
| `mjs_asCamera <#mjs_asCamera>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asCamera |
|
|
| Safely cast an element as mjsCamera, or return NULL if the element is not an mjsCamera. |
|
|
| .. _mjs_asLight: |
|
|
| `mjs_asLight <#mjs_asLight>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asLight |
|
|
| Safely cast an element as mjsLight, or return NULL if the element is not an mjsLight. |
|
|
| .. _mjs_asFrame: |
|
|
| `mjs_asFrame <#mjs_asFrame>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asFrame |
|
|
| Safely cast an element as mjsFrame, or return NULL if the element is not an mjsFrame. |
|
|
| .. _mjs_asActuator: |
|
|
| `mjs_asActuator <#mjs_asActuator>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asActuator |
|
|
| Safely cast an element as mjsActuator, or return NULL if the element is not an mjsActuator. |
|
|
| .. _mjs_asSensor: |
|
|
| `mjs_asSensor <#mjs_asSensor>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asSensor |
|
|
| Safely cast an element as mjsSensor, or return NULL if the element is not an mjsSensor. |
|
|
| .. _mjs_asFlex: |
|
|
| `mjs_asFlex <#mjs_asFlex>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asFlex |
|
|
| Safely cast an element as mjsFlex, or return NULL if the element is not an mjsFlex. |
|
|
| .. _mjs_asPair: |
|
|
| `mjs_asPair <#mjs_asPair>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asPair |
|
|
| Safely cast an element as mjsPair, or return NULL if the element is not an mjsPair. |
|
|
| .. _mjs_asEquality: |
|
|
| `mjs_asEquality <#mjs_asEquality>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asEquality |
|
|
| Safely cast an element as mjsEquality, or return NULL if the element is not an mjsEquality. |
|
|
| .. _mjs_asExclude: |
|
|
| `mjs_asExclude <#mjs_asExclude>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asExclude |
|
|
| Safely cast an element as mjsExclude, or return NULL if the element is not an mjsExclude. |
|
|
| .. _mjs_asTendon: |
|
|
| `mjs_asTendon <#mjs_asTendon>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asTendon |
|
|
| Safely cast an element as mjsTendon, or return NULL if the element is not an mjsTendon. |
|
|
| .. _mjs_asNumeric: |
|
|
| `mjs_asNumeric <#mjs_asNumeric>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asNumeric |
|
|
| Safely cast an element as mjsNumeric, or return NULL if the element is not an mjsNumeric. |
|
|
| .. _mjs_asText: |
|
|
| `mjs_asText <#mjs_asText>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asText |
|
|
| Safely cast an element as mjsText, or return NULL if the element is not an mjsText. |
|
|
| .. _mjs_asTuple: |
|
|
| `mjs_asTuple <#mjs_asTuple>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asTuple |
|
|
| Safely cast an element as mjsTuple, or return NULL if the element is not an mjsTuple. |
|
|
| .. _mjs_asKey: |
|
|
| `mjs_asKey <#mjs_asKey>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asKey |
|
|
| Safely cast an element as mjsKey, or return NULL if the element is not an mjsKey. |
|
|
| .. _mjs_asMesh: |
|
|
| `mjs_asMesh <#mjs_asMesh>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asMesh |
|
|
| Safely cast an element as mjsMesh, or return NULL if the element is not an mjsMesh. |
|
|
| .. _mjs_asHField: |
|
|
| `mjs_asHField <#mjs_asHField>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asHField |
|
|
| Safely cast an element as mjsHField, or return NULL if the element is not an mjsHField. |
|
|
| .. _mjs_asSkin: |
|
|
| `mjs_asSkin <#mjs_asSkin>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asSkin |
|
|
| Safely cast an element as mjsSkin, or return NULL if the element is not an mjsSkin. |
|
|
| .. _mjs_asTexture: |
|
|
| `mjs_asTexture <#mjs_asTexture>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asTexture |
|
|
| Safely cast an element as mjsTexture, or return NULL if the element is not an mjsTexture. |
|
|
| .. _mjs_asMaterial: |
|
|
| `mjs_asMaterial <#mjs_asMaterial>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asMaterial |
|
|
| Safely cast an element as mjsMaterial, or return NULL if the element is not an mjsMaterial. |
|
|
| .. _mjs_asPlugin: |
|
|
| `mjs_asPlugin <#mjs_asPlugin>`__ |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
|
|
| .. mujoco-include:: mjs_asPlugin |
|
|
| Safely cast an element as mjsPlugin, or return NULL if the element is not an mjsPlugin. |
|
|
|
|
