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- # Copyright 2023 DeepMind Technologies Limited
- #
- # Licensed under the Apache License, Version 2.0 (the "License");
- # you may not use this file except in compliance with the License.
- # You may obtain a copy of the License at
- #
- # http://www.apache.org/licenses/LICENSE-2.0
- #
- # Unless required by applicable law or agreed to in writing, software
- # distributed under the License is distributed on an "AS IS" BASIS,
- # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- # See the License for the specific language governing permissions and
- # limitations under the License.
- # ==============================================================================
- """Provides information about MuJoCo API structs.
- DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
- """
- from typing import Mapping
- from .ast_nodes import AnonymousStructDecl
- from .ast_nodes import AnonymousUnionDecl
- from .ast_nodes import ArrayType
- from .ast_nodes import PointerType
- from .ast_nodes import StructDecl
- from .ast_nodes import StructFieldDecl
- from .ast_nodes import ValueType
- STRUCTS: Mapping[str, StructDecl] = dict([
- ('mjLROpt',
- StructDecl(
- name='mjLROpt',
- declname='struct mjLROpt_',
- fields=(
- StructFieldDecl(
- name='mode',
- type=ValueType(name='int'),
- doc='which actuators to process (mjtLRMode)',
- ),
- StructFieldDecl(
- name='useexisting',
- type=ValueType(name='int'),
- doc='use existing length range if available',
- ),
- StructFieldDecl(
- name='uselimit',
- type=ValueType(name='int'),
- doc='use joint and tendon limits if available',
- ),
- StructFieldDecl(
- name='accel',
- type=ValueType(name='mjtNum'),
- doc='target acceleration used to compute force',
- ),
- StructFieldDecl(
- name='maxforce',
- type=ValueType(name='mjtNum'),
- doc='maximum force; 0: no limit',
- ),
- StructFieldDecl(
- name='timeconst',
- type=ValueType(name='mjtNum'),
- doc='time constant for velocity reduction; min 0.01',
- ),
- StructFieldDecl(
- name='timestep',
- type=ValueType(name='mjtNum'),
- doc='simulation timestep; 0: use mjOption.timestep',
- ),
- StructFieldDecl(
- name='inttotal',
- type=ValueType(name='mjtNum'),
- doc='total simulation time interval',
- ),
- StructFieldDecl(
- name='interval',
- type=ValueType(name='mjtNum'),
- doc='evaluation time interval (at the end)',
- ),
- StructFieldDecl(
- name='tolrange',
- type=ValueType(name='mjtNum'),
- doc='convergence tolerance (relative to range)',
- ),
- ),
- )),
- ('mjVFS',
- StructDecl(
- name='mjVFS',
- declname='struct mjVFS_',
- fields=(
- StructFieldDecl(
- name='impl_',
- type=PointerType(
- inner_type=ValueType(name='void'),
- ),
- doc='internal pointer to VFS memory',
- ),
- ),
- )),
- ('mjOption',
- StructDecl(
- name='mjOption',
- declname='struct mjOption_',
- fields=(
- StructFieldDecl(
- name='timestep',
- type=ValueType(name='mjtNum'),
- doc='timestep',
- ),
- StructFieldDecl(
- name='apirate',
- type=ValueType(name='mjtNum'),
- doc='update rate for remote API (Hz)',
- ),
- StructFieldDecl(
- name='impratio',
- type=ValueType(name='mjtNum'),
- doc='ratio of friction-to-normal contact impedance',
- ),
- StructFieldDecl(
- name='tolerance',
- type=ValueType(name='mjtNum'),
- doc='main solver tolerance',
- ),
- StructFieldDecl(
- name='ls_tolerance',
- type=ValueType(name='mjtNum'),
- doc='CG/Newton linesearch tolerance',
- ),
- StructFieldDecl(
- name='noslip_tolerance',
- type=ValueType(name='mjtNum'),
- doc='noslip solver tolerance',
- ),
- StructFieldDecl(
- name='ccd_tolerance',
- type=ValueType(name='mjtNum'),
- doc='convex collision solver tolerance',
- ),
- StructFieldDecl(
- name='gravity',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(3,),
- ),
- doc='gravitational acceleration',
- ),
- StructFieldDecl(
- name='wind',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(3,),
- ),
- doc='wind (for lift, drag and viscosity)',
- ),
- StructFieldDecl(
- name='magnetic',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(3,),
- ),
- doc='global magnetic flux',
- ),
- StructFieldDecl(
- name='density',
- type=ValueType(name='mjtNum'),
- doc='density of medium',
- ),
- StructFieldDecl(
- name='viscosity',
- type=ValueType(name='mjtNum'),
- doc='viscosity of medium',
- ),
- StructFieldDecl(
- name='o_margin',
- type=ValueType(name='mjtNum'),
- doc='margin',
- ),
- StructFieldDecl(
- name='o_solref',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(2,),
- ),
- doc='solref',
- ),
- StructFieldDecl(
- name='o_solimp',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(5,),
- ),
- doc='solimp',
- ),
- StructFieldDecl(
- name='o_friction',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(5,),
- ),
- doc='friction',
- ),
- StructFieldDecl(
- name='integrator',
- type=ValueType(name='int'),
- doc='integration mode (mjtIntegrator)',
- ),
- StructFieldDecl(
- name='cone',
- type=ValueType(name='int'),
- doc='type of friction cone (mjtCone)',
- ),
- StructFieldDecl(
- name='jacobian',
- type=ValueType(name='int'),
- doc='type of Jacobian (mjtJacobian)',
- ),
- StructFieldDecl(
- name='solver',
- type=ValueType(name='int'),
- doc='solver algorithm (mjtSolver)',
- ),
- StructFieldDecl(
- name='iterations',
- type=ValueType(name='int'),
- doc='maximum number of main solver iterations',
- ),
- StructFieldDecl(
- name='ls_iterations',
- type=ValueType(name='int'),
- doc='maximum number of CG/Newton linesearch iterations',
- ),
- StructFieldDecl(
- name='noslip_iterations',
- type=ValueType(name='int'),
- doc='maximum number of noslip solver iterations',
- ),
- StructFieldDecl(
- name='ccd_iterations',
- type=ValueType(name='int'),
- doc='maximum number of convex collision solver iterations',
- ),
- StructFieldDecl(
- name='disableflags',
- type=ValueType(name='int'),
- doc='bit flags for disabling standard features',
- ),
- StructFieldDecl(
- name='enableflags',
- type=ValueType(name='int'),
- doc='bit flags for enabling optional features',
- ),
- StructFieldDecl(
- name='disableactuator',
- type=ValueType(name='int'),
- doc='bit flags for disabling actuators by group id',
- ),
- StructFieldDecl(
- name='sdf_initpoints',
- type=ValueType(name='int'),
- doc='number of starting points for gradient descent',
- ),
- StructFieldDecl(
- name='sdf_iterations',
- type=ValueType(name='int'),
- doc='max number of iterations for gradient descent',
- ),
- ),
- )),
- ('mjVisual',
- StructDecl(
- name='mjVisual',
- declname='struct mjVisual_',
- fields=(
- StructFieldDecl(
- name='global',
- type=AnonymousStructDecl(
- fields=(
- StructFieldDecl(
- name='orthographic',
- type=ValueType(name='int'),
- doc='is the free camera orthographic (0: no, 1: yes)', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='fovy',
- type=ValueType(name='float'),
- doc='y field-of-view of free camera (orthographic ? length : degree)', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='ipd',
- type=ValueType(name='float'),
- doc='inter-pupilary distance for free camera',
- ),
- StructFieldDecl(
- name='azimuth',
- type=ValueType(name='float'),
- doc='initial azimuth of free camera (degrees)',
- ),
- StructFieldDecl(
- name='elevation',
- type=ValueType(name='float'),
- doc='initial elevation of free camera (degrees)',
- ),
- StructFieldDecl(
- name='linewidth',
- type=ValueType(name='float'),
- doc='line width for wireframe and ray rendering',
- ),
- StructFieldDecl(
- name='glow',
- type=ValueType(name='float'),
- doc='glow coefficient for selected body',
- ),
- StructFieldDecl(
- name='realtime',
- type=ValueType(name='float'),
- doc='initial real-time factor (1: real time)',
- ),
- StructFieldDecl(
- name='offwidth',
- type=ValueType(name='int'),
- doc='width of offscreen buffer',
- ),
- StructFieldDecl(
- name='offheight',
- type=ValueType(name='int'),
- doc='height of offscreen buffer',
- ),
- StructFieldDecl(
- name='ellipsoidinertia',
- type=ValueType(name='int'),
- doc='geom for inertia visualization (0: box, 1: ellipsoid)', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='bvactive',
- type=ValueType(name='int'),
- doc='visualize active bounding volumes (0: no, 1: yes)', # pylint: disable=line-too-long
- ),
- ),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='quality',
- type=AnonymousStructDecl(
- fields=(
- StructFieldDecl(
- name='shadowsize',
- type=ValueType(name='int'),
- doc='size of shadowmap texture',
- ),
- StructFieldDecl(
- name='offsamples',
- type=ValueType(name='int'),
- doc='number of multisamples for offscreen rendering', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='numslices',
- type=ValueType(name='int'),
- doc='number of slices for builtin geom drawing',
- ),
- StructFieldDecl(
- name='numstacks',
- type=ValueType(name='int'),
- doc='number of stacks for builtin geom drawing',
- ),
- StructFieldDecl(
- name='numquads',
- type=ValueType(name='int'),
- doc='number of quads for box rendering',
- ),
- ),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='headlight',
- type=AnonymousStructDecl(
- fields=(
- StructFieldDecl(
- name='ambient',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='ambient rgb (alpha=1)',
- ),
- StructFieldDecl(
- name='diffuse',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='diffuse rgb (alpha=1)',
- ),
- StructFieldDecl(
- name='specular',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='specular rgb (alpha=1)',
- ),
- StructFieldDecl(
- name='active',
- type=ValueType(name='int'),
- doc='is headlight active',
- ),
- ),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='map',
- type=AnonymousStructDecl(
- fields=(
- StructFieldDecl(
- name='stiffness',
- type=ValueType(name='float'),
- doc='mouse perturbation stiffness (space->force)',
- ),
- StructFieldDecl(
- name='stiffnessrot',
- type=ValueType(name='float'),
- doc='mouse perturbation stiffness (space->torque)',
- ),
- StructFieldDecl(
- name='force',
- type=ValueType(name='float'),
- doc='from force units to space units',
- ),
- StructFieldDecl(
- name='torque',
- type=ValueType(name='float'),
- doc='from torque units to space units',
- ),
- StructFieldDecl(
- name='alpha',
- type=ValueType(name='float'),
- doc='scale geom alphas when transparency is enabled', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='fogstart',
- type=ValueType(name='float'),
- doc='OpenGL fog starts at fogstart * mjModel.stat.extent', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='fogend',
- type=ValueType(name='float'),
- doc='OpenGL fog ends at fogend * mjModel.stat.extent', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='znear',
- type=ValueType(name='float'),
- doc='near clipping plane = znear * mjModel.stat.extent', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='zfar',
- type=ValueType(name='float'),
- doc='far clipping plane = zfar * mjModel.stat.extent', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='haze',
- type=ValueType(name='float'),
- doc='haze ratio',
- ),
- StructFieldDecl(
- name='shadowclip',
- type=ValueType(name='float'),
- doc='directional light: shadowclip * mjModel.stat.extent', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='shadowscale',
- type=ValueType(name='float'),
- doc='spot light: shadowscale * light.cutoff',
- ),
- StructFieldDecl(
- name='actuatortendon',
- type=ValueType(name='float'),
- doc='scale tendon width',
- ),
- ),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='scale',
- type=AnonymousStructDecl(
- fields=(
- StructFieldDecl(
- name='forcewidth',
- type=ValueType(name='float'),
- doc='width of force arrow',
- ),
- StructFieldDecl(
- name='contactwidth',
- type=ValueType(name='float'),
- doc='contact width',
- ),
- StructFieldDecl(
- name='contactheight',
- type=ValueType(name='float'),
- doc='contact height',
- ),
- StructFieldDecl(
- name='connect',
- type=ValueType(name='float'),
- doc='autoconnect capsule width',
- ),
- StructFieldDecl(
- name='com',
- type=ValueType(name='float'),
- doc='com radius',
- ),
- StructFieldDecl(
- name='camera',
- type=ValueType(name='float'),
- doc='camera object',
- ),
- StructFieldDecl(
- name='light',
- type=ValueType(name='float'),
- doc='light object',
- ),
- StructFieldDecl(
- name='selectpoint',
- type=ValueType(name='float'),
- doc='selection point',
- ),
- StructFieldDecl(
- name='jointlength',
- type=ValueType(name='float'),
- doc='joint length',
- ),
- StructFieldDecl(
- name='jointwidth',
- type=ValueType(name='float'),
- doc='joint width',
- ),
- StructFieldDecl(
- name='actuatorlength',
- type=ValueType(name='float'),
- doc='actuator length',
- ),
- StructFieldDecl(
- name='actuatorwidth',
- type=ValueType(name='float'),
- doc='actuator width',
- ),
- StructFieldDecl(
- name='framelength',
- type=ValueType(name='float'),
- doc='bodyframe axis length',
- ),
- StructFieldDecl(
- name='framewidth',
- type=ValueType(name='float'),
- doc='bodyframe axis width',
- ),
- StructFieldDecl(
- name='constraint',
- type=ValueType(name='float'),
- doc='constraint width',
- ),
- StructFieldDecl(
- name='slidercrank',
- type=ValueType(name='float'),
- doc='slidercrank width',
- ),
- StructFieldDecl(
- name='frustum',
- type=ValueType(name='float'),
- doc='frustum zfar plane',
- ),
- ),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='rgba',
- type=AnonymousStructDecl(
- fields=(
- StructFieldDecl(
- name='fog',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='fog',
- ),
- StructFieldDecl(
- name='haze',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='haze',
- ),
- StructFieldDecl(
- name='force',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='external force',
- ),
- StructFieldDecl(
- name='inertia',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='inertia box',
- ),
- StructFieldDecl(
- name='joint',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='joint',
- ),
- StructFieldDecl(
- name='actuator',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='actuator, neutral',
- ),
- StructFieldDecl(
- name='actuatornegative',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='actuator, negative limit',
- ),
- StructFieldDecl(
- name='actuatorpositive',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='actuator, positive limit',
- ),
- StructFieldDecl(
- name='com',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='center of mass',
- ),
- StructFieldDecl(
- name='camera',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='camera object',
- ),
- StructFieldDecl(
- name='light',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='light object',
- ),
- StructFieldDecl(
- name='selectpoint',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='selection point',
- ),
- StructFieldDecl(
- name='connect',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='auto connect',
- ),
- StructFieldDecl(
- name='contactpoint',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='contact point',
- ),
- StructFieldDecl(
- name='contactforce',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='contact force',
- ),
- StructFieldDecl(
- name='contactfriction',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='contact friction force',
- ),
- StructFieldDecl(
- name='contacttorque',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='contact torque',
- ),
- StructFieldDecl(
- name='contactgap',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='contact point in gap',
- ),
- StructFieldDecl(
- name='rangefinder',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='rangefinder ray',
- ),
- StructFieldDecl(
- name='constraint',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='constraint',
- ),
- StructFieldDecl(
- name='slidercrank',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='slidercrank',
- ),
- StructFieldDecl(
- name='crankbroken',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='used when crank must be stretched/broken',
- ),
- StructFieldDecl(
- name='frustum',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='camera frustum',
- ),
- StructFieldDecl(
- name='bv',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='bounding volume',
- ),
- StructFieldDecl(
- name='bvactive',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='active bounding volume',
- ),
- ),
- ),
- doc='',
- ),
- ),
- )),
- ('mjStatistic',
- StructDecl(
- name='mjStatistic',
- declname='struct mjStatistic_',
- fields=(
- StructFieldDecl(
- name='meaninertia',
- type=ValueType(name='mjtNum'),
- doc='mean diagonal inertia',
- ),
- StructFieldDecl(
- name='meanmass',
- type=ValueType(name='mjtNum'),
- doc='mean body mass',
- ),
- StructFieldDecl(
- name='meansize',
- type=ValueType(name='mjtNum'),
- doc='mean body size',
- ),
- StructFieldDecl(
- name='extent',
- type=ValueType(name='mjtNum'),
- doc='spatial extent',
- ),
- StructFieldDecl(
- name='center',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(3,),
- ),
- doc='center of model',
- ),
- ),
- )),
- ('mjModel',
- StructDecl(
- name='mjModel',
- declname='struct mjModel_',
- fields=(
- StructFieldDecl(
- name='nq',
- type=ValueType(name='int'),
- doc='number of generalized coordinates = dim(qpos)',
- ),
- StructFieldDecl(
- name='nv',
- type=ValueType(name='int'),
- doc='number of degrees of freedom = dim(qvel)',
- ),
- StructFieldDecl(
- name='nu',
- type=ValueType(name='int'),
- doc='number of actuators/controls = dim(ctrl)',
- ),
- StructFieldDecl(
- name='na',
- type=ValueType(name='int'),
- doc='number of activation states = dim(act)',
- ),
- StructFieldDecl(
- name='nbody',
- type=ValueType(name='int'),
- doc='number of bodies',
- ),
- StructFieldDecl(
- name='nbvh',
- type=ValueType(name='int'),
- doc='number of total bounding volumes in all bodies',
- ),
- StructFieldDecl(
- name='nbvhstatic',
- type=ValueType(name='int'),
- doc='number of static bounding volumes (aabb stored in mjModel)', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='nbvhdynamic',
- type=ValueType(name='int'),
- doc='number of dynamic bounding volumes (aabb stored in mjData)', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='njnt',
- type=ValueType(name='int'),
- doc='number of joints',
- ),
- StructFieldDecl(
- name='ngeom',
- type=ValueType(name='int'),
- doc='number of geoms',
- ),
- StructFieldDecl(
- name='nsite',
- type=ValueType(name='int'),
- doc='number of sites',
- ),
- StructFieldDecl(
- name='ncam',
- type=ValueType(name='int'),
- doc='number of cameras',
- ),
- StructFieldDecl(
- name='nlight',
- type=ValueType(name='int'),
- doc='number of lights',
- ),
- StructFieldDecl(
- name='nflex',
- type=ValueType(name='int'),
- doc='number of flexes',
- ),
- StructFieldDecl(
- name='nflexvert',
- type=ValueType(name='int'),
- doc='number of vertices in all flexes',
- ),
- StructFieldDecl(
- name='nflexedge',
- type=ValueType(name='int'),
- doc='number of edges in all flexes',
- ),
- StructFieldDecl(
- name='nflexelem',
- type=ValueType(name='int'),
- doc='number of elements in all flexes',
- ),
- StructFieldDecl(
- name='nflexelemdata',
- type=ValueType(name='int'),
- doc='number of element vertex ids in all flexes',
- ),
- StructFieldDecl(
- name='nflexelemedge',
- type=ValueType(name='int'),
- doc='number of element edge ids in all flexes',
- ),
- StructFieldDecl(
- name='nflexshelldata',
- type=ValueType(name='int'),
- doc='number of shell fragment vertex ids in all flexes',
- ),
- StructFieldDecl(
- name='nflexevpair',
- type=ValueType(name='int'),
- doc='number of element-vertex pairs in all flexes',
- ),
- StructFieldDecl(
- name='nflextexcoord',
- type=ValueType(name='int'),
- doc='number of vertices with texture coordinates',
- ),
- StructFieldDecl(
- name='nmesh',
- type=ValueType(name='int'),
- doc='number of meshes',
- ),
- StructFieldDecl(
- name='nmeshvert',
- type=ValueType(name='int'),
- doc='number of vertices in all meshes',
- ),
- StructFieldDecl(
- name='nmeshnormal',
- type=ValueType(name='int'),
- doc='number of normals in all meshes',
- ),
- StructFieldDecl(
- name='nmeshtexcoord',
- type=ValueType(name='int'),
- doc='number of texcoords in all meshes',
- ),
- StructFieldDecl(
- name='nmeshface',
- type=ValueType(name='int'),
- doc='number of triangular faces in all meshes',
- ),
- StructFieldDecl(
- name='nmeshgraph',
- type=ValueType(name='int'),
- doc='number of ints in mesh auxiliary data',
- ),
- StructFieldDecl(
- name='nskin',
- type=ValueType(name='int'),
- doc='number of skins',
- ),
- StructFieldDecl(
- name='nskinvert',
- type=ValueType(name='int'),
- doc='number of vertices in all skins',
- ),
- StructFieldDecl(
- name='nskintexvert',
- type=ValueType(name='int'),
- doc='number of vertiex with texcoords in all skins',
- ),
- StructFieldDecl(
- name='nskinface',
- type=ValueType(name='int'),
- doc='number of triangular faces in all skins',
- ),
- StructFieldDecl(
- name='nskinbone',
- type=ValueType(name='int'),
- doc='number of bones in all skins',
- ),
- StructFieldDecl(
- name='nskinbonevert',
- type=ValueType(name='int'),
- doc='number of vertices in all skin bones',
- ),
- StructFieldDecl(
- name='nhfield',
- type=ValueType(name='int'),
- doc='number of heightfields',
- ),
- StructFieldDecl(
- name='nhfielddata',
- type=ValueType(name='int'),
- doc='number of data points in all heightfields',
- ),
- StructFieldDecl(
- name='ntex',
- type=ValueType(name='int'),
- doc='number of textures',
- ),
- StructFieldDecl(
- name='ntexdata',
- type=ValueType(name='int'),
- doc='number of bytes in texture rgb data',
- ),
- StructFieldDecl(
- name='nmat',
- type=ValueType(name='int'),
- doc='number of materials',
- ),
- StructFieldDecl(
- name='npair',
- type=ValueType(name='int'),
- doc='number of predefined geom pairs',
- ),
- StructFieldDecl(
- name='nexclude',
- type=ValueType(name='int'),
- doc='number of excluded geom pairs',
- ),
- StructFieldDecl(
- name='neq',
- type=ValueType(name='int'),
- doc='number of equality constraints',
- ),
- StructFieldDecl(
- name='ntendon',
- type=ValueType(name='int'),
- doc='number of tendons',
- ),
- StructFieldDecl(
- name='nwrap',
- type=ValueType(name='int'),
- doc='number of wrap objects in all tendon paths',
- ),
- StructFieldDecl(
- name='nsensor',
- type=ValueType(name='int'),
- doc='number of sensors',
- ),
- StructFieldDecl(
- name='nnumeric',
- type=ValueType(name='int'),
- doc='number of numeric custom fields',
- ),
- StructFieldDecl(
- name='nnumericdata',
- type=ValueType(name='int'),
- doc='number of mjtNums in all numeric fields',
- ),
- StructFieldDecl(
- name='ntext',
- type=ValueType(name='int'),
- doc='number of text custom fields',
- ),
- StructFieldDecl(
- name='ntextdata',
- type=ValueType(name='int'),
- doc='number of mjtBytes in all text fields',
- ),
- StructFieldDecl(
- name='ntuple',
- type=ValueType(name='int'),
- doc='number of tuple custom fields',
- ),
- StructFieldDecl(
- name='ntupledata',
- type=ValueType(name='int'),
- doc='number of objects in all tuple fields',
- ),
- StructFieldDecl(
- name='nkey',
- type=ValueType(name='int'),
- doc='number of keyframes',
- ),
- StructFieldDecl(
- name='nmocap',
- type=ValueType(name='int'),
- doc='number of mocap bodies',
- ),
- StructFieldDecl(
- name='nplugin',
- type=ValueType(name='int'),
- doc='number of plugin instances',
- ),
- StructFieldDecl(
- name='npluginattr',
- type=ValueType(name='int'),
- doc='number of chars in all plugin config attributes',
- ),
- StructFieldDecl(
- name='nuser_body',
- type=ValueType(name='int'),
- doc='number of mjtNums in body_user',
- ),
- StructFieldDecl(
- name='nuser_jnt',
- type=ValueType(name='int'),
- doc='number of mjtNums in jnt_user',
- ),
- StructFieldDecl(
- name='nuser_geom',
- type=ValueType(name='int'),
- doc='number of mjtNums in geom_user',
- ),
- StructFieldDecl(
- name='nuser_site',
- type=ValueType(name='int'),
- doc='number of mjtNums in site_user',
- ),
- StructFieldDecl(
- name='nuser_cam',
- type=ValueType(name='int'),
- doc='number of mjtNums in cam_user',
- ),
- StructFieldDecl(
- name='nuser_tendon',
- type=ValueType(name='int'),
- doc='number of mjtNums in tendon_user',
- ),
- StructFieldDecl(
- name='nuser_actuator',
- type=ValueType(name='int'),
- doc='number of mjtNums in actuator_user',
- ),
- StructFieldDecl(
- name='nuser_sensor',
- type=ValueType(name='int'),
- doc='number of mjtNums in sensor_user',
- ),
- StructFieldDecl(
- name='nnames',
- type=ValueType(name='int'),
- doc='number of chars in all names',
- ),
- StructFieldDecl(
- name='nnames_map',
- type=ValueType(name='int'),
- doc='number of slots in the names hash map',
- ),
- StructFieldDecl(
- name='npaths',
- type=ValueType(name='int'),
- doc='number of chars in all paths',
- ),
- StructFieldDecl(
- name='nM',
- type=ValueType(name='int'),
- doc='number of non-zeros in sparse inertia matrix',
- ),
- StructFieldDecl(
- name='nB',
- type=ValueType(name='int'),
- doc='number of non-zeros in sparse body-dof matrix',
- ),
- StructFieldDecl(
- name='nC',
- type=ValueType(name='int'),
- doc='number of non-zeros in sparse reduced dof-dof matrix',
- ),
- StructFieldDecl(
- name='nD',
- type=ValueType(name='int'),
- doc='number of non-zeros in sparse dof-dof matrix',
- ),
- StructFieldDecl(
- name='ntree',
- type=ValueType(name='int'),
- doc='number of kinematic trees under world body',
- ),
- StructFieldDecl(
- name='ngravcomp',
- type=ValueType(name='int'),
- doc='number of bodies with nonzero gravcomp',
- ),
- StructFieldDecl(
- name='nemax',
- type=ValueType(name='int'),
- doc='number of potential equality-constraint rows',
- ),
- StructFieldDecl(
- name='njmax',
- type=ValueType(name='int'),
- doc='number of available rows in constraint Jacobian',
- ),
- StructFieldDecl(
- name='nconmax',
- type=ValueType(name='int'),
- doc='number of potential contacts in contact list',
- ),
- StructFieldDecl(
- name='nuserdata',
- type=ValueType(name='int'),
- doc='number of mjtNums reserved for the user',
- ),
- StructFieldDecl(
- name='nsensordata',
- type=ValueType(name='int'),
- doc='number of mjtNums in sensor data vector',
- ),
- StructFieldDecl(
- name='npluginstate',
- type=ValueType(name='int'),
- doc='number of mjtNums in plugin state vector',
- ),
- StructFieldDecl(
- name='narena',
- type=ValueType(name='size_t'),
- doc='number of bytes in the mjData arena (inclusive of stack)',
- ),
- StructFieldDecl(
- name='nbuffer',
- type=ValueType(name='size_t'),
- doc='number of bytes in buffer',
- ),
- StructFieldDecl(
- name='opt',
- type=ValueType(name='mjOption'),
- doc='physics options',
- ),
- StructFieldDecl(
- name='vis',
- type=ValueType(name='mjVisual'),
- doc='visualization options',
- ),
- StructFieldDecl(
- name='stat',
- type=ValueType(name='mjStatistic'),
- doc='model statistics',
- ),
- StructFieldDecl(
- name='buffer',
- type=PointerType(
- inner_type=ValueType(name='void'),
- ),
- doc='main buffer; all pointers point in it (nbuffer)',
- ),
- StructFieldDecl(
- name='qpos0',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='qpos values at default pose',
- array_extent=('nq',),
- ),
- StructFieldDecl(
- name='qpos_spring',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='reference pose for springs',
- array_extent=('nq',),
- ),
- StructFieldDecl(
- name='body_parentid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc="id of body's parent",
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_rootid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='id of root above body',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_weldid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='id of body that this body is welded to',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_mocapid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='id of mocap data; -1: none',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_jntnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of joints for this body',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_jntadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='start addr of joints; -1: no joints',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_dofnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of motion degrees of freedom',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_dofadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='start addr of dofs; -1: no dofs',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_treeid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc="id of body's kinematic tree; -1: static",
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_geomnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of geoms',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_geomadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='start addr of geoms; -1: no geoms',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_simple',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='1: diag M; 2: diag M, sliders only',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_sameframe',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='same frame as inertia (mjtSameframe)',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_pos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='position offset rel. to parent body',
- array_extent=('nbody', 3),
- ),
- StructFieldDecl(
- name='body_quat',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='orientation offset rel. to parent body',
- array_extent=('nbody', 4),
- ),
- StructFieldDecl(
- name='body_ipos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='local position of center of mass',
- array_extent=('nbody', 3),
- ),
- StructFieldDecl(
- name='body_iquat',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='local orientation of inertia ellipsoid',
- array_extent=('nbody', 4),
- ),
- StructFieldDecl(
- name='body_mass',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='mass',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_subtreemass',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='mass of subtree starting at this body',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_inertia',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='diagonal inertia in ipos/iquat frame',
- array_extent=('nbody', 3),
- ),
- StructFieldDecl(
- name='body_invweight0',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='mean inv inert in qpos0 (trn, rot)',
- array_extent=('nbody', 2),
- ),
- StructFieldDecl(
- name='body_gravcomp',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='antigravity force, units of body weight',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_margin',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='MAX over all geom margins',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_user',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='user data',
- array_extent=('nbody', 'nuser_body'),
- ),
- StructFieldDecl(
- name='body_plugin',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='plugin instance id; -1: not in use',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_contype',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='OR over all geom contypes',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_conaffinity',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='OR over all geom conaffinities',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_bvhadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='address of bvh root',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='body_bvhnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of bounding volumes',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='bvh_depth',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='depth in the bounding volume hierarchy',
- array_extent=('nbvh',),
- ),
- StructFieldDecl(
- name='bvh_child',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='left and right children in tree',
- array_extent=('nbvh', 2),
- ),
- StructFieldDecl(
- name='bvh_nodeid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='geom or elem id of node; -1: non-leaf',
- array_extent=('nbvh',),
- ),
- StructFieldDecl(
- name='bvh_aabb',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='local bounding box (center, size)',
- array_extent=('nbvhstatic', 6),
- ),
- StructFieldDecl(
- name='jnt_type',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='type of joint (mjtJoint)',
- array_extent=('njnt',),
- ),
- StructFieldDecl(
- name='jnt_qposadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc="start addr in 'qpos' for joint's data",
- array_extent=('njnt',),
- ),
- StructFieldDecl(
- name='jnt_dofadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc="start addr in 'qvel' for joint's data",
- array_extent=('njnt',),
- ),
- StructFieldDecl(
- name='jnt_bodyid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc="id of joint's body",
- array_extent=('njnt',),
- ),
- StructFieldDecl(
- name='jnt_group',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='group for visibility',
- array_extent=('njnt',),
- ),
- StructFieldDecl(
- name='jnt_limited',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='does joint have limits',
- array_extent=('njnt',),
- ),
- StructFieldDecl(
- name='jnt_actfrclimited',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='does joint have actuator force limits',
- array_extent=('njnt',),
- ),
- StructFieldDecl(
- name='jnt_actgravcomp',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='is gravcomp force applied via actuators',
- array_extent=('njnt',),
- ),
- StructFieldDecl(
- name='jnt_solref',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint solver reference: limit',
- array_extent=('njnt', 'mjNREF'),
- ),
- StructFieldDecl(
- name='jnt_solimp',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint solver impedance: limit',
- array_extent=('njnt', 'mjNIMP'),
- ),
- StructFieldDecl(
- name='jnt_pos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='local anchor position',
- array_extent=('njnt', 3),
- ),
- StructFieldDecl(
- name='jnt_axis',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='local joint axis',
- array_extent=('njnt', 3),
- ),
- StructFieldDecl(
- name='jnt_stiffness',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='stiffness coefficient',
- array_extent=('njnt',),
- ),
- StructFieldDecl(
- name='jnt_range',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='joint limits',
- array_extent=('njnt', 2),
- ),
- StructFieldDecl(
- name='jnt_actfrcrange',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='range of total actuator force',
- array_extent=('njnt', 2),
- ),
- StructFieldDecl(
- name='jnt_margin',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='min distance for limit detection',
- array_extent=('njnt',),
- ),
- StructFieldDecl(
- name='jnt_user',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='user data',
- array_extent=('njnt', 'nuser_jnt'),
- ),
- StructFieldDecl(
- name='dof_bodyid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc="id of dof's body",
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='dof_jntid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc="id of dof's joint",
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='dof_parentid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc="id of dof's parent; -1: none",
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='dof_treeid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc="id of dof's kinematic tree",
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='dof_Madr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='dof address in M-diagonal',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='dof_simplenum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of consecutive simple dofs',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='dof_solref',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint solver reference:frictionloss (nv x mjNREF)',
- ),
- StructFieldDecl(
- name='dof_solimp',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint solver impedance:frictionloss (nv x mjNIMP)',
- ),
- StructFieldDecl(
- name='dof_frictionloss',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='dof friction loss',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='dof_armature',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='dof armature inertia/mass',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='dof_damping',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='damping coefficient',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='dof_invweight0',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='diag. inverse inertia in qpos0',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='dof_M0',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='diag. inertia in qpos0',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='geom_type',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='geometric type (mjtGeom)',
- array_extent=('ngeom',),
- ),
- StructFieldDecl(
- name='geom_contype',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='geom contact type',
- array_extent=('ngeom',),
- ),
- StructFieldDecl(
- name='geom_conaffinity',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='geom contact affinity',
- array_extent=('ngeom',),
- ),
- StructFieldDecl(
- name='geom_condim',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='contact dimensionality (1, 3, 4, 6)',
- array_extent=('ngeom',),
- ),
- StructFieldDecl(
- name='geom_bodyid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc="id of geom's body",
- array_extent=('ngeom',),
- ),
- StructFieldDecl(
- name='geom_dataid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc="id of geom's mesh/hfield; -1: none",
- array_extent=('ngeom',),
- ),
- StructFieldDecl(
- name='geom_matid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='material id for rendering; -1: none',
- array_extent=('ngeom',),
- ),
- StructFieldDecl(
- name='geom_group',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='group for visibility',
- array_extent=('ngeom',),
- ),
- StructFieldDecl(
- name='geom_priority',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='geom contact priority',
- array_extent=('ngeom',),
- ),
- StructFieldDecl(
- name='geom_plugin',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='plugin instance id; -1: not in use',
- array_extent=('ngeom',),
- ),
- StructFieldDecl(
- name='geom_sameframe',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='same frame as body (mjtSameframe)',
- array_extent=('ngeom',),
- ),
- StructFieldDecl(
- name='geom_solmix',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='mixing coef for solref/imp in geom pair',
- array_extent=('ngeom',),
- ),
- StructFieldDecl(
- name='geom_solref',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint solver reference: contact',
- array_extent=('ngeom', 'mjNREF'),
- ),
- StructFieldDecl(
- name='geom_solimp',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint solver impedance: contact',
- array_extent=('ngeom', 'mjNIMP'),
- ),
- StructFieldDecl(
- name='geom_size',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='geom-specific size parameters',
- array_extent=('ngeom', 3),
- ),
- StructFieldDecl(
- name='geom_aabb',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='bounding box, (center, size)',
- array_extent=('ngeom', 6),
- ),
- StructFieldDecl(
- name='geom_rbound',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='radius of bounding sphere',
- array_extent=('ngeom',),
- ),
- StructFieldDecl(
- name='geom_pos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='local position offset rel. to body',
- array_extent=('ngeom', 3),
- ),
- StructFieldDecl(
- name='geom_quat',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='local orientation offset rel. to body',
- array_extent=('ngeom', 4),
- ),
- StructFieldDecl(
- name='geom_friction',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='friction for (slide, spin, roll)',
- array_extent=('ngeom', 3),
- ),
- StructFieldDecl(
- name='geom_margin',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='detect contact if dist<margin(ngeom x 1)',
- ),
- StructFieldDecl(
- name='geom_gap',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='include in solver if dist<margin-gap',
- array_extent=('ngeom',),
- ),
- StructFieldDecl(
- name='geom_fluid',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='fluid interaction parameters',
- array_extent=('ngeom', 'mjNFLUID'),
- ),
- StructFieldDecl(
- name='geom_user',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='user data',
- array_extent=('ngeom', 'nuser_geom'),
- ),
- StructFieldDecl(
- name='geom_rgba',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='rgba when material is omitted',
- array_extent=('ngeom', 4),
- ),
- StructFieldDecl(
- name='site_type',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='geom type for rendering (mjtGeom)',
- array_extent=('nsite',),
- ),
- StructFieldDecl(
- name='site_bodyid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc="id of site's body",
- array_extent=('nsite',),
- ),
- StructFieldDecl(
- name='site_matid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='material id for rendering; -1: none',
- array_extent=('nsite',),
- ),
- StructFieldDecl(
- name='site_group',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='group for visibility',
- array_extent=('nsite',),
- ),
- StructFieldDecl(
- name='site_sameframe',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='same frame as body (mjtSameframe)',
- array_extent=('nsite',),
- ),
- StructFieldDecl(
- name='site_size',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='geom size for rendering',
- array_extent=('nsite', 3),
- ),
- StructFieldDecl(
- name='site_pos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='local position offset rel. to body',
- array_extent=('nsite', 3),
- ),
- StructFieldDecl(
- name='site_quat',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='local orientation offset rel. to body',
- array_extent=('nsite', 4),
- ),
- StructFieldDecl(
- name='site_user',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='user data',
- array_extent=('nsite', 'nuser_site'),
- ),
- StructFieldDecl(
- name='site_rgba',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='rgba when material is omitted',
- array_extent=('nsite', 4),
- ),
- StructFieldDecl(
- name='cam_mode',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='camera tracking mode (mjtCamLight)',
- array_extent=('ncam',),
- ),
- StructFieldDecl(
- name='cam_bodyid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc="id of camera's body",
- array_extent=('ncam',),
- ),
- StructFieldDecl(
- name='cam_targetbodyid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='id of targeted body; -1: none',
- array_extent=('ncam',),
- ),
- StructFieldDecl(
- name='cam_pos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='position rel. to body frame',
- array_extent=('ncam', 3),
- ),
- StructFieldDecl(
- name='cam_quat',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='orientation rel. to body frame',
- array_extent=('ncam', 4),
- ),
- StructFieldDecl(
- name='cam_poscom0',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='global position rel. to sub-com in qpos0 (ncam x 3)',
- ),
- StructFieldDecl(
- name='cam_pos0',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='global position rel. to body in qpos0',
- array_extent=('ncam', 3),
- ),
- StructFieldDecl(
- name='cam_mat0',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='global orientation in qpos0',
- array_extent=('ncam', 9),
- ),
- StructFieldDecl(
- name='cam_orthographic',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='orthographic camera; 0: no, 1: yes',
- array_extent=('ncam',),
- ),
- StructFieldDecl(
- name='cam_fovy',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='y field-of-view (ortho ? len : deg)',
- array_extent=('ncam',),
- ),
- StructFieldDecl(
- name='cam_ipd',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='inter-pupilary distance',
- array_extent=('ncam',),
- ),
- StructFieldDecl(
- name='cam_resolution',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='resolution: pixels [width, height]',
- array_extent=('ncam', 2),
- ),
- StructFieldDecl(
- name='cam_sensorsize',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='sensor size: length [width, height]',
- array_extent=('ncam', 2),
- ),
- StructFieldDecl(
- name='cam_intrinsic',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='[focal length; principal point]',
- array_extent=('ncam', 4),
- ),
- StructFieldDecl(
- name='cam_user',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='user data',
- array_extent=('ncam', 'nuser_cam'),
- ),
- StructFieldDecl(
- name='light_mode',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='light tracking mode (mjtCamLight)',
- array_extent=('nlight',),
- ),
- StructFieldDecl(
- name='light_bodyid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc="id of light's body",
- array_extent=('nlight',),
- ),
- StructFieldDecl(
- name='light_targetbodyid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='id of targeted body; -1: none',
- array_extent=('nlight',),
- ),
- StructFieldDecl(
- name='light_directional',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='directional light',
- array_extent=('nlight',),
- ),
- StructFieldDecl(
- name='light_castshadow',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='does light cast shadows',
- array_extent=('nlight',),
- ),
- StructFieldDecl(
- name='light_bulbradius',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='light radius for soft shadows',
- array_extent=('nlight',),
- ),
- StructFieldDecl(
- name='light_active',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='is light on',
- array_extent=('nlight',),
- ),
- StructFieldDecl(
- name='light_pos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='position rel. to body frame',
- array_extent=('nlight', 3),
- ),
- StructFieldDecl(
- name='light_dir',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='direction rel. to body frame',
- array_extent=('nlight', 3),
- ),
- StructFieldDecl(
- name='light_poscom0',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='global position rel. to sub-com in qpos0 (nlight x 3)',
- ),
- StructFieldDecl(
- name='light_pos0',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='global position rel. to body in qpos0',
- array_extent=('nlight', 3),
- ),
- StructFieldDecl(
- name='light_dir0',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='global direction in qpos0',
- array_extent=('nlight', 3),
- ),
- StructFieldDecl(
- name='light_attenuation',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='OpenGL attenuation (quadratic model)',
- array_extent=('nlight', 3),
- ),
- StructFieldDecl(
- name='light_cutoff',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='OpenGL cutoff',
- array_extent=('nlight',),
- ),
- StructFieldDecl(
- name='light_exponent',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='OpenGL exponent',
- array_extent=('nlight',),
- ),
- StructFieldDecl(
- name='light_ambient',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='ambient rgb (alpha=1)',
- array_extent=('nlight', 3),
- ),
- StructFieldDecl(
- name='light_diffuse',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='diffuse rgb (alpha=1)',
- array_extent=('nlight', 3),
- ),
- StructFieldDecl(
- name='light_specular',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='specular rgb (alpha=1)',
- array_extent=('nlight', 3),
- ),
- StructFieldDecl(
- name='flex_contype',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='flex contact type',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_conaffinity',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='flex contact affinity',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_condim',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='contact dimensionality (1, 3, 4, 6)',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_priority',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='flex contact priority',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_solmix',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='mix coef for solref/imp in contact pair',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_solref',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint solver reference: contact',
- array_extent=('nflex', 'mjNREF'),
- ),
- StructFieldDecl(
- name='flex_solimp',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint solver impedance: contact',
- array_extent=('nflex', 'mjNIMP'),
- ),
- StructFieldDecl(
- name='flex_friction',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='friction for (slide, spin, roll)',
- array_extent=('nflex', 3),
- ),
- StructFieldDecl(
- name='flex_margin',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='detect contact if dist<margin(nflex x 1)',
- ),
- StructFieldDecl(
- name='flex_gap',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='include in solver if dist<margin-gap',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_internal',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='internal flex collision enabled',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_selfcollide',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='self collision mode (mjtFlexSelf)',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_activelayers',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of active element layers, 3D only (nflex x 1)',
- ),
- StructFieldDecl(
- name='flex_dim',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='1: lines, 2: triangles, 3: tetrahedra',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_matid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='material id for rendering',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_group',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='group for visibility',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_vertadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='first vertex address',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_vertnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of vertices',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_edgeadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='first edge address',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_edgenum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of edges',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_elemadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='first element address',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_elemnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of elements',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_elemdataadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='first element vertex id address',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_elemedgeadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='first element edge id address',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_shellnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of shells',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_shelldataadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='first shell data address',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_evpairadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='first evpair address',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_evpairnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of evpairs',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_texcoordadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='address in flex_texcoord; -1: none',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_vertbodyid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='vertex body ids',
- array_extent=('nflexvert',),
- ),
- StructFieldDecl(
- name='flex_edge',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='edge vertex ids (2 per edge)',
- array_extent=('nflexedge', 2),
- ),
- StructFieldDecl(
- name='flex_elem',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='element vertex ids (dim+1 per elem)',
- array_extent=('nflexelemdata',),
- ),
- StructFieldDecl(
- name='flex_elemedge',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='element edge ids',
- array_extent=('nflexelemedge',),
- ),
- StructFieldDecl(
- name='flex_elemlayer',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='element distance from surface, 3D only',
- array_extent=('nflexelem',),
- ),
- StructFieldDecl(
- name='flex_shell',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='shell fragment vertex ids (dim per frag) (nflexshelldata x 1)', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='flex_evpair',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='(element, vertex) collision pairs',
- array_extent=('nflexevpair', 2),
- ),
- StructFieldDecl(
- name='flex_vert',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='vertex positions in local body frames',
- array_extent=('nflexvert', 3),
- ),
- StructFieldDecl(
- name='flex_xvert0',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='Cartesian vertex positions in qpos0',
- array_extent=('nflexvert', 3),
- ),
- StructFieldDecl(
- name='flexedge_length0',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='edge lengths in qpos0',
- array_extent=('nflexedge',),
- ),
- StructFieldDecl(
- name='flexedge_invweight0',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='edge inv. weight in qpos0',
- array_extent=('nflexedge',),
- ),
- StructFieldDecl(
- name='flex_radius',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='radius around primitive element',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_stiffness',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='finite element stiffness matrix',
- array_extent=('nflexelem', 21),
- ),
- StructFieldDecl(
- name='flex_damping',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc="Rayleigh's damping coefficient",
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_edgestiffness',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='edge stiffness',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_edgedamping',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='edge damping',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_edgeequality',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='is edge equality constraint defined',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_rigid',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='are all verices in the same body',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flexedge_rigid',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='are both edge vertices in same body',
- array_extent=('nflexedge',),
- ),
- StructFieldDecl(
- name='flex_centered',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='are all vertex coordinates (0,0,0)',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_flatskin',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='render flex skin with flat shading',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_bvhadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='address of bvh root; -1: no bvh',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_bvhnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of bounding volumes',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='flex_rgba',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='rgba when material is omitted',
- array_extent=('nflex', 4),
- ),
- StructFieldDecl(
- name='flex_texcoord',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='vertex texture coordinates',
- array_extent=('nflextexcoord', 2),
- ),
- StructFieldDecl(
- name='mesh_vertadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='first vertex address',
- array_extent=('nmesh',),
- ),
- StructFieldDecl(
- name='mesh_vertnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of vertices',
- array_extent=('nmesh',),
- ),
- StructFieldDecl(
- name='mesh_faceadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='first face address',
- array_extent=('nmesh',),
- ),
- StructFieldDecl(
- name='mesh_facenum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of faces',
- array_extent=('nmesh',),
- ),
- StructFieldDecl(
- name='mesh_bvhadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='address of bvh root',
- array_extent=('nmesh',),
- ),
- StructFieldDecl(
- name='mesh_bvhnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of bvh',
- array_extent=('nmesh',),
- ),
- StructFieldDecl(
- name='mesh_normaladr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='first normal address',
- array_extent=('nmesh',),
- ),
- StructFieldDecl(
- name='mesh_normalnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of normals',
- array_extent=('nmesh',),
- ),
- StructFieldDecl(
- name='mesh_texcoordadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='texcoord data address; -1: no texcoord',
- array_extent=('nmesh',),
- ),
- StructFieldDecl(
- name='mesh_texcoordnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of texcoord',
- array_extent=('nmesh',),
- ),
- StructFieldDecl(
- name='mesh_graphadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='graph data address; -1: no graph',
- array_extent=('nmesh',),
- ),
- StructFieldDecl(
- name='mesh_vert',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='vertex positions for all meshes',
- array_extent=('nmeshvert', 3),
- ),
- StructFieldDecl(
- name='mesh_normal',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='normals for all meshes',
- array_extent=('nmeshnormal', 3),
- ),
- StructFieldDecl(
- name='mesh_texcoord',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='vertex texcoords for all meshes',
- array_extent=('nmeshtexcoord', 2),
- ),
- StructFieldDecl(
- name='mesh_face',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='vertex face data',
- array_extent=('nmeshface', 3),
- ),
- StructFieldDecl(
- name='mesh_facenormal',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='normal face data',
- array_extent=('nmeshface', 3),
- ),
- StructFieldDecl(
- name='mesh_facetexcoord',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='texture face data',
- array_extent=('nmeshface', 3),
- ),
- StructFieldDecl(
- name='mesh_graph',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='convex graph data',
- array_extent=('nmeshgraph',),
- ),
- StructFieldDecl(
- name='mesh_scale',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='scaling applied to asset vertices',
- array_extent=('nmesh', 3),
- ),
- StructFieldDecl(
- name='mesh_pos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='translation applied to asset vertices',
- array_extent=('nmesh', 3),
- ),
- StructFieldDecl(
- name='mesh_quat',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='rotation applied to asset vertices',
- array_extent=('nmesh', 4),
- ),
- StructFieldDecl(
- name='mesh_pathadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='address of asset path for mesh; -1: none (nmesh x 1)',
- ),
- StructFieldDecl(
- name='skin_matid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='skin material id; -1: none',
- array_extent=('nskin',),
- ),
- StructFieldDecl(
- name='skin_group',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='group for visibility',
- array_extent=('nskin',),
- ),
- StructFieldDecl(
- name='skin_rgba',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='skin rgba',
- array_extent=('nskin', 4),
- ),
- StructFieldDecl(
- name='skin_inflate',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='inflate skin in normal direction',
- array_extent=('nskin',),
- ),
- StructFieldDecl(
- name='skin_vertadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='first vertex address',
- array_extent=('nskin',),
- ),
- StructFieldDecl(
- name='skin_vertnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of vertices',
- array_extent=('nskin',),
- ),
- StructFieldDecl(
- name='skin_texcoordadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='texcoord data address; -1: no texcoord',
- array_extent=('nskin',),
- ),
- StructFieldDecl(
- name='skin_faceadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='first face address',
- array_extent=('nskin',),
- ),
- StructFieldDecl(
- name='skin_facenum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of faces',
- array_extent=('nskin',),
- ),
- StructFieldDecl(
- name='skin_boneadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='first bone in skin',
- array_extent=('nskin',),
- ),
- StructFieldDecl(
- name='skin_bonenum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of bones in skin',
- array_extent=('nskin',),
- ),
- StructFieldDecl(
- name='skin_vert',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='vertex positions for all skin meshes',
- array_extent=('nskinvert', 3),
- ),
- StructFieldDecl(
- name='skin_texcoord',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='vertex texcoords for all skin meshes',
- array_extent=('nskintexvert', 2),
- ),
- StructFieldDecl(
- name='skin_face',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='triangle faces for all skin meshes',
- array_extent=('nskinface', 3),
- ),
- StructFieldDecl(
- name='skin_bonevertadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='first vertex in each bone',
- array_extent=('nskinbone',),
- ),
- StructFieldDecl(
- name='skin_bonevertnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of vertices in each bone',
- array_extent=('nskinbone',),
- ),
- StructFieldDecl(
- name='skin_bonebindpos',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='bind pos of each bone',
- array_extent=('nskinbone', 3),
- ),
- StructFieldDecl(
- name='skin_bonebindquat',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='bind quat of each bone',
- array_extent=('nskinbone', 4),
- ),
- StructFieldDecl(
- name='skin_bonebodyid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='body id of each bone',
- array_extent=('nskinbone',),
- ),
- StructFieldDecl(
- name='skin_bonevertid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='mesh ids of vertices in each bone',
- array_extent=('nskinbonevert',),
- ),
- StructFieldDecl(
- name='skin_bonevertweight',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='weights of vertices in each bone',
- array_extent=('nskinbonevert',),
- ),
- StructFieldDecl(
- name='skin_pathadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='address of asset path for skin; -1: none (nskin x 1)',
- ),
- StructFieldDecl(
- name='hfield_size',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='(x, y, z_top, z_bottom)',
- array_extent=('nhfield', 4),
- ),
- StructFieldDecl(
- name='hfield_nrow',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of rows in grid',
- array_extent=('nhfield',),
- ),
- StructFieldDecl(
- name='hfield_ncol',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of columns in grid',
- array_extent=('nhfield',),
- ),
- StructFieldDecl(
- name='hfield_adr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='address in hfield_data',
- array_extent=('nhfield',),
- ),
- StructFieldDecl(
- name='hfield_data',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='elevation data',
- array_extent=('nhfielddata',),
- ),
- StructFieldDecl(
- name='hfield_pathadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='address of hfield asset path; -1: none',
- array_extent=('nhfield',),
- ),
- StructFieldDecl(
- name='tex_type',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='texture type (mjtTexture)',
- array_extent=('ntex',),
- ),
- StructFieldDecl(
- name='tex_height',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of rows in texture image',
- array_extent=('ntex',),
- ),
- StructFieldDecl(
- name='tex_width',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of columns in texture image',
- array_extent=('ntex',),
- ),
- StructFieldDecl(
- name='tex_nchannel',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of channels in texture image',
- array_extent=('ntex',),
- ),
- StructFieldDecl(
- name='tex_adr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='start address in tex_data',
- array_extent=('ntex',),
- ),
- StructFieldDecl(
- name='tex_data',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='pixel values',
- array_extent=('ntexdata',),
- ),
- StructFieldDecl(
- name='tex_pathadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='address of texture asset path; -1: none',
- array_extent=('ntex',),
- ),
- StructFieldDecl(
- name='mat_texid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='indices of textures; -1: none',
- array_extent=('nmat', 'mjNTEXROLE'),
- ),
- StructFieldDecl(
- name='mat_texuniform',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='make texture cube uniform',
- array_extent=('nmat',),
- ),
- StructFieldDecl(
- name='mat_texrepeat',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='texture repetition for 2d mapping',
- array_extent=('nmat', 2),
- ),
- StructFieldDecl(
- name='mat_emission',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='emission (x rgb)',
- array_extent=('nmat',),
- ),
- StructFieldDecl(
- name='mat_specular',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='specular (x white)',
- array_extent=('nmat',),
- ),
- StructFieldDecl(
- name='mat_shininess',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='shininess coef',
- array_extent=('nmat',),
- ),
- StructFieldDecl(
- name='mat_reflectance',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='reflectance (0: disable)',
- array_extent=('nmat',),
- ),
- StructFieldDecl(
- name='mat_metallic',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='metallic coef',
- array_extent=('nmat',),
- ),
- StructFieldDecl(
- name='mat_roughness',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='roughness coef',
- array_extent=('nmat',),
- ),
- StructFieldDecl(
- name='mat_rgba',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='rgba',
- array_extent=('nmat', 4),
- ),
- StructFieldDecl(
- name='pair_dim',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='contact dimensionality',
- array_extent=('npair',),
- ),
- StructFieldDecl(
- name='pair_geom1',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='id of geom1',
- array_extent=('npair',),
- ),
- StructFieldDecl(
- name='pair_geom2',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='id of geom2',
- array_extent=('npair',),
- ),
- StructFieldDecl(
- name='pair_signature',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='body1<<16 + body2',
- array_extent=('npair',),
- ),
- StructFieldDecl(
- name='pair_solref',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='solver reference: contact normal',
- array_extent=('npair', 'mjNREF'),
- ),
- StructFieldDecl(
- name='pair_solreffriction',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='solver reference: contact friction',
- array_extent=('npair', 'mjNREF'),
- ),
- StructFieldDecl(
- name='pair_solimp',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='solver impedance: contact',
- array_extent=('npair', 'mjNIMP'),
- ),
- StructFieldDecl(
- name='pair_margin',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='detect contact if dist<margin(npair x 1)',
- ),
- StructFieldDecl(
- name='pair_gap',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='include in solver if dist<margin-gap',
- array_extent=('npair',),
- ),
- StructFieldDecl(
- name='pair_friction',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='tangent1, 2, spin, roll1, 2',
- array_extent=('npair', 5),
- ),
- StructFieldDecl(
- name='exclude_signature',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='body1<<16 + body2',
- array_extent=('nexclude',),
- ),
- StructFieldDecl(
- name='eq_type',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='constraint type (mjtEq)',
- array_extent=('neq',),
- ),
- StructFieldDecl(
- name='eq_obj1id',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='id of object 1',
- array_extent=('neq',),
- ),
- StructFieldDecl(
- name='eq_obj2id',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='id of object 2',
- array_extent=('neq',),
- ),
- StructFieldDecl(
- name='eq_objtype',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='type of both objects (mjtObj)',
- array_extent=('neq',),
- ),
- StructFieldDecl(
- name='eq_active0',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='initial enable/disable constraint state',
- array_extent=('neq',),
- ),
- StructFieldDecl(
- name='eq_solref',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint solver reference',
- array_extent=('neq', 'mjNREF'),
- ),
- StructFieldDecl(
- name='eq_solimp',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint solver impedance',
- array_extent=('neq', 'mjNIMP'),
- ),
- StructFieldDecl(
- name='eq_data',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='numeric data for constraint',
- array_extent=('neq', 'mjNEQDATA'),
- ),
- StructFieldDecl(
- name='tendon_adr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc="address of first object in tendon's path (ntendon x 1)",
- ),
- StructFieldDecl(
- name='tendon_num',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc="number of objects in tendon's path",
- array_extent=('ntendon',),
- ),
- StructFieldDecl(
- name='tendon_matid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='material id for rendering',
- array_extent=('ntendon',),
- ),
- StructFieldDecl(
- name='tendon_group',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='group for visibility',
- array_extent=('ntendon',),
- ),
- StructFieldDecl(
- name='tendon_limited',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='does tendon have length limits',
- array_extent=('ntendon',),
- ),
- StructFieldDecl(
- name='tendon_width',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='width for rendering',
- array_extent=('ntendon',),
- ),
- StructFieldDecl(
- name='tendon_solref_lim',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint solver reference: limit',
- array_extent=('ntendon', 'mjNREF'),
- ),
- StructFieldDecl(
- name='tendon_solimp_lim',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint solver impedance: limit',
- array_extent=('ntendon', 'mjNIMP'),
- ),
- StructFieldDecl(
- name='tendon_solref_fri',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint solver reference: friction',
- array_extent=('ntendon', 'mjNREF'),
- ),
- StructFieldDecl(
- name='tendon_solimp_fri',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint solver impedance: friction',
- array_extent=('ntendon', 'mjNIMP'),
- ),
- StructFieldDecl(
- name='tendon_range',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='tendon length limits',
- array_extent=('ntendon', 2),
- ),
- StructFieldDecl(
- name='tendon_margin',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='min distance for limit detection',
- array_extent=('ntendon',),
- ),
- StructFieldDecl(
- name='tendon_stiffness',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='stiffness coefficient',
- array_extent=('ntendon',),
- ),
- StructFieldDecl(
- name='tendon_damping',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='damping coefficient',
- array_extent=('ntendon',),
- ),
- StructFieldDecl(
- name='tendon_frictionloss',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='loss due to friction',
- array_extent=('ntendon',),
- ),
- StructFieldDecl(
- name='tendon_lengthspring',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='spring resting length range',
- array_extent=('ntendon', 2),
- ),
- StructFieldDecl(
- name='tendon_length0',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='tendon length in qpos0',
- array_extent=('ntendon',),
- ),
- StructFieldDecl(
- name='tendon_invweight0',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='inv. weight in qpos0',
- array_extent=('ntendon',),
- ),
- StructFieldDecl(
- name='tendon_user',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='user data',
- array_extent=('ntendon', 'nuser_tendon'),
- ),
- StructFieldDecl(
- name='tendon_rgba',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='rgba when material is omitted',
- array_extent=('ntendon', 4),
- ),
- StructFieldDecl(
- name='wrap_type',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='wrap object type (mjtWrap)',
- array_extent=('nwrap',),
- ),
- StructFieldDecl(
- name='wrap_objid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='object id: geom, site, joint',
- array_extent=('nwrap',),
- ),
- StructFieldDecl(
- name='wrap_prm',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='divisor, joint coef, or site id',
- array_extent=('nwrap',),
- ),
- StructFieldDecl(
- name='actuator_trntype',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='transmission type (mjtTrn)',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='actuator_dyntype',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='dynamics type (mjtDyn)',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='actuator_gaintype',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='gain type (mjtGain)',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='actuator_biastype',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='bias type (mjtBias)',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='actuator_trnid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='transmission id: joint, tendon, site',
- array_extent=('nu', 2),
- ),
- StructFieldDecl(
- name='actuator_actadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='first activation address; -1: stateless',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='actuator_actnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of activation variables',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='actuator_group',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='group for visibility',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='actuator_ctrllimited',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='is control limited',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='actuator_forcelimited',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='is force limited',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='actuator_actlimited',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='is activation limited',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='actuator_dynprm',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='dynamics parameters',
- array_extent=('nu', 'mjNDYN'),
- ),
- StructFieldDecl(
- name='actuator_gainprm',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='gain parameters',
- array_extent=('nu', 'mjNGAIN'),
- ),
- StructFieldDecl(
- name='actuator_biasprm',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='bias parameters',
- array_extent=('nu', 'mjNBIAS'),
- ),
- StructFieldDecl(
- name='actuator_actearly',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='step activation before force',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='actuator_ctrlrange',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='range of controls',
- array_extent=('nu', 2),
- ),
- StructFieldDecl(
- name='actuator_forcerange',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='range of forces',
- array_extent=('nu', 2),
- ),
- StructFieldDecl(
- name='actuator_actrange',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='range of activations',
- array_extent=('nu', 2),
- ),
- StructFieldDecl(
- name='actuator_gear',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='scale length and transmitted force',
- array_extent=('nu', 6),
- ),
- StructFieldDecl(
- name='actuator_cranklength',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='crank length for slider-crank',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='actuator_acc0',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='acceleration from unit force in qpos0',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='actuator_length0',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='actuator length in qpos0',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='actuator_lengthrange',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='feasible actuator length range',
- array_extent=('nu', 2),
- ),
- StructFieldDecl(
- name='actuator_user',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='user data',
- array_extent=('nu', 'nuser_actuator'),
- ),
- StructFieldDecl(
- name='actuator_plugin',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='plugin instance id; -1: not a plugin',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='sensor_type',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='sensor type (mjtSensor)',
- array_extent=('nsensor',),
- ),
- StructFieldDecl(
- name='sensor_datatype',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='numeric data type (mjtDataType)',
- array_extent=('nsensor',),
- ),
- StructFieldDecl(
- name='sensor_needstage',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='required compute stage (mjtStage)',
- array_extent=('nsensor',),
- ),
- StructFieldDecl(
- name='sensor_objtype',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='type of sensorized object (mjtObj)',
- array_extent=('nsensor',),
- ),
- StructFieldDecl(
- name='sensor_objid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='id of sensorized object',
- array_extent=('nsensor',),
- ),
- StructFieldDecl(
- name='sensor_reftype',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='type of reference frame (mjtObj)',
- array_extent=('nsensor',),
- ),
- StructFieldDecl(
- name='sensor_refid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='id of reference frame; -1: global frame',
- array_extent=('nsensor',),
- ),
- StructFieldDecl(
- name='sensor_dim',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of scalar outputs',
- array_extent=('nsensor',),
- ),
- StructFieldDecl(
- name='sensor_adr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='address in sensor array',
- array_extent=('nsensor',),
- ),
- StructFieldDecl(
- name='sensor_cutoff',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='cutoff for real and positive; 0: ignore',
- array_extent=('nsensor',),
- ),
- StructFieldDecl(
- name='sensor_noise',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='noise standard deviation',
- array_extent=('nsensor',),
- ),
- StructFieldDecl(
- name='sensor_user',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='user data',
- array_extent=('nsensor', 'nuser_sensor'),
- ),
- StructFieldDecl(
- name='sensor_plugin',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='plugin instance id; -1: not a plugin',
- array_extent=('nsensor',),
- ),
- StructFieldDecl(
- name='plugin',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='globally registered plugin slot number',
- array_extent=('nplugin',),
- ),
- StructFieldDecl(
- name='plugin_stateadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='address in the plugin state array',
- array_extent=('nplugin',),
- ),
- StructFieldDecl(
- name='plugin_statenum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of states in the plugin instance',
- array_extent=('nplugin',),
- ),
- StructFieldDecl(
- name='plugin_attr',
- type=PointerType(
- inner_type=ValueType(name='char'),
- ),
- doc='config attributes of plugin instances',
- array_extent=('npluginattr',),
- ),
- StructFieldDecl(
- name='plugin_attradr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc="address to each instance's config attrib (nplugin x 1)",
- ),
- StructFieldDecl(
- name='numeric_adr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='address of field in numeric_data',
- array_extent=('nnumeric',),
- ),
- StructFieldDecl(
- name='numeric_size',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='size of numeric field',
- array_extent=('nnumeric',),
- ),
- StructFieldDecl(
- name='numeric_data',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='array of all numeric fields',
- array_extent=('nnumericdata',),
- ),
- StructFieldDecl(
- name='text_adr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='address of text in text_data',
- array_extent=('ntext',),
- ),
- StructFieldDecl(
- name='text_size',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='size of text field (strlen+1)',
- array_extent=('ntext',),
- ),
- StructFieldDecl(
- name='text_data',
- type=PointerType(
- inner_type=ValueType(name='char'),
- ),
- doc='array of all text fields (0-terminated)',
- array_extent=('ntextdata',),
- ),
- StructFieldDecl(
- name='tuple_adr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='address of text in text_data',
- array_extent=('ntuple',),
- ),
- StructFieldDecl(
- name='tuple_size',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of objects in tuple',
- array_extent=('ntuple',),
- ),
- StructFieldDecl(
- name='tuple_objtype',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='array of object types in all tuples',
- array_extent=('ntupledata',),
- ),
- StructFieldDecl(
- name='tuple_objid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='array of object ids in all tuples',
- array_extent=('ntupledata',),
- ),
- StructFieldDecl(
- name='tuple_objprm',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='array of object params in all tuples',
- array_extent=('ntupledata',),
- ),
- StructFieldDecl(
- name='key_time',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='key time',
- array_extent=('nkey',),
- ),
- StructFieldDecl(
- name='key_qpos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='key position',
- array_extent=('nkey', 'nq'),
- ),
- StructFieldDecl(
- name='key_qvel',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='key velocity',
- array_extent=('nkey', 'nv'),
- ),
- StructFieldDecl(
- name='key_act',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='key activation',
- array_extent=('nkey', 'na'),
- ),
- StructFieldDecl(
- name='key_mpos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='key mocap position',
- array_extent=('nkey', 'nmocap*3'),
- ),
- StructFieldDecl(
- name='key_mquat',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='key mocap quaternion',
- array_extent=('nkey', 'nmocap*4'),
- ),
- StructFieldDecl(
- name='key_ctrl',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='key control',
- array_extent=('nkey', 'nu'),
- ),
- StructFieldDecl(
- name='name_bodyadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='body name pointers',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='name_jntadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='joint name pointers',
- array_extent=('njnt',),
- ),
- StructFieldDecl(
- name='name_geomadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='geom name pointers',
- array_extent=('ngeom',),
- ),
- StructFieldDecl(
- name='name_siteadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='site name pointers',
- array_extent=('nsite',),
- ),
- StructFieldDecl(
- name='name_camadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='camera name pointers',
- array_extent=('ncam',),
- ),
- StructFieldDecl(
- name='name_lightadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='light name pointers',
- array_extent=('nlight',),
- ),
- StructFieldDecl(
- name='name_flexadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='flex name pointers',
- array_extent=('nflex',),
- ),
- StructFieldDecl(
- name='name_meshadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='mesh name pointers',
- array_extent=('nmesh',),
- ),
- StructFieldDecl(
- name='name_skinadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='skin name pointers',
- array_extent=('nskin',),
- ),
- StructFieldDecl(
- name='name_hfieldadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='hfield name pointers',
- array_extent=('nhfield',),
- ),
- StructFieldDecl(
- name='name_texadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='texture name pointers',
- array_extent=('ntex',),
- ),
- StructFieldDecl(
- name='name_matadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='material name pointers',
- array_extent=('nmat',),
- ),
- StructFieldDecl(
- name='name_pairadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='geom pair name pointers',
- array_extent=('npair',),
- ),
- StructFieldDecl(
- name='name_excludeadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='exclude name pointers',
- array_extent=('nexclude',),
- ),
- StructFieldDecl(
- name='name_eqadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='equality constraint name pointers',
- array_extent=('neq',),
- ),
- StructFieldDecl(
- name='name_tendonadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='tendon name pointers',
- array_extent=('ntendon',),
- ),
- StructFieldDecl(
- name='name_actuatoradr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='actuator name pointers',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='name_sensoradr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='sensor name pointers',
- array_extent=('nsensor',),
- ),
- StructFieldDecl(
- name='name_numericadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='numeric name pointers',
- array_extent=('nnumeric',),
- ),
- StructFieldDecl(
- name='name_textadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='text name pointers',
- array_extent=('ntext',),
- ),
- StructFieldDecl(
- name='name_tupleadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='tuple name pointers',
- array_extent=('ntuple',),
- ),
- StructFieldDecl(
- name='name_keyadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='keyframe name pointers',
- array_extent=('nkey',),
- ),
- StructFieldDecl(
- name='name_pluginadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='plugin instance name pointers',
- array_extent=('nplugin',),
- ),
- StructFieldDecl(
- name='names',
- type=PointerType(
- inner_type=ValueType(name='char'),
- ),
- doc='names of all objects, 0-terminated',
- array_extent=('nnames',),
- ),
- StructFieldDecl(
- name='names_map',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='internal hash map of names',
- array_extent=('nnames_map',),
- ),
- StructFieldDecl(
- name='paths',
- type=PointerType(
- inner_type=ValueType(name='char'),
- ),
- doc='paths to assets, 0-terminated',
- array_extent=('npaths',),
- ),
- ),
- )),
- ('mjThreadPool',
- StructDecl(
- name='mjThreadPool',
- declname='struct mjThreadPool_',
- fields=(
- StructFieldDecl(
- name='nworker',
- type=ValueType(name='int'),
- doc='number of workers in the pool',
- ),
- ),
- )),
- ('mjTask',
- StructDecl(
- name='mjTask',
- declname='struct mjTask_',
- fields=(
- StructFieldDecl(
- name='func',
- type=ValueType(name='mjfTask'),
- doc='pointer to the function that implements the task',
- ),
- StructFieldDecl(
- name='args',
- type=PointerType(
- inner_type=ValueType(name='void'),
- ),
- doc='arguments to func',
- ),
- StructFieldDecl(
- name='status',
- type=ValueType(name='int', is_volatile=True),
- doc='status of the task',
- ),
- ),
- )),
- ('mjContact',
- StructDecl(
- name='mjContact',
- declname='struct mjContact_',
- fields=(
- StructFieldDecl(
- name='dist',
- type=ValueType(name='mjtNum'),
- doc='distance between nearest points; neg: penetration',
- ),
- StructFieldDecl(
- name='pos',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(3,),
- ),
- doc='position of contact point: midpoint between geoms',
- ),
- StructFieldDecl(
- name='frame',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(9,),
- ),
- doc='normal is in [0-2], points from geom[0] to geom[1]',
- ),
- StructFieldDecl(
- name='includemargin',
- type=ValueType(name='mjtNum'),
- doc='include if dist<includemargin=margin-gap',
- ),
- StructFieldDecl(
- name='friction',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(5,),
- ),
- doc='tangent1, 2, spin, roll1, 2',
- ),
- StructFieldDecl(
- name='solref',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(2,),
- ),
- doc='constraint solver reference, normal direction',
- ),
- StructFieldDecl(
- name='solreffriction',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(2,),
- ),
- doc='constraint solver reference, friction directions',
- ),
- StructFieldDecl(
- name='solimp',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(5,),
- ),
- doc='constraint solver impedance',
- ),
- StructFieldDecl(
- name='mu',
- type=ValueType(name='mjtNum'),
- doc='friction of regularized cone, set by mj_makeConstraint',
- ),
- StructFieldDecl(
- name='H',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(36,),
- ),
- doc='cone Hessian, set by mj_constraintUpdate',
- ),
- StructFieldDecl(
- name='dim',
- type=ValueType(name='int'),
- doc='contact space dimensionality: 1, 3, 4 or 6',
- ),
- StructFieldDecl(
- name='geom1',
- type=ValueType(name='int'),
- doc='id of geom 1; deprecated, use geom[0]',
- ),
- StructFieldDecl(
- name='geom2',
- type=ValueType(name='int'),
- doc='id of geom 2; deprecated, use geom[1]',
- ),
- StructFieldDecl(
- name='geom',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(2,),
- ),
- doc='geom ids; -1 for flex',
- ),
- StructFieldDecl(
- name='flex',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(2,),
- ),
- doc='flex ids; -1 for geom',
- ),
- StructFieldDecl(
- name='elem',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(2,),
- ),
- doc='element ids; -1 for geom or flex vertex',
- ),
- StructFieldDecl(
- name='vert',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(2,),
- ),
- doc='vertex ids; -1 for geom or flex element',
- ),
- StructFieldDecl(
- name='exclude',
- type=ValueType(name='int'),
- doc='0: include, 1: in gap, 2: fused, 3: no dofs',
- ),
- StructFieldDecl(
- name='efc_address',
- type=ValueType(name='int'),
- doc='address in efc; -1: not included',
- ),
- ),
- )),
- ('mjWarningStat',
- StructDecl(
- name='mjWarningStat',
- declname='struct mjWarningStat_',
- fields=(
- StructFieldDecl(
- name='lastinfo',
- type=ValueType(name='int'),
- doc='info from last warning',
- ),
- StructFieldDecl(
- name='number',
- type=ValueType(name='int'),
- doc='how many times was warning raised',
- ),
- ),
- )),
- ('mjTimerStat',
- StructDecl(
- name='mjTimerStat',
- declname='struct mjTimerStat_',
- fields=(
- StructFieldDecl(
- name='duration',
- type=ValueType(name='mjtNum'),
- doc='cumulative duration',
- ),
- StructFieldDecl(
- name='number',
- type=ValueType(name='int'),
- doc='how many times was timer called',
- ),
- ),
- )),
- ('mjSolverStat',
- StructDecl(
- name='mjSolverStat',
- declname='struct mjSolverStat_',
- fields=(
- StructFieldDecl(
- name='improvement',
- type=ValueType(name='mjtNum'),
- doc='cost reduction, scaled by 1/trace(M(qpos0))',
- ),
- StructFieldDecl(
- name='gradient',
- type=ValueType(name='mjtNum'),
- doc='gradient norm (primal only, scaled)',
- ),
- StructFieldDecl(
- name='lineslope',
- type=ValueType(name='mjtNum'),
- doc='slope in linesearch',
- ),
- StructFieldDecl(
- name='nactive',
- type=ValueType(name='int'),
- doc='number of active constraints',
- ),
- StructFieldDecl(
- name='nchange',
- type=ValueType(name='int'),
- doc='number of constraint state changes',
- ),
- StructFieldDecl(
- name='neval',
- type=ValueType(name='int'),
- doc='number of cost evaluations in line search',
- ),
- StructFieldDecl(
- name='nupdate',
- type=ValueType(name='int'),
- doc='number of Cholesky updates in line search',
- ),
- ),
- )),
- ('mjData',
- StructDecl(
- name='mjData',
- declname='struct mjData_',
- fields=(
- StructFieldDecl(
- name='narena',
- type=ValueType(name='size_t'),
- doc='size of the arena in bytes (inclusive of the stack)',
- ),
- StructFieldDecl(
- name='nbuffer',
- type=ValueType(name='size_t'),
- doc='size of main buffer in bytes',
- ),
- StructFieldDecl(
- name='nplugin',
- type=ValueType(name='int'),
- doc='number of plugin instances',
- ),
- StructFieldDecl(
- name='pstack',
- type=ValueType(name='size_t'),
- doc='first available byte in stack',
- ),
- StructFieldDecl(
- name='pbase',
- type=ValueType(name='size_t'),
- doc='value of pstack when mj_markStack was last called',
- ),
- StructFieldDecl(
- name='parena',
- type=ValueType(name='size_t'),
- doc='first available byte in arena',
- ),
- StructFieldDecl(
- name='maxuse_stack',
- type=ValueType(name='size_t'),
- doc='maximum stack allocation in bytes',
- ),
- StructFieldDecl(
- name='maxuse_threadstack',
- type=ArrayType(
- inner_type=ValueType(name='size_t'),
- extents=(128,),
- ),
- doc='maximum stack allocation per thread in bytes',
- ),
- StructFieldDecl(
- name='maxuse_arena',
- type=ValueType(name='size_t'),
- doc='maximum arena allocation in bytes',
- ),
- StructFieldDecl(
- name='maxuse_con',
- type=ValueType(name='int'),
- doc='maximum number of contacts',
- ),
- StructFieldDecl(
- name='maxuse_efc',
- type=ValueType(name='int'),
- doc='maximum number of scalar constraints',
- ),
- StructFieldDecl(
- name='solver',
- type=ArrayType(
- inner_type=ValueType(name='mjSolverStat'),
- extents=(4000,),
- ),
- doc='solver statistics per island, per iteration',
- ),
- StructFieldDecl(
- name='solver_nisland',
- type=ValueType(name='int'),
- doc='number of islands processed by solver',
- ),
- StructFieldDecl(
- name='solver_niter',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(20,),
- ),
- doc='number of solver iterations, per island',
- ),
- StructFieldDecl(
- name='solver_nnz',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(20,),
- ),
- doc='number of nonzeros in Hessian or efc_AR, per island',
- ),
- StructFieldDecl(
- name='solver_fwdinv',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(2,),
- ),
- doc='forward-inverse comparison: qfrc, efc',
- ),
- StructFieldDecl(
- name='warning',
- type=ArrayType(
- inner_type=ValueType(name='mjWarningStat'),
- extents=(8,),
- ),
- doc='warning statistics',
- ),
- StructFieldDecl(
- name='timer',
- type=ArrayType(
- inner_type=ValueType(name='mjTimerStat'),
- extents=(15,),
- ),
- doc='timer statistics',
- ),
- StructFieldDecl(
- name='ncon',
- type=ValueType(name='int'),
- doc='number of detected contacts',
- ),
- StructFieldDecl(
- name='ne',
- type=ValueType(name='int'),
- doc='number of equality constraints',
- ),
- StructFieldDecl(
- name='nf',
- type=ValueType(name='int'),
- doc='number of friction constraints',
- ),
- StructFieldDecl(
- name='nl',
- type=ValueType(name='int'),
- doc='number of limit constraints',
- ),
- StructFieldDecl(
- name='nefc',
- type=ValueType(name='int'),
- doc='number of constraints',
- ),
- StructFieldDecl(
- name='nnzJ',
- type=ValueType(name='int'),
- doc='number of non-zeros in constraint Jacobian',
- ),
- StructFieldDecl(
- name='nisland',
- type=ValueType(name='int'),
- doc='number of detected constraint islands',
- ),
- StructFieldDecl(
- name='time',
- type=ValueType(name='mjtNum'),
- doc='simulation time',
- ),
- StructFieldDecl(
- name='energy',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(2,),
- ),
- doc='potential, kinetic energy',
- ),
- StructFieldDecl(
- name='buffer',
- type=PointerType(
- inner_type=ValueType(name='void'),
- ),
- doc='main buffer; all pointers point in it (nbuffer bytes)', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='arena',
- type=PointerType(
- inner_type=ValueType(name='void'),
- ),
- doc='arena+stack buffer (narena bytes)', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='qpos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='position',
- array_extent=('nq',),
- ),
- StructFieldDecl(
- name='qvel',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='velocity',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='act',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='actuator activation',
- array_extent=('na',),
- ),
- StructFieldDecl(
- name='qacc_warmstart',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='acceleration used for warmstart',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='plugin_state',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='plugin state',
- array_extent=('npluginstate',),
- ),
- StructFieldDecl(
- name='ctrl',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='control',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='qfrc_applied',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='applied generalized force',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='xfrc_applied',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='applied Cartesian force/torque',
- array_extent=('nbody', 6),
- ),
- StructFieldDecl(
- name='eq_active',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='enable/disable constraints',
- array_extent=('neq',),
- ),
- StructFieldDecl(
- name='mocap_pos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='positions of mocap bodies',
- array_extent=('nmocap', 3),
- ),
- StructFieldDecl(
- name='mocap_quat',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='orientations of mocap bodies',
- array_extent=('nmocap', 4),
- ),
- StructFieldDecl(
- name='qacc',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='acceleration',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='act_dot',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='time-derivative of actuator activation',
- array_extent=('na',),
- ),
- StructFieldDecl(
- name='userdata',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='user data, not touched by engine',
- array_extent=('nuserdata',),
- ),
- StructFieldDecl(
- name='sensordata',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='sensor data array',
- array_extent=('nsensordata',),
- ),
- StructFieldDecl(
- name='plugin',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='copy of m->plugin, required for deletion',
- array_extent=('nplugin',),
- ),
- StructFieldDecl(
- name='plugin_data',
- type=PointerType(
- inner_type=ValueType(name='uintptr_t'),
- ),
- doc='pointer to plugin-managed data structure',
- array_extent=('nplugin',),
- ),
- StructFieldDecl(
- name='xpos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='Cartesian position of body frame',
- array_extent=('nbody', 3),
- ),
- StructFieldDecl(
- name='xquat',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='Cartesian orientation of body frame',
- array_extent=('nbody', 4),
- ),
- StructFieldDecl(
- name='xmat',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='Cartesian orientation of body frame',
- array_extent=('nbody', 9),
- ),
- StructFieldDecl(
- name='xipos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='Cartesian position of body com',
- array_extent=('nbody', 3),
- ),
- StructFieldDecl(
- name='ximat',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='Cartesian orientation of body inertia',
- array_extent=('nbody', 9),
- ),
- StructFieldDecl(
- name='xanchor',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='Cartesian position of joint anchor',
- array_extent=('njnt', 3),
- ),
- StructFieldDecl(
- name='xaxis',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='Cartesian joint axis',
- array_extent=('njnt', 3),
- ),
- StructFieldDecl(
- name='geom_xpos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='Cartesian geom position',
- array_extent=('ngeom', 3),
- ),
- StructFieldDecl(
- name='geom_xmat',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='Cartesian geom orientation',
- array_extent=('ngeom', 9),
- ),
- StructFieldDecl(
- name='site_xpos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='Cartesian site position',
- array_extent=('nsite', 3),
- ),
- StructFieldDecl(
- name='site_xmat',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='Cartesian site orientation',
- array_extent=('nsite', 9),
- ),
- StructFieldDecl(
- name='cam_xpos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='Cartesian camera position',
- array_extent=('ncam', 3),
- ),
- StructFieldDecl(
- name='cam_xmat',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='Cartesian camera orientation',
- array_extent=('ncam', 9),
- ),
- StructFieldDecl(
- name='light_xpos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='Cartesian light position',
- array_extent=('nlight', 3),
- ),
- StructFieldDecl(
- name='light_xdir',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='Cartesian light direction',
- array_extent=('nlight', 3),
- ),
- StructFieldDecl(
- name='subtree_com',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='center of mass of each subtree',
- array_extent=('nbody', 3),
- ),
- StructFieldDecl(
- name='cdof',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='com-based motion axis of each dof (rot:lin)',
- array_extent=('nv', 6),
- ),
- StructFieldDecl(
- name='cinert',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='com-based body inertia and mass',
- array_extent=('nbody', 10),
- ),
- StructFieldDecl(
- name='flexvert_xpos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='Cartesian flex vertex positions',
- array_extent=('nflexvert', 3),
- ),
- StructFieldDecl(
- name='flexelem_aabb',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='flex element bounding boxes (center, size)',
- array_extent=('nflexelem', 6),
- ),
- StructFieldDecl(
- name='flexedge_J_rownnz',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of non-zeros in Jacobian row',
- array_extent=('nflexedge',),
- ),
- StructFieldDecl(
- name='flexedge_J_rowadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='row start address in colind array',
- array_extent=('nflexedge',),
- ),
- StructFieldDecl(
- name='flexedge_J_colind',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='column indices in sparse Jacobian',
- array_extent=('nflexedge', 'nv'),
- ),
- StructFieldDecl(
- name='flexedge_J',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='flex edge Jacobian',
- array_extent=('nflexedge', 'nv'),
- ),
- StructFieldDecl(
- name='flexedge_length',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='flex edge lengths',
- array_extent=('nflexedge',),
- ),
- StructFieldDecl(
- name='ten_wrapadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc="start address of tendon's path",
- array_extent=('ntendon',),
- ),
- StructFieldDecl(
- name='ten_wrapnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of wrap points in path',
- array_extent=('ntendon',),
- ),
- StructFieldDecl(
- name='ten_J_rownnz',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of non-zeros in Jacobian row',
- array_extent=('ntendon',),
- ),
- StructFieldDecl(
- name='ten_J_rowadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='row start address in colind array',
- array_extent=('ntendon',),
- ),
- StructFieldDecl(
- name='ten_J_colind',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='column indices in sparse Jacobian',
- array_extent=('ntendon', 'nv'),
- ),
- StructFieldDecl(
- name='ten_J',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='tendon Jacobian',
- array_extent=('ntendon', 'nv'),
- ),
- StructFieldDecl(
- name='ten_length',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='tendon lengths',
- array_extent=('ntendon',),
- ),
- StructFieldDecl(
- name='wrap_obj',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='geom id; -1: site; -2: pulley',
- array_extent=('nwrap', 2),
- ),
- StructFieldDecl(
- name='wrap_xpos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='Cartesian 3D points in all paths',
- array_extent=('nwrap', 6),
- ),
- StructFieldDecl(
- name='actuator_length',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='actuator lengths',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='moment_rownnz',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of non-zeros in actuator_moment row',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='moment_rowadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='row start address in colind array',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='moment_colind',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='column indices in sparse Jacobian',
- array_extent=('nu', 'nv'),
- ),
- StructFieldDecl(
- name='actuator_moment',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='actuator moments',
- array_extent=('nu', 'nv'),
- ),
- StructFieldDecl(
- name='crb',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='com-based composite inertia and mass',
- array_extent=('nbody', 10),
- ),
- StructFieldDecl(
- name='qM',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='total inertia (sparse)',
- array_extent=('nM',),
- ),
- StructFieldDecl(
- name='qLD',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc="L'*D*L factorization of M (sparse)",
- array_extent=('nM',),
- ),
- StructFieldDecl(
- name='qLDiagInv',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='1/diag(D)',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='qLDiagSqrtInv',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='1/sqrt(diag(D))',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='bvh_aabb_dyn',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='global bounding box (center, size)',
- array_extent=('nbvhdynamic', 6),
- ),
- StructFieldDecl(
- name='bvh_active',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='was bounding volume checked for collision',
- array_extent=('nbvh',),
- ),
- StructFieldDecl(
- name='flexedge_velocity',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='flex edge velocities',
- array_extent=('nflexedge',),
- ),
- StructFieldDecl(
- name='ten_velocity',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='tendon velocities',
- array_extent=('ntendon',),
- ),
- StructFieldDecl(
- name='actuator_velocity',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='actuator velocities',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='cvel',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='com-based velocity (rot:lin)',
- array_extent=('nbody', 6),
- ),
- StructFieldDecl(
- name='cdof_dot',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='time-derivative of cdof (rot:lin)',
- array_extent=('nv', 6),
- ),
- StructFieldDecl(
- name='qfrc_bias',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='C(qpos,qvel)',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='qfrc_spring',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='passive spring force',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='qfrc_damper',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='passive damper force',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='qfrc_gravcomp',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='passive gravity compensation force',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='qfrc_fluid',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='passive fluid force',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='qfrc_passive',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='total passive force',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='subtree_linvel',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='linear velocity of subtree com',
- array_extent=('nbody', 3),
- ),
- StructFieldDecl(
- name='subtree_angmom',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='angular momentum about subtree com',
- array_extent=('nbody', 3),
- ),
- StructFieldDecl(
- name='qH',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc="L'*D*L factorization of modified M",
- array_extent=('nM',),
- ),
- StructFieldDecl(
- name='qHDiagInv',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='1/diag(D) of modified M',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='B_rownnz',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='body-dof: non-zeros in each row',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='B_rowadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='body-dof: address of each row in B_colind',
- array_extent=('nbody',),
- ),
- StructFieldDecl(
- name='B_colind',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='body-dof: column indices of non-zeros',
- array_extent=('nB',),
- ),
- StructFieldDecl(
- name='C_rownnz',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='reduced dof-dof: non-zeros in each row',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='C_rowadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='reduced dof-dof: address of each row in C_colind (nv x 1)', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='C_colind',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='reduced dof-dof: column indices of non-zeros',
- array_extent=('nC',),
- ),
- StructFieldDecl(
- name='mapM2C',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='index mapping from M to C',
- array_extent=('nC',),
- ),
- StructFieldDecl(
- name='D_rownnz',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='dof-dof: non-zeros in each row',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='D_rowadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='dof-dof: address of each row in D_colind',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='D_colind',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='dof-dof: column indices of non-zeros',
- array_extent=('nD',),
- ),
- StructFieldDecl(
- name='mapM2D',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='index mapping from M to D',
- array_extent=('nD',),
- ),
- StructFieldDecl(
- name='mapD2M',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='index mapping from D to M',
- array_extent=('nM',),
- ),
- StructFieldDecl(
- name='qDeriv',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='d (passive + actuator - bias) / d qvel',
- array_extent=('nD',),
- ),
- StructFieldDecl(
- name='qLU',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='sparse LU of (qM - dt*qDeriv)',
- array_extent=('nD',),
- ),
- StructFieldDecl(
- name='actuator_force',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='actuator force in actuation space',
- array_extent=('nu',),
- ),
- StructFieldDecl(
- name='qfrc_actuator',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='actuator force',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='qfrc_smooth',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='net unconstrained force',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='qacc_smooth',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='unconstrained acceleration',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='qfrc_constraint',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint force',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='qfrc_inverse',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc="net external force; should equal: (nv x 1)qfrc_applied + J'*xfrc_applied + qfrc_actuator", # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='cacc',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='com-based acceleration',
- array_extent=('nbody', 6),
- ),
- StructFieldDecl(
- name='cfrc_int',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='com-based interaction force with parent',
- array_extent=('nbody', 6),
- ),
- StructFieldDecl(
- name='cfrc_ext',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='com-based external force on body',
- array_extent=('nbody', 6),
- ),
- StructFieldDecl(
- name='contact',
- type=PointerType(
- inner_type=ValueType(name='mjContact'),
- ),
- doc='array of all detected contacts',
- array_extent=('ncon',),
- ),
- StructFieldDecl(
- name='efc_type',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='constraint type (mjtConstraint)',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='efc_id',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='id of object of specified type',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='efc_J_rownnz',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of non-zeros in constraint Jacobian row',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='efc_J_rowadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='row start address in colind array',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='efc_J_rowsuper',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of subsequent rows in supernode',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='efc_J_colind',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='column indices in constraint Jacobian',
- array_extent=('nnzJ',),
- ),
- StructFieldDecl(
- name='efc_JT_rownnz',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of non-zeros in constraint Jacobian row T (nv x 1)', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='efc_JT_rowadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='row start address in colind array T (nv x 1)', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='efc_JT_rowsuper',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of subsequent rows in supernode T (nv x 1)', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='efc_JT_colind',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='column indices in constraint Jacobian T (nnzJ x 1)', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='efc_J',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint Jacobian',
- array_extent=('nnzJ',),
- ),
- StructFieldDecl(
- name='efc_JT',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint Jacobian transposed',
- array_extent=('nnzJ',),
- ),
- StructFieldDecl(
- name='efc_pos',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint position (equality, contact)',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='efc_margin',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='inclusion margin (contact)',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='efc_frictionloss',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='frictionloss (friction)',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='efc_diagApprox',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='approximation to diagonal of A',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='efc_KBIP',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc="stiffness, damping, impedance, imp'",
- array_extent=('nefc', 4),
- ),
- StructFieldDecl(
- name='efc_D',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint mass',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='efc_R',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='inverse constraint mass',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='tendon_efcadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='first efc address involving tendon; -1: none',
- array_extent=('ntendon',),
- ),
- StructFieldDecl(
- name='dof_island',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='island id of this dof; -1: none',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='island_dofnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of dofs in island',
- array_extent=('nisland',),
- ),
- StructFieldDecl(
- name='island_dofadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='start address in island_dofind',
- array_extent=('nisland',),
- ),
- StructFieldDecl(
- name='island_dofind',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='island dof indices; -1: none',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='dof_islandind',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='dof island indices; -1: none',
- array_extent=('nv',),
- ),
- StructFieldDecl(
- name='efc_island',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='island id of this constraint',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='island_efcnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of constraints in island',
- array_extent=('nisland',),
- ),
- StructFieldDecl(
- name='island_efcadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='start address in island_efcind',
- array_extent=('nisland',),
- ),
- StructFieldDecl(
- name='island_efcind',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='island constraint indices',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='efc_AR_rownnz',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of non-zeros in AR',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='efc_AR_rowadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='row start address in colind array',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='efc_AR_colind',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='column indices in sparse AR',
- array_extent=('nefc', 'nefc'),
- ),
- StructFieldDecl(
- name='efc_AR',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc="J*inv(M)*J' + R",
- array_extent=('nefc', 'nefc'),
- ),
- StructFieldDecl(
- name='efc_vel',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='velocity in constraint space: J*qvel',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='efc_aref',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='reference pseudo-acceleration',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='efc_b',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='linear cost term: J*qacc_smooth - aref',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='efc_force',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='constraint force in constraint space',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='efc_state',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='constraint state (mjtConstraintState)',
- array_extent=('nefc',),
- ),
- StructFieldDecl(
- name='threadpool',
- type=ValueType(name='uintptr_t'),
- doc='thread pool pointer',
- ),
- ),
- )),
- ('mjvPerturb',
- StructDecl(
- name='mjvPerturb',
- declname='struct mjvPerturb_',
- fields=(
- StructFieldDecl(
- name='select',
- type=ValueType(name='int'),
- doc='selected body id; non-positive: none',
- ),
- StructFieldDecl(
- name='flexselect',
- type=ValueType(name='int'),
- doc='selected flex id; negative: none',
- ),
- StructFieldDecl(
- name='skinselect',
- type=ValueType(name='int'),
- doc='selected skin id; negative: none',
- ),
- StructFieldDecl(
- name='active',
- type=ValueType(name='int'),
- doc='perturbation bitmask (mjtPertBit)',
- ),
- StructFieldDecl(
- name='active2',
- type=ValueType(name='int'),
- doc='secondary perturbation bitmask (mjtPertBit)',
- ),
- StructFieldDecl(
- name='refpos',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(3,),
- ),
- doc='reference position for selected object',
- ),
- StructFieldDecl(
- name='refquat',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(4,),
- ),
- doc='reference orientation for selected object',
- ),
- StructFieldDecl(
- name='refselpos',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(3,),
- ),
- doc='reference position for selection point',
- ),
- StructFieldDecl(
- name='localpos',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(3,),
- ),
- doc='selection point in object coordinates',
- ),
- StructFieldDecl(
- name='localmass',
- type=ValueType(name='mjtNum'),
- doc='spatial inertia at selection point',
- ),
- StructFieldDecl(
- name='scale',
- type=ValueType(name='mjtNum'),
- doc='relative mouse motion-to-space scaling (set by initPerturb)', # pylint: disable=line-too-long
- ),
- ),
- )),
- ('mjvCamera',
- StructDecl(
- name='mjvCamera',
- declname='struct mjvCamera_',
- fields=(
- StructFieldDecl(
- name='type',
- type=ValueType(name='int'),
- doc='camera type (mjtCamera)',
- ),
- StructFieldDecl(
- name='fixedcamid',
- type=ValueType(name='int'),
- doc='fixed camera id',
- ),
- StructFieldDecl(
- name='trackbodyid',
- type=ValueType(name='int'),
- doc='body id to track',
- ),
- StructFieldDecl(
- name='lookat',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(3,),
- ),
- doc='lookat point',
- ),
- StructFieldDecl(
- name='distance',
- type=ValueType(name='mjtNum'),
- doc='distance to lookat point or tracked body',
- ),
- StructFieldDecl(
- name='azimuth',
- type=ValueType(name='mjtNum'),
- doc='camera azimuth (deg)',
- ),
- StructFieldDecl(
- name='elevation',
- type=ValueType(name='mjtNum'),
- doc='camera elevation (deg)',
- ),
- StructFieldDecl(
- name='orthographic',
- type=ValueType(name='int'),
- doc='0: perspective; 1: orthographic',
- ),
- ),
- )),
- ('mjvGLCamera',
- StructDecl(
- name='mjvGLCamera',
- declname='struct mjvGLCamera_',
- fields=(
- StructFieldDecl(
- name='pos',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='position',
- ),
- StructFieldDecl(
- name='forward',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='forward direction',
- ),
- StructFieldDecl(
- name='up',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='up direction',
- ),
- StructFieldDecl(
- name='frustum_center',
- type=ValueType(name='float'),
- doc='hor. center (left,right set to match aspect)',
- ),
- StructFieldDecl(
- name='frustum_width',
- type=ValueType(name='float'),
- doc='width (not used for rendering)',
- ),
- StructFieldDecl(
- name='frustum_bottom',
- type=ValueType(name='float'),
- doc='bottom',
- ),
- StructFieldDecl(
- name='frustum_top',
- type=ValueType(name='float'),
- doc='top',
- ),
- StructFieldDecl(
- name='frustum_near',
- type=ValueType(name='float'),
- doc='near',
- ),
- StructFieldDecl(
- name='frustum_far',
- type=ValueType(name='float'),
- doc='far',
- ),
- StructFieldDecl(
- name='orthographic',
- type=ValueType(name='int'),
- doc='0: perspective; 1: orthographic',
- ),
- ),
- )),
- ('mjvGeom',
- StructDecl(
- name='mjvGeom',
- declname='struct mjvGeom_',
- fields=(
- StructFieldDecl(
- name='type',
- type=ValueType(name='int'),
- doc='geom type (mjtGeom)',
- ),
- StructFieldDecl(
- name='dataid',
- type=ValueType(name='int'),
- doc='mesh, hfield or plane id; -1: none',
- ),
- StructFieldDecl(
- name='objtype',
- type=ValueType(name='int'),
- doc='mujoco object type; mjOBJ_UNKNOWN for decor',
- ),
- StructFieldDecl(
- name='objid',
- type=ValueType(name='int'),
- doc='mujoco object id; -1 for decor',
- ),
- StructFieldDecl(
- name='category',
- type=ValueType(name='int'),
- doc='visual category',
- ),
- StructFieldDecl(
- name='matid',
- type=ValueType(name='int'),
- doc='material id; -1: no textured material',
- ),
- StructFieldDecl(
- name='texcoord',
- type=ValueType(name='int'),
- doc='mesh or flex geom has texture coordinates',
- ),
- StructFieldDecl(
- name='segid',
- type=ValueType(name='int'),
- doc='segmentation id; -1: not shown',
- ),
- StructFieldDecl(
- name='size',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='size parameters',
- ),
- StructFieldDecl(
- name='pos',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='Cartesian position',
- ),
- StructFieldDecl(
- name='mat',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(9,),
- ),
- doc='Cartesian orientation',
- ),
- StructFieldDecl(
- name='rgba',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='color and transparency',
- ),
- StructFieldDecl(
- name='emission',
- type=ValueType(name='float'),
- doc='emission coef',
- ),
- StructFieldDecl(
- name='specular',
- type=ValueType(name='float'),
- doc='specular coef',
- ),
- StructFieldDecl(
- name='shininess',
- type=ValueType(name='float'),
- doc='shininess coef',
- ),
- StructFieldDecl(
- name='reflectance',
- type=ValueType(name='float'),
- doc='reflectance coef',
- ),
- StructFieldDecl(
- name='label',
- type=ArrayType(
- inner_type=ValueType(name='char'),
- extents=(100,),
- ),
- doc='text label',
- ),
- StructFieldDecl(
- name='camdist',
- type=ValueType(name='float'),
- doc='distance to camera (used by sorter)',
- ),
- StructFieldDecl(
- name='modelrbound',
- type=ValueType(name='float'),
- doc='geom rbound from model, 0 if not model geom',
- ),
- StructFieldDecl(
- name='transparent',
- type=ValueType(name='mjtByte'),
- doc='treat geom as transparent',
- ),
- ),
- )),
- ('mjvLight',
- StructDecl(
- name='mjvLight',
- declname='struct mjvLight_',
- fields=(
- StructFieldDecl(
- name='pos',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='position rel. to body frame',
- ),
- StructFieldDecl(
- name='dir',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='direction rel. to body frame',
- ),
- StructFieldDecl(
- name='attenuation',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='OpenGL attenuation (quadratic model)',
- ),
- StructFieldDecl(
- name='cutoff',
- type=ValueType(name='float'),
- doc='OpenGL cutoff',
- ),
- StructFieldDecl(
- name='exponent',
- type=ValueType(name='float'),
- doc='OpenGL exponent',
- ),
- StructFieldDecl(
- name='ambient',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='ambient rgb (alpha=1)',
- ),
- StructFieldDecl(
- name='diffuse',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='diffuse rgb (alpha=1)',
- ),
- StructFieldDecl(
- name='specular',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='specular rgb (alpha=1)',
- ),
- StructFieldDecl(
- name='headlight',
- type=ValueType(name='mjtByte'),
- doc='headlight',
- ),
- StructFieldDecl(
- name='directional',
- type=ValueType(name='mjtByte'),
- doc='directional light',
- ),
- StructFieldDecl(
- name='castshadow',
- type=ValueType(name='mjtByte'),
- doc='does light cast shadows',
- ),
- StructFieldDecl(
- name='bulbradius',
- type=ValueType(name='float'),
- doc='bulb radius for soft shadows',
- ),
- ),
- )),
- ('mjvOption',
- StructDecl(
- name='mjvOption',
- declname='struct mjvOption_',
- fields=(
- StructFieldDecl(
- name='label',
- type=ValueType(name='int'),
- doc='what objects to label (mjtLabel)',
- ),
- StructFieldDecl(
- name='frame',
- type=ValueType(name='int'),
- doc='which frame to show (mjtFrame)',
- ),
- StructFieldDecl(
- name='geomgroup',
- type=ArrayType(
- inner_type=ValueType(name='mjtByte'),
- extents=(6,),
- ),
- doc='geom visualization by group',
- ),
- StructFieldDecl(
- name='sitegroup',
- type=ArrayType(
- inner_type=ValueType(name='mjtByte'),
- extents=(6,),
- ),
- doc='site visualization by group',
- ),
- StructFieldDecl(
- name='jointgroup',
- type=ArrayType(
- inner_type=ValueType(name='mjtByte'),
- extents=(6,),
- ),
- doc='joint visualization by group',
- ),
- StructFieldDecl(
- name='tendongroup',
- type=ArrayType(
- inner_type=ValueType(name='mjtByte'),
- extents=(6,),
- ),
- doc='tendon visualization by group',
- ),
- StructFieldDecl(
- name='actuatorgroup',
- type=ArrayType(
- inner_type=ValueType(name='mjtByte'),
- extents=(6,),
- ),
- doc='actuator visualization by group',
- ),
- StructFieldDecl(
- name='flexgroup',
- type=ArrayType(
- inner_type=ValueType(name='mjtByte'),
- extents=(6,),
- ),
- doc='flex visualization by group',
- ),
- StructFieldDecl(
- name='skingroup',
- type=ArrayType(
- inner_type=ValueType(name='mjtByte'),
- extents=(6,),
- ),
- doc='skin visualization by group',
- ),
- StructFieldDecl(
- name='flags',
- type=ArrayType(
- inner_type=ValueType(name='mjtByte'),
- extents=(32,),
- ),
- doc='visualization flags (indexed by mjtVisFlag)',
- ),
- StructFieldDecl(
- name='bvh_depth',
- type=ValueType(name='int'),
- doc='depth of the bounding volume hierarchy to be visualized',
- ),
- StructFieldDecl(
- name='flex_layer',
- type=ValueType(name='int'),
- doc='element layer to be visualized for 3D flex',
- ),
- ),
- )),
- ('mjvScene',
- StructDecl(
- name='mjvScene',
- declname='struct mjvScene_',
- fields=(
- StructFieldDecl(
- name='maxgeom',
- type=ValueType(name='int'),
- doc='size of allocated geom buffer',
- ),
- StructFieldDecl(
- name='ngeom',
- type=ValueType(name='int'),
- doc='number of geoms currently in buffer',
- ),
- StructFieldDecl(
- name='geoms',
- type=PointerType(
- inner_type=ValueType(name='mjvGeom'),
- ),
- doc='buffer for geoms (ngeom)',
- ),
- StructFieldDecl(
- name='geomorder',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='buffer for ordering geoms by distance to camera (ngeom)',
- ),
- StructFieldDecl(
- name='nflex',
- type=ValueType(name='int'),
- doc='number of flexes',
- ),
- StructFieldDecl(
- name='flexedgeadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='address of flex edges (nflex)',
- ),
- StructFieldDecl(
- name='flexedgenum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of edges in flex (nflex)',
- ),
- StructFieldDecl(
- name='flexvertadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='address of flex vertices (nflex)',
- ),
- StructFieldDecl(
- name='flexvertnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of vertices in flex (nflex)',
- ),
- StructFieldDecl(
- name='flexfaceadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='address of flex faces (nflex)',
- ),
- StructFieldDecl(
- name='flexfacenum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of flex faces allocated (nflex)',
- ),
- StructFieldDecl(
- name='flexfaceused',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of flex faces currently in use (nflex)',
- ),
- StructFieldDecl(
- name='flexedge',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='flex edge data (2*nflexedge)',
- ),
- StructFieldDecl(
- name='flexvert',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='flex vertices (3*nflexvert)',
- ),
- StructFieldDecl(
- name='flexface',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='flex faces vertices (9*sum(flexfacenum))',
- ),
- StructFieldDecl(
- name='flexnormal',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='flex face normals (9*sum(flexfacenum))',
- ),
- StructFieldDecl(
- name='flextexcoord',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='flex face texture coordinates (6*sum(flexfacenum))',
- ),
- StructFieldDecl(
- name='flexvertopt',
- type=ValueType(name='mjtByte'),
- doc='copy of mjVIS_FLEXVERT mjvOption flag',
- ),
- StructFieldDecl(
- name='flexedgeopt',
- type=ValueType(name='mjtByte'),
- doc='copy of mjVIS_FLEXEDGE mjvOption flag',
- ),
- StructFieldDecl(
- name='flexfaceopt',
- type=ValueType(name='mjtByte'),
- doc='copy of mjVIS_FLEXFACE mjvOption flag',
- ),
- StructFieldDecl(
- name='flexskinopt',
- type=ValueType(name='mjtByte'),
- doc='copy of mjVIS_FLEXSKIN mjvOption flag',
- ),
- StructFieldDecl(
- name='nskin',
- type=ValueType(name='int'),
- doc='number of skins',
- ),
- StructFieldDecl(
- name='skinfacenum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of faces in skin (nskin)',
- ),
- StructFieldDecl(
- name='skinvertadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='address of skin vertices (nskin)',
- ),
- StructFieldDecl(
- name='skinvertnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='number of vertices in skin (nskin)',
- ),
- StructFieldDecl(
- name='skinvert',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='skin vertex data (3*nskinvert)',
- ),
- StructFieldDecl(
- name='skinnormal',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='skin normal data (3*nskinvert)',
- ),
- StructFieldDecl(
- name='nlight',
- type=ValueType(name='int'),
- doc='number of lights currently in buffer',
- ),
- StructFieldDecl(
- name='lights',
- type=ArrayType(
- inner_type=ValueType(name='mjvLight'),
- extents=(100,),
- ),
- doc='buffer for lights (nlight)',
- ),
- StructFieldDecl(
- name='camera',
- type=ArrayType(
- inner_type=ValueType(name='mjvGLCamera'),
- extents=(2,),
- ),
- doc='left and right camera',
- ),
- StructFieldDecl(
- name='enabletransform',
- type=ValueType(name='mjtByte'),
- doc='enable model transformation',
- ),
- StructFieldDecl(
- name='translate',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='model translation',
- ),
- StructFieldDecl(
- name='rotate',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='model quaternion rotation',
- ),
- StructFieldDecl(
- name='scale',
- type=ValueType(name='float'),
- doc='model scaling',
- ),
- StructFieldDecl(
- name='stereo',
- type=ValueType(name='int'),
- doc='stereoscopic rendering (mjtStereo)',
- ),
- StructFieldDecl(
- name='flags',
- type=ArrayType(
- inner_type=ValueType(name='mjtByte'),
- extents=(10,),
- ),
- doc='rendering flags (indexed by mjtRndFlag)',
- ),
- StructFieldDecl(
- name='framewidth',
- type=ValueType(name='int'),
- doc='frame pixel width; 0: disable framing',
- ),
- StructFieldDecl(
- name='framergb',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='frame color',
- ),
- ),
- )),
- ('mjvFigure',
- StructDecl(
- name='mjvFigure',
- declname='struct mjvFigure_',
- fields=(
- StructFieldDecl(
- name='flg_legend',
- type=ValueType(name='int'),
- doc='show legend',
- ),
- StructFieldDecl(
- name='flg_ticklabel',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(2,),
- ),
- doc='show grid tick labels (x,y)',
- ),
- StructFieldDecl(
- name='flg_extend',
- type=ValueType(name='int'),
- doc='automatically extend axis ranges to fit data',
- ),
- StructFieldDecl(
- name='flg_barplot',
- type=ValueType(name='int'),
- doc='isolated line segments (i.e. GL_LINES)',
- ),
- StructFieldDecl(
- name='flg_selection',
- type=ValueType(name='int'),
- doc='vertical selection line',
- ),
- StructFieldDecl(
- name='flg_symmetric',
- type=ValueType(name='int'),
- doc='symmetric y-axis',
- ),
- StructFieldDecl(
- name='linewidth',
- type=ValueType(name='float'),
- doc='line width',
- ),
- StructFieldDecl(
- name='gridwidth',
- type=ValueType(name='float'),
- doc='grid line width',
- ),
- StructFieldDecl(
- name='gridsize',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(2,),
- ),
- doc='number of grid points in (x,y)',
- ),
- StructFieldDecl(
- name='gridrgb',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='grid line rgb',
- ),
- StructFieldDecl(
- name='figurergba',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='figure color and alpha',
- ),
- StructFieldDecl(
- name='panergba',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='pane color and alpha',
- ),
- StructFieldDecl(
- name='legendrgba',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='legend color and alpha',
- ),
- StructFieldDecl(
- name='textrgb',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='text color',
- ),
- StructFieldDecl(
- name='linergb',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(100, 3),
- ),
- doc='line colors',
- ),
- StructFieldDecl(
- name='range',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(2, 2),
- ),
- doc='axis ranges; (min>=max) automatic',
- ),
- StructFieldDecl(
- name='xformat',
- type=ArrayType(
- inner_type=ValueType(name='char'),
- extents=(20,),
- ),
- doc='x-tick label format for sprintf',
- ),
- StructFieldDecl(
- name='yformat',
- type=ArrayType(
- inner_type=ValueType(name='char'),
- extents=(20,),
- ),
- doc='y-tick label format for sprintf',
- ),
- StructFieldDecl(
- name='minwidth',
- type=ArrayType(
- inner_type=ValueType(name='char'),
- extents=(20,),
- ),
- doc='string used to determine min y-tick width',
- ),
- StructFieldDecl(
- name='title',
- type=ArrayType(
- inner_type=ValueType(name='char'),
- extents=(1000,),
- ),
- doc='figure title; subplots separated with 2+ spaces',
- ),
- StructFieldDecl(
- name='xlabel',
- type=ArrayType(
- inner_type=ValueType(name='char'),
- extents=(100,),
- ),
- doc='x-axis label',
- ),
- StructFieldDecl(
- name='linename',
- type=ArrayType(
- inner_type=ValueType(name='char'),
- extents=(100, 100),
- ),
- doc='line names for legend',
- ),
- StructFieldDecl(
- name='legendoffset',
- type=ValueType(name='int'),
- doc='number of lines to offset legend',
- ),
- StructFieldDecl(
- name='subplot',
- type=ValueType(name='int'),
- doc='selected subplot (for title rendering)',
- ),
- StructFieldDecl(
- name='highlight',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(2,),
- ),
- doc='if point is in legend rect, highlight line',
- ),
- StructFieldDecl(
- name='highlightid',
- type=ValueType(name='int'),
- doc='if id>=0 and no point, highlight id',
- ),
- StructFieldDecl(
- name='selection',
- type=ValueType(name='float'),
- doc='selection line x-value',
- ),
- StructFieldDecl(
- name='linepnt',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(100,),
- ),
- doc='number of points in line; (0) disable',
- ),
- StructFieldDecl(
- name='linedata',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(100, 2000),
- ),
- doc='line data (x,y)',
- ),
- StructFieldDecl(
- name='xaxispixel',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(2,),
- ),
- doc='range of x-axis in pixels',
- ),
- StructFieldDecl(
- name='yaxispixel',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(2,),
- ),
- doc='range of y-axis in pixels',
- ),
- StructFieldDecl(
- name='xaxisdata',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(2,),
- ),
- doc='range of x-axis in data units',
- ),
- StructFieldDecl(
- name='yaxisdata',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(2,),
- ),
- doc='range of y-axis in data units',
- ),
- ),
- )),
- ('mjvSceneState',
- StructDecl(
- name='mjvSceneState',
- declname='struct mjvSceneState_',
- fields=(
- StructFieldDecl(
- name='nbuffer',
- type=ValueType(name='int'),
- doc='size of the buffer in bytes',
- ),
- StructFieldDecl(
- name='buffer',
- type=PointerType(
- inner_type=ValueType(name='void'),
- ),
- doc='heap-allocated memory for all arrays in this struct',
- ),
- StructFieldDecl(
- name='maxgeom',
- type=ValueType(name='int'),
- doc='maximum number of mjvGeom supported by this state object',
- ),
- StructFieldDecl(
- name='scratch',
- type=ValueType(name='mjvScene'),
- doc='scratch space for vis geoms inserted by the user and plugins', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='model',
- type=AnonymousStructDecl(
- fields=(
- StructFieldDecl(
- name='nv',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nu',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='na',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nbody',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nbvh',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nbvhstatic',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='njnt',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='ngeom',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nsite',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='ncam',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nlight',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nmesh',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nskin',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nflex',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nflexvert',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nflextexcoord',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nskinvert',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nskinface',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nskinbone',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nskinbonevert',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nmat',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='neq',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='ntendon',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='ntree',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nwrap',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nsensor',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nnames',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='npaths',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='nsensordata',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='narena',
- type=ValueType(name='int'),
- doc='',
- ),
- StructFieldDecl(
- name='opt',
- type=ValueType(name='mjOption'),
- doc='',
- ),
- StructFieldDecl(
- name='vis',
- type=ValueType(name='mjVisual'),
- doc='',
- ),
- StructFieldDecl(
- name='stat',
- type=ValueType(name='mjStatistic'),
- doc='',
- ),
- StructFieldDecl(
- name='body_parentid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='body_rootid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='body_weldid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='body_mocapid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='body_jntnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='body_jntadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='body_dofnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='body_dofadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='body_geomnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='body_geomadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='body_iquat',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='body_mass',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='body_inertia',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='body_bvhadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='body_bvhnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='bvh_depth',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='bvh_child',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='bvh_nodeid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='bvh_aabb',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='jnt_type',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='jnt_bodyid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='jnt_group',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='geom_type',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='geom_bodyid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='geom_contype',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='geom_conaffinity',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='geom_dataid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='geom_matid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='geom_group',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='geom_size',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='geom_aabb',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='geom_rbound',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='geom_rgba',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='site_type',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='site_bodyid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='site_matid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='site_group',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='site_size',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='site_rgba',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='cam_orthographic',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='cam_fovy',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='cam_ipd',
- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='cam_resolution',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='cam_sensorsize',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='cam_intrinsic',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='light_directional',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='light_castshadow',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='light_bulbradius',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='light_active',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='light_attenuation',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='light_cutoff',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='light_exponent',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='light_ambient',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='light_diffuse',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='light_specular',
- type=PointerType(
- inner_type=ValueType(name='float'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='flex_flatskin',
- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='flex_dim',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='flex_matid',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='flex_group',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='flex_vertadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='flex_vertnum',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='flex_elem',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='flex_elemlayer',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
- name='flex_elemadr',
- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
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- ),
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- ),
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- ),
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- ),
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- doc='',
- ),
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- doc='',
- ),
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- doc='',
- ),
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- ),
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- ),
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- doc='',
- ),
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- doc='',
- ),
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- ),
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- ),
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- StructFieldDecl(
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- doc='',
- ),
- StructFieldDecl(
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- StructFieldDecl(
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- ),
- StructFieldDecl(
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- doc='',
- ),
- StructFieldDecl(
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- doc='',
- ),
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- ),
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- ),
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- ),
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- doc='',
- ),
- StructFieldDecl(
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- ),
- doc='',
- ),
- StructFieldDecl(
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- doc='',
- ),
- ),
- ),
- doc='',
- ),
- StructFieldDecl(
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- name='warning',
- type=ArrayType(
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- extents=(8,),
- ),
- doc='',
- ),
- StructFieldDecl(
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- StructFieldDecl(
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- StructFieldDecl(
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- ),
- StructFieldDecl(
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- ),
- StructFieldDecl(
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- ),
- doc='',
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- StructFieldDecl(
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- doc='',
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- StructFieldDecl(
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- doc='',
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- StructFieldDecl(
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- doc='',
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- StructFieldDecl(
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- doc='',
- ),
- StructFieldDecl(
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- doc='',
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- StructFieldDecl(
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- doc='',
- ),
- StructFieldDecl(
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- ),
- doc='',
- ),
- StructFieldDecl(
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- doc='',
- ),
- StructFieldDecl(
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- doc='',
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- StructFieldDecl(
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- doc='',
- ),
- StructFieldDecl(
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- doc='',
- ),
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- doc='',
- ),
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- doc='',
- ),
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- ),
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- doc='',
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- StructFieldDecl(
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- StructFieldDecl(
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- doc='',
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- StructFieldDecl(
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- inner_type=ValueType(name='mjtNum'),
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- doc='',
- ),
- StructFieldDecl(
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- inner_type=ValueType(name='int'),
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- doc='',
- ),
- StructFieldDecl(
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- type=PointerType(
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- ),
- doc='',
- ),
- StructFieldDecl(
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- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
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- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='',
- ),
- StructFieldDecl(
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- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='',
- ),
- StructFieldDecl(
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- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='',
- ),
- StructFieldDecl(
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- type=PointerType(
- inner_type=ValueType(name='mjtByte'),
- ),
- doc='',
- ),
- StructFieldDecl(
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- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
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- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
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- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
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- type=PointerType(
- inner_type=ValueType(name='int'),
- ),
- doc='',
- ),
- StructFieldDecl(
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- inner_type=ValueType(name='int'),
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- doc='',
- ),
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- inner_type=ValueType(name='mjtNum'),
- ),
- doc='',
- ),
- StructFieldDecl(
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- type=PointerType(
- inner_type=ValueType(name='mjContact'),
- ),
- doc='',
- ),
- StructFieldDecl(
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- type=PointerType(
- inner_type=ValueType(name='mjtNum'),
- ),
- doc='',
- ),
- StructFieldDecl(
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- type=PointerType(
- inner_type=ValueType(name='void'),
- ),
- doc='',
- ),
- ),
- ),
- doc='',
- ),
- ),
- )),
- ('mjrRect',
- StructDecl(
- name='mjrRect',
- declname='struct mjrRect_',
- fields=(
- StructFieldDecl(
- name='left',
- type=ValueType(name='int'),
- doc='left (usually 0)',
- ),
- StructFieldDecl(
- name='bottom',
- type=ValueType(name='int'),
- doc='bottom (usually 0)',
- ),
- StructFieldDecl(
- name='width',
- type=ValueType(name='int'),
- doc='width (usually buffer width)',
- ),
- StructFieldDecl(
- name='height',
- type=ValueType(name='int'),
- doc='height (usually buffer height)',
- ),
- ),
- )),
- ('mjrContext',
- StructDecl(
- name='mjrContext',
- declname='struct mjrContext_',
- fields=(
- StructFieldDecl(
- name='lineWidth',
- type=ValueType(name='float'),
- doc='line width for wireframe rendering',
- ),
- StructFieldDecl(
- name='shadowClip',
- type=ValueType(name='float'),
- doc='clipping radius for directional lights',
- ),
- StructFieldDecl(
- name='shadowScale',
- type=ValueType(name='float'),
- doc='fraction of light cutoff for spot lights',
- ),
- StructFieldDecl(
- name='fogStart',
- type=ValueType(name='float'),
- doc='fog start = stat.extent * vis.map.fogstart',
- ),
- StructFieldDecl(
- name='fogEnd',
- type=ValueType(name='float'),
- doc='fog end = stat.extent * vis.map.fogend',
- ),
- StructFieldDecl(
- name='fogRGBA',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='fog rgba',
- ),
- StructFieldDecl(
- name='shadowSize',
- type=ValueType(name='int'),
- doc='size of shadow map texture',
- ),
- StructFieldDecl(
- name='offWidth',
- type=ValueType(name='int'),
- doc='width of offscreen buffer',
- ),
- StructFieldDecl(
- name='offHeight',
- type=ValueType(name='int'),
- doc='height of offscreen buffer',
- ),
- StructFieldDecl(
- name='offSamples',
- type=ValueType(name='int'),
- doc='number of offscreen buffer multisamples',
- ),
- StructFieldDecl(
- name='fontScale',
- type=ValueType(name='int'),
- doc='font scale',
- ),
- StructFieldDecl(
- name='auxWidth',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(10,),
- ),
- doc='auxiliary buffer width',
- ),
- StructFieldDecl(
- name='auxHeight',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(10,),
- ),
- doc='auxiliary buffer height',
- ),
- StructFieldDecl(
- name='auxSamples',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(10,),
- ),
- doc='auxiliary buffer multisamples',
- ),
- StructFieldDecl(
- name='offFBO',
- type=ValueType(name='unsigned int'),
- doc='offscreen framebuffer object',
- ),
- StructFieldDecl(
- name='offFBO_r',
- type=ValueType(name='unsigned int'),
- doc='offscreen framebuffer for resolving multisamples',
- ),
- StructFieldDecl(
- name='offColor',
- type=ValueType(name='unsigned int'),
- doc='offscreen color buffer',
- ),
- StructFieldDecl(
- name='offColor_r',
- type=ValueType(name='unsigned int'),
- doc='offscreen color buffer for resolving multisamples',
- ),
- StructFieldDecl(
- name='offDepthStencil',
- type=ValueType(name='unsigned int'),
- doc='offscreen depth and stencil buffer',
- ),
- StructFieldDecl(
- name='offDepthStencil_r',
- type=ValueType(name='unsigned int'),
- doc='offscreen depth and stencil buffer for multisamples',
- ),
- StructFieldDecl(
- name='shadowFBO',
- type=ValueType(name='unsigned int'),
- doc='shadow map framebuffer object',
- ),
- StructFieldDecl(
- name='shadowTex',
- type=ValueType(name='unsigned int'),
- doc='shadow map texture',
- ),
- StructFieldDecl(
- name='auxFBO',
- type=ArrayType(
- inner_type=ValueType(name='unsigned int'),
- extents=(10,),
- ),
- doc='auxiliary framebuffer object',
- ),
- StructFieldDecl(
- name='auxFBO_r',
- type=ArrayType(
- inner_type=ValueType(name='unsigned int'),
- extents=(10,),
- ),
- doc='auxiliary framebuffer object for resolving',
- ),
- StructFieldDecl(
- name='auxColor',
- type=ArrayType(
- inner_type=ValueType(name='unsigned int'),
- extents=(10,),
- ),
- doc='auxiliary color buffer',
- ),
- StructFieldDecl(
- name='auxColor_r',
- type=ArrayType(
- inner_type=ValueType(name='unsigned int'),
- extents=(10,),
- ),
- doc='auxiliary color buffer for resolving',
- ),
- StructFieldDecl(
- name='mat_texid',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(10000,),
- ),
- doc='material texture ids (-1: no texture)',
- ),
- StructFieldDecl(
- name='mat_texuniform',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(1000,),
- ),
- doc='texture repetition for 2d mapping',
- ),
- StructFieldDecl(
- name='mat_texrepeat',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(2000,),
- ),
- doc='texture repetition for 2d mapping',
- ),
- StructFieldDecl(
- name='ntexture',
- type=ValueType(name='int'),
- doc='number of allocated textures',
- ),
- StructFieldDecl(
- name='textureType',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(1000,),
- ),
- doc='type of texture (mjtTexture) (ntexture)',
- ),
- StructFieldDecl(
- name='texture',
- type=ArrayType(
- inner_type=ValueType(name='unsigned int'),
- extents=(1000,),
- ),
- doc='texture names',
- ),
- StructFieldDecl(
- name='basePlane',
- type=ValueType(name='unsigned int'),
- doc='all planes from model',
- ),
- StructFieldDecl(
- name='baseMesh',
- type=ValueType(name='unsigned int'),
- doc='all meshes from model',
- ),
- StructFieldDecl(
- name='baseHField',
- type=ValueType(name='unsigned int'),
- doc='all height fields from model',
- ),
- StructFieldDecl(
- name='baseBuiltin',
- type=ValueType(name='unsigned int'),
- doc='all builtin geoms, with quality from model',
- ),
- StructFieldDecl(
- name='baseFontNormal',
- type=ValueType(name='unsigned int'),
- doc='normal font',
- ),
- StructFieldDecl(
- name='baseFontShadow',
- type=ValueType(name='unsigned int'),
- doc='shadow font',
- ),
- StructFieldDecl(
- name='baseFontBig',
- type=ValueType(name='unsigned int'),
- doc='big font',
- ),
- StructFieldDecl(
- name='rangePlane',
- type=ValueType(name='int'),
- doc='all planes from model',
- ),
- StructFieldDecl(
- name='rangeMesh',
- type=ValueType(name='int'),
- doc='all meshes from model',
- ),
- StructFieldDecl(
- name='rangeHField',
- type=ValueType(name='int'),
- doc='all hfields from model',
- ),
- StructFieldDecl(
- name='rangeBuiltin',
- type=ValueType(name='int'),
- doc='all builtin geoms, with quality from model',
- ),
- StructFieldDecl(
- name='rangeFont',
- type=ValueType(name='int'),
- doc='all characters in font',
- ),
- StructFieldDecl(
- name='nskin',
- type=ValueType(name='int'),
- doc='number of skins',
- ),
- StructFieldDecl(
- name='skinvertVBO',
- type=PointerType(
- inner_type=ValueType(name='unsigned int'),
- ),
- doc='skin vertex position VBOs (nskin)',
- ),
- StructFieldDecl(
- name='skinnormalVBO',
- type=PointerType(
- inner_type=ValueType(name='unsigned int'),
- ),
- doc='skin vertex normal VBOs (nskin)',
- ),
- StructFieldDecl(
- name='skintexcoordVBO',
- type=PointerType(
- inner_type=ValueType(name='unsigned int'),
- ),
- doc='skin vertex texture coordinate VBOs (nskin)',
- ),
- StructFieldDecl(
- name='skinfaceVBO',
- type=PointerType(
- inner_type=ValueType(name='unsigned int'),
- ),
- doc='skin face index VBOs (nskin)',
- ),
- StructFieldDecl(
- name='charWidth',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(127,),
- ),
- doc='character widths: normal and shadow',
- ),
- StructFieldDecl(
- name='charWidthBig',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(127,),
- ),
- doc='chacarter widths: big',
- ),
- StructFieldDecl(
- name='charHeight',
- type=ValueType(name='int'),
- doc='character heights: normal and shadow',
- ),
- StructFieldDecl(
- name='charHeightBig',
- type=ValueType(name='int'),
- doc='character heights: big',
- ),
- StructFieldDecl(
- name='glInitialized',
- type=ValueType(name='int'),
- doc='is OpenGL initialized',
- ),
- StructFieldDecl(
- name='windowAvailable',
- type=ValueType(name='int'),
- doc='is default/window framebuffer available',
- ),
- StructFieldDecl(
- name='windowSamples',
- type=ValueType(name='int'),
- doc='number of samples for default/window framebuffer',
- ),
- StructFieldDecl(
- name='windowStereo',
- type=ValueType(name='int'),
- doc='is stereo available for default/window framebuffer',
- ),
- StructFieldDecl(
- name='windowDoublebuffer',
- type=ValueType(name='int'),
- doc='is default/window framebuffer double buffered',
- ),
- StructFieldDecl(
- name='currentBuffer',
- type=ValueType(name='int'),
- doc='currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN', # pylint: disable=line-too-long
- ),
- StructFieldDecl(
- name='readPixelFormat',
- type=ValueType(name='int'),
- doc='default color pixel format for mjr_readPixels',
- ),
- StructFieldDecl(
- name='readDepthMap',
- type=ValueType(name='int'),
- doc='depth mapping: mjDEPTH_ZERONEAR or mjDEPTH_ZEROFAR',
- ),
- ),
- )),
- ('mjsElement',
- StructDecl(
- name='mjsElement',
- declname='struct mjsElement_',
- fields=(
- StructFieldDecl(
- name='elemtype',
- type=ValueType(name='mjtObj'),
- doc='element type',
- ),
- ),
- )),
- ('mjSpec',
- StructDecl(
- name='mjSpec',
- declname='struct mjSpec_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='modelname',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='model name',
- ),
- StructFieldDecl(
- name='autolimits',
- type=ValueType(name='mjtByte'),
- doc='infer "limited" attribute based on range',
- ),
- StructFieldDecl(
- name='boundmass',
- type=ValueType(name='double'),
- doc='enforce minimum body mass',
- ),
- StructFieldDecl(
- name='boundinertia',
- type=ValueType(name='double'),
- doc='enforce minimum body diagonal inertia',
- ),
- StructFieldDecl(
- name='settotalmass',
- type=ValueType(name='double'),
- doc='rescale masses and inertias;<=0: ignore',
- ),
- StructFieldDecl(
- name='balanceinertia',
- type=ValueType(name='mjtByte'),
- doc='automatically impose A + B >= C rule',
- ),
- StructFieldDecl(
- name='strippath',
- type=ValueType(name='mjtByte'),
- doc='automatically strip paths from mesh files',
- ),
- StructFieldDecl(
- name='fitaabb',
- type=ValueType(name='mjtByte'),
- doc='meshfit to aabb instead of inertia box',
- ),
- StructFieldDecl(
- name='degree',
- type=ValueType(name='mjtByte'),
- doc='angles in radians or degrees',
- ),
- StructFieldDecl(
- name='eulerseq',
- type=ArrayType(
- inner_type=ValueType(name='char'),
- extents=(3,),
- ),
- doc='sequence for euler rotations',
- ),
- StructFieldDecl(
- name='meshdir',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='mesh and hfield directory',
- ),
- StructFieldDecl(
- name='texturedir',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='texture directory',
- ),
- StructFieldDecl(
- name='discardvisual',
- type=ValueType(name='mjtByte'),
- doc='discard visual geoms in parser',
- ),
- StructFieldDecl(
- name='convexhull',
- type=ValueType(name='mjtByte'),
- doc='compute mesh convex hulls',
- ),
- StructFieldDecl(
- name='usethread',
- type=ValueType(name='mjtByte'),
- doc='use multiple threads to speed up compiler',
- ),
- StructFieldDecl(
- name='fusestatic',
- type=ValueType(name='mjtByte'),
- doc='fuse static bodies with parent',
- ),
- StructFieldDecl(
- name='inertiafromgeom',
- type=ValueType(name='int'),
- doc='use geom inertias (mjtInertiaFromGeom)',
- ),
- StructFieldDecl(
- name='inertiagrouprange',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(2,),
- ),
- doc='range of geom groups used to compute inertia',
- ),
- StructFieldDecl(
- name='exactmeshinertia',
- type=ValueType(name='mjtByte'),
- doc='if false, use old formula',
- ),
- StructFieldDecl(
- name='alignfree',
- type=ValueType(name='int'),
- doc='align free joints with inertial frame',
- ),
- StructFieldDecl(
- name='LRopt',
- type=ValueType(name='mjLROpt'),
- doc='options for lengthrange computation',
- ),
- StructFieldDecl(
- name='option',
- type=ValueType(name='mjOption'),
- doc='physics options',
- ),
- StructFieldDecl(
- name='visual',
- type=ValueType(name='mjVisual'),
- doc='visual options',
- ),
- StructFieldDecl(
- name='stat',
- type=ValueType(name='mjStatistic'),
- doc='statistics override (if defined)',
- ),
- StructFieldDecl(
- name='memory',
- type=ValueType(name='size_t'),
- doc='number of bytes in arena+stack memory',
- ),
- StructFieldDecl(
- name='nemax',
- type=ValueType(name='int'),
- doc='max number of equality constraints',
- ),
- StructFieldDecl(
- name='nuserdata',
- type=ValueType(name='int'),
- doc='number of mjtNums in userdata',
- ),
- StructFieldDecl(
- name='nuser_body',
- type=ValueType(name='int'),
- doc='number of mjtNums in body_user',
- ),
- StructFieldDecl(
- name='nuser_jnt',
- type=ValueType(name='int'),
- doc='number of mjtNums in jnt_user',
- ),
- StructFieldDecl(
- name='nuser_geom',
- type=ValueType(name='int'),
- doc='number of mjtNums in geom_user',
- ),
- StructFieldDecl(
- name='nuser_site',
- type=ValueType(name='int'),
- doc='number of mjtNums in site_user',
- ),
- StructFieldDecl(
- name='nuser_cam',
- type=ValueType(name='int'),
- doc='number of mjtNums in cam_user',
- ),
- StructFieldDecl(
- name='nuser_tendon',
- type=ValueType(name='int'),
- doc='number of mjtNums in tendon_user',
- ),
- StructFieldDecl(
- name='nuser_actuator',
- type=ValueType(name='int'),
- doc='number of mjtNums in actuator_user',
- ),
- StructFieldDecl(
- name='nuser_sensor',
- type=ValueType(name='int'),
- doc='number of mjtNums in sensor_user',
- ),
- StructFieldDecl(
- name='nkey',
- type=ValueType(name='int'),
- doc='number of keyframes',
- ),
- StructFieldDecl(
- name='njmax',
- type=ValueType(name='int'),
- doc='(deprecated) max number of constraints',
- ),
- StructFieldDecl(
- name='nconmax',
- type=ValueType(name='int'),
- doc='(deprecated) max number of detected contacts',
- ),
- StructFieldDecl(
- name='nstack',
- type=ValueType(name='size_t'),
- doc='(deprecated) number of mjtNums in mjData stack',
- ),
- StructFieldDecl(
- name='comment',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='comment at top of XML',
- ),
- StructFieldDecl(
- name='modelfiledir',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='path to model file',
- ),
- StructFieldDecl(
- name='hasImplicitPluginElem',
- type=ValueType(name='mjtByte'),
- doc='already encountered an implicit plugin sensor/actuator',
- ),
- ),
- )),
- ('mjsOrientation',
- StructDecl(
- name='mjsOrientation',
- declname='struct mjsOrientation_',
- fields=(
- StructFieldDecl(
- name='type',
- type=ValueType(name='mjtOrientation'),
- doc='active orientation specifier',
- ),
- StructFieldDecl(
- name='axisangle',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(4,),
- ),
- doc='axis and angle',
- ),
- StructFieldDecl(
- name='xyaxes',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(6,),
- ),
- doc='x and y axes',
- ),
- StructFieldDecl(
- name='zaxis',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='z axis (minimal rotation)',
- ),
- StructFieldDecl(
- name='euler',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='Euler angles',
- ),
- ),
- )),
- ('mjsPlugin',
- StructDecl(
- name='mjsPlugin',
- declname='struct mjsPlugin_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='instance name',
- ),
- StructFieldDecl(
- name='plugin_name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='plugin name',
- ),
- StructFieldDecl(
- name='active',
- type=ValueType(name='mjtByte'),
- doc='is the plugin active',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errors',
- ),
- ),
- )),
- ('mjsBody',
- StructDecl(
- name='mjsBody',
- declname='struct mjsBody_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='childclass',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='childclass name',
- ),
- StructFieldDecl(
- name='pos',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='frame position',
- ),
- StructFieldDecl(
- name='quat',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(4,),
- ),
- doc='frame orientation',
- ),
- StructFieldDecl(
- name='alt',
- type=ValueType(name='mjsOrientation'),
- doc='frame alternative orientation',
- ),
- StructFieldDecl(
- name='mass',
- type=ValueType(name='double'),
- doc='mass',
- ),
- StructFieldDecl(
- name='ipos',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='inertial frame position',
- ),
- StructFieldDecl(
- name='iquat',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(4,),
- ),
- doc='inertial frame orientation',
- ),
- StructFieldDecl(
- name='inertia',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='diagonal inertia (in i-frame)',
- ),
- StructFieldDecl(
- name='ialt',
- type=ValueType(name='mjsOrientation'),
- doc='inertial frame alternative orientation',
- ),
- StructFieldDecl(
- name='fullinertia',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(6,),
- ),
- doc='non-axis-aligned inertia matrix',
- ),
- StructFieldDecl(
- name='mocap',
- type=ValueType(name='mjtByte'),
- doc='is this a mocap body',
- ),
- StructFieldDecl(
- name='gravcomp',
- type=ValueType(name='double'),
- doc='gravity compensation',
- ),
- StructFieldDecl(
- name='userdata',
- type=PointerType(
- inner_type=ValueType(name='mjDoubleVec'),
- ),
- doc='user data',
- ),
- StructFieldDecl(
- name='explicitinertial',
- type=ValueType(name='mjtByte'),
- doc='whether to save the body with explicit inertial clause',
- ),
- StructFieldDecl(
- name='plugin',
- type=ValueType(name='mjsPlugin'),
- doc='passive force plugin',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errors',
- ),
- ),
- )),
- ('mjsFrame',
- StructDecl(
- name='mjsFrame',
- declname='struct mjsFrame_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='childclass',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='childclass name',
- ),
- StructFieldDecl(
- name='pos',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='position',
- ),
- StructFieldDecl(
- name='quat',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(4,),
- ),
- doc='orientation',
- ),
- StructFieldDecl(
- name='alt',
- type=ValueType(name='mjsOrientation'),
- doc='alternative orientation',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errors',
- ),
- ),
- )),
- ('mjsJoint',
- StructDecl(
- name='mjsJoint',
- declname='struct mjsJoint_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='type',
- type=ValueType(name='mjtJoint'),
- doc='joint type',
- ),
- StructFieldDecl(
- name='pos',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='anchor position',
- ),
- StructFieldDecl(
- name='axis',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='joint axis',
- ),
- StructFieldDecl(
- name='ref',
- type=ValueType(name='double'),
- doc='value at reference configuration: qpos0',
- ),
- StructFieldDecl(
- name='align',
- type=ValueType(name='int'),
- doc='align free joint with body com (mjtAlignFree)',
- ),
- StructFieldDecl(
- name='stiffness',
- type=ValueType(name='double'),
- doc='stiffness coefficient',
- ),
- StructFieldDecl(
- name='springref',
- type=ValueType(name='double'),
- doc='spring reference value: qpos_spring',
- ),
- StructFieldDecl(
- name='springdamper',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(2,),
- ),
- doc='timeconst, dampratio',
- ),
- StructFieldDecl(
- name='limited',
- type=ValueType(name='int'),
- doc='does joint have limits (mjtLimited)',
- ),
- StructFieldDecl(
- name='range',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(2,),
- ),
- doc='joint limits',
- ),
- StructFieldDecl(
- name='margin',
- type=ValueType(name='double'),
- doc='margin value for joint limit detection',
- ),
- StructFieldDecl(
- name='solref_limit',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(2,),
- ),
- doc='solver reference: joint limits',
- ),
- StructFieldDecl(
- name='solimp_limit',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(5,),
- ),
- doc='solver impedance: joint limits',
- ),
- StructFieldDecl(
- name='actfrclimited',
- type=ValueType(name='int'),
- doc='are actuator forces on joint limited (mjtLimited)',
- ),
- StructFieldDecl(
- name='actfrcrange',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(2,),
- ),
- doc='actuator force limits',
- ),
- StructFieldDecl(
- name='armature',
- type=ValueType(name='double'),
- doc='armature inertia (mass for slider)',
- ),
- StructFieldDecl(
- name='damping',
- type=ValueType(name='double'),
- doc='damping coefficient',
- ),
- StructFieldDecl(
- name='frictionloss',
- type=ValueType(name='double'),
- doc='friction loss',
- ),
- StructFieldDecl(
- name='solref_friction',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(2,),
- ),
- doc='solver reference: dof friction',
- ),
- StructFieldDecl(
- name='solimp_friction',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(5,),
- ),
- doc='solver impedance: dof friction',
- ),
- StructFieldDecl(
- name='group',
- type=ValueType(name='int'),
- doc='group',
- ),
- StructFieldDecl(
- name='actgravcomp',
- type=ValueType(name='mjtByte'),
- doc='is gravcomp force applied via actuators',
- ),
- StructFieldDecl(
- name='userdata',
- type=PointerType(
- inner_type=ValueType(name='mjDoubleVec'),
- ),
- doc='user data',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errors',
- ),
- ),
- )),
- ('mjsGeom',
- StructDecl(
- name='mjsGeom',
- declname='struct mjsGeom_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='type',
- type=ValueType(name='mjtGeom'),
- doc='geom type',
- ),
- StructFieldDecl(
- name='pos',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='position',
- ),
- StructFieldDecl(
- name='quat',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(4,),
- ),
- doc='orientation',
- ),
- StructFieldDecl(
- name='alt',
- type=ValueType(name='mjsOrientation'),
- doc='alternative orientation',
- ),
- StructFieldDecl(
- name='fromto',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(6,),
- ),
- doc='alternative for capsule, cylinder, box, ellipsoid',
- ),
- StructFieldDecl(
- name='size',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='type-specific size',
- ),
- StructFieldDecl(
- name='contype',
- type=ValueType(name='int'),
- doc='contact type',
- ),
- StructFieldDecl(
- name='conaffinity',
- type=ValueType(name='int'),
- doc='contact affinity',
- ),
- StructFieldDecl(
- name='condim',
- type=ValueType(name='int'),
- doc='contact dimensionality',
- ),
- StructFieldDecl(
- name='priority',
- type=ValueType(name='int'),
- doc='contact priority',
- ),
- StructFieldDecl(
- name='friction',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='one-sided friction coefficients: slide, roll, spin',
- ),
- StructFieldDecl(
- name='solmix',
- type=ValueType(name='double'),
- doc='solver mixing for contact pairs',
- ),
- StructFieldDecl(
- name='solref',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(2,),
- ),
- doc='solver reference',
- ),
- StructFieldDecl(
- name='solimp',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(5,),
- ),
- doc='solver impedance',
- ),
- StructFieldDecl(
- name='margin',
- type=ValueType(name='double'),
- doc='margin for contact detection',
- ),
- StructFieldDecl(
- name='gap',
- type=ValueType(name='double'),
- doc='include in solver if dist<margin-gap',
- ),
- StructFieldDecl(
- name='mass',
- type=ValueType(name='double'),
- doc='used to compute density',
- ),
- StructFieldDecl(
- name='density',
- type=ValueType(name='double'),
- doc='used to compute mass and inertia from volume or surface',
- ),
- StructFieldDecl(
- name='typeinertia',
- type=ValueType(name='mjtGeomInertia'),
- doc='selects between surface and volume inertia',
- ),
- StructFieldDecl(
- name='fluid_ellipsoid',
- type=ValueType(name='mjtNum'),
- doc='whether ellipsoid-fluid model is active',
- ),
- StructFieldDecl(
- name='fluid_coefs',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(5,),
- ),
- doc='ellipsoid-fluid interaction coefs',
- ),
- StructFieldDecl(
- name='material',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name of material',
- ),
- StructFieldDecl(
- name='rgba',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='rgba when material is omitted',
- ),
- StructFieldDecl(
- name='group',
- type=ValueType(name='int'),
- doc='group',
- ),
- StructFieldDecl(
- name='hfieldname',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='heightfield attached to geom',
- ),
- StructFieldDecl(
- name='meshname',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='mesh attached to geom',
- ),
- StructFieldDecl(
- name='fitscale',
- type=ValueType(name='double'),
- doc='scale mesh uniformly',
- ),
- StructFieldDecl(
- name='userdata',
- type=PointerType(
- inner_type=ValueType(name='mjDoubleVec'),
- ),
- doc='user data',
- ),
- StructFieldDecl(
- name='plugin',
- type=ValueType(name='mjsPlugin'),
- doc='sdf plugin',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errors',
- ),
- ),
- )),
- ('mjsSite',
- StructDecl(
- name='mjsSite',
- declname='struct mjsSite_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='pos',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='position',
- ),
- StructFieldDecl(
- name='quat',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(4,),
- ),
- doc='orientation',
- ),
- StructFieldDecl(
- name='alt',
- type=ValueType(name='mjsOrientation'),
- doc='alternative orientation',
- ),
- StructFieldDecl(
- name='fromto',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(6,),
- ),
- doc='alternative for capsule, cylinder, box, ellipsoid',
- ),
- StructFieldDecl(
- name='size',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='geom size',
- ),
- StructFieldDecl(
- name='type',
- type=ValueType(name='mjtGeom'),
- doc='geom type',
- ),
- StructFieldDecl(
- name='material',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name of material',
- ),
- StructFieldDecl(
- name='group',
- type=ValueType(name='int'),
- doc='group',
- ),
- StructFieldDecl(
- name='rgba',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='rgba when material is omitted',
- ),
- StructFieldDecl(
- name='userdata',
- type=PointerType(
- inner_type=ValueType(name='mjDoubleVec'),
- ),
- doc='user data',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errors',
- ),
- ),
- )),
- ('mjsCamera',
- StructDecl(
- name='mjsCamera',
- declname='struct mjsCamera_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='pos',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='position',
- ),
- StructFieldDecl(
- name='quat',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(4,),
- ),
- doc='orientation',
- ),
- StructFieldDecl(
- name='alt',
- type=ValueType(name='mjsOrientation'),
- doc='alternative orientation',
- ),
- StructFieldDecl(
- name='mode',
- type=ValueType(name='mjtCamLight'),
- doc='tracking mode',
- ),
- StructFieldDecl(
- name='targetbody',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='target body for tracking/targeting',
- ),
- StructFieldDecl(
- name='orthographic',
- type=ValueType(name='int'),
- doc='is camera orthographic',
- ),
- StructFieldDecl(
- name='fovy',
- type=ValueType(name='double'),
- doc='y-field of view',
- ),
- StructFieldDecl(
- name='ipd',
- type=ValueType(name='double'),
- doc='inter-pupilary distance',
- ),
- StructFieldDecl(
- name='intrinsic',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='camera intrinsics (length)',
- ),
- StructFieldDecl(
- name='sensor_size',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(2,),
- ),
- doc='sensor size (length)',
- ),
- StructFieldDecl(
- name='resolution',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(2,),
- ),
- doc='resolution (pixel)',
- ),
- StructFieldDecl(
- name='focal_length',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(2,),
- ),
- doc='focal length (length)',
- ),
- StructFieldDecl(
- name='focal_pixel',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(2,),
- ),
- doc='focal length (pixel)',
- ),
- StructFieldDecl(
- name='principal_length',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(2,),
- ),
- doc='principal point (length)',
- ),
- StructFieldDecl(
- name='principal_pixel',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(2,),
- ),
- doc='principal point (pixel)',
- ),
- StructFieldDecl(
- name='userdata',
- type=PointerType(
- inner_type=ValueType(name='mjDoubleVec'),
- ),
- doc='user data',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errors',
- ),
- ),
- )),
- ('mjsLight',
- StructDecl(
- name='mjsLight',
- declname='struct mjsLight_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='pos',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='position',
- ),
- StructFieldDecl(
- name='dir',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='direction',
- ),
- StructFieldDecl(
- name='mode',
- type=ValueType(name='mjtCamLight'),
- doc='tracking mode',
- ),
- StructFieldDecl(
- name='targetbody',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='target body for targeting',
- ),
- StructFieldDecl(
- name='active',
- type=ValueType(name='mjtByte'),
- doc='is light active',
- ),
- StructFieldDecl(
- name='directional',
- type=ValueType(name='mjtByte'),
- doc='is light directional or spot',
- ),
- StructFieldDecl(
- name='castshadow',
- type=ValueType(name='mjtByte'),
- doc='does light cast shadows',
- ),
- StructFieldDecl(
- name='bulbradius',
- type=ValueType(name='double'),
- doc='bulb radius, for soft shadows',
- ),
- StructFieldDecl(
- name='attenuation',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='OpenGL attenuation (quadratic model)',
- ),
- StructFieldDecl(
- name='cutoff',
- type=ValueType(name='float'),
- doc='OpenGL cutoff',
- ),
- StructFieldDecl(
- name='exponent',
- type=ValueType(name='float'),
- doc='OpenGL exponent',
- ),
- StructFieldDecl(
- name='ambient',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='ambient color',
- ),
- StructFieldDecl(
- name='diffuse',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='diffuse color',
- ),
- StructFieldDecl(
- name='specular',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='specular color',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errorsx',
- ),
- ),
- )),
- ('mjsFlex',
- StructDecl(
- name='mjsFlex',
- declname='struct mjsFlex_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='contype',
- type=ValueType(name='int'),
- doc='contact type',
- ),
- StructFieldDecl(
- name='conaffinity',
- type=ValueType(name='int'),
- doc='contact affinity',
- ),
- StructFieldDecl(
- name='condim',
- type=ValueType(name='int'),
- doc='contact dimensionality',
- ),
- StructFieldDecl(
- name='priority',
- type=ValueType(name='int'),
- doc='contact priority',
- ),
- StructFieldDecl(
- name='friction',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='one-sided friction coefficients: slide, roll, spin',
- ),
- StructFieldDecl(
- name='solmix',
- type=ValueType(name='double'),
- doc='solver mixing for contact pairs',
- ),
- StructFieldDecl(
- name='solref',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(2,),
- ),
- doc='solver reference',
- ),
- StructFieldDecl(
- name='solimp',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(5,),
- ),
- doc='solver impedance',
- ),
- StructFieldDecl(
- name='margin',
- type=ValueType(name='double'),
- doc='margin for contact detection',
- ),
- StructFieldDecl(
- name='gap',
- type=ValueType(name='double'),
- doc='include in solver if dist<margin-gap',
- ),
- StructFieldDecl(
- name='dim',
- type=ValueType(name='int'),
- doc='element dimensionality',
- ),
- StructFieldDecl(
- name='radius',
- type=ValueType(name='double'),
- doc='radius around primitive element',
- ),
- StructFieldDecl(
- name='internal',
- type=ValueType(name='mjtByte'),
- doc='enable internal collisions',
- ),
- StructFieldDecl(
- name='flatskin',
- type=ValueType(name='mjtByte'),
- doc='render flex skin with flat shading',
- ),
- StructFieldDecl(
- name='selfcollide',
- type=ValueType(name='int'),
- doc='mode for flex self colllision',
- ),
- StructFieldDecl(
- name='activelayers',
- type=ValueType(name='int'),
- doc='number of active element layers in 3D',
- ),
- StructFieldDecl(
- name='group',
- type=ValueType(name='int'),
- doc='group for visualizatioh',
- ),
- StructFieldDecl(
- name='edgestiffness',
- type=ValueType(name='double'),
- doc='edge stiffness',
- ),
- StructFieldDecl(
- name='edgedamping',
- type=ValueType(name='double'),
- doc='edge damping',
- ),
- StructFieldDecl(
- name='rgba',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='rgba when material is omitted',
- ),
- StructFieldDecl(
- name='material',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name of material used for rendering',
- ),
- StructFieldDecl(
- name='young',
- type=ValueType(name='double'),
- doc="Young's modulus",
- ),
- StructFieldDecl(
- name='poisson',
- type=ValueType(name='double'),
- doc="Poisson's ratio",
- ),
- StructFieldDecl(
- name='damping',
- type=ValueType(name='double'),
- doc="Rayleigh's damping",
- ),
- StructFieldDecl(
- name='thickness',
- type=ValueType(name='double'),
- doc='thickness (2D only)',
- ),
- StructFieldDecl(
- name='vertbody',
- type=PointerType(
- inner_type=ValueType(name='mjStringVec'),
- ),
- doc='vertex body names',
- ),
- StructFieldDecl(
- name='vert',
- type=PointerType(
- inner_type=ValueType(name='mjDoubleVec'),
- ),
- doc='vertex positions',
- ),
- StructFieldDecl(
- name='elem',
- type=PointerType(
- inner_type=ValueType(name='mjIntVec'),
- ),
- doc='element vertex ids',
- ),
- StructFieldDecl(
- name='texcoord',
- type=PointerType(
- inner_type=ValueType(name='mjFloatVec'),
- ),
- doc='vertex texture coordinates',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errors',
- ),
- ),
- )),
- ('mjsMesh',
- StructDecl(
- name='mjsMesh',
- declname='struct mjsMesh_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='content_type',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='content type of file',
- ),
- StructFieldDecl(
- name='file',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='mesh file',
- ),
- StructFieldDecl(
- name='refpos',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='reference position',
- ),
- StructFieldDecl(
- name='refquat',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(4,),
- ),
- doc='reference orientation',
- ),
- StructFieldDecl(
- name='scale',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='rescale mesh',
- ),
- StructFieldDecl(
- name='smoothnormal',
- type=ValueType(name='mjtByte'),
- doc='do not exclude large-angle faces from normals',
- ),
- StructFieldDecl(
- name='maxhullvert',
- type=ValueType(name='int'),
- doc='maximum vertex count for the convex hull',
- ),
- StructFieldDecl(
- name='uservert',
- type=PointerType(
- inner_type=ValueType(name='mjFloatVec'),
- ),
- doc='user vertex data',
- ),
- StructFieldDecl(
- name='usernormal',
- type=PointerType(
- inner_type=ValueType(name='mjFloatVec'),
- ),
- doc='user normal data',
- ),
- StructFieldDecl(
- name='usertexcoord',
- type=PointerType(
- inner_type=ValueType(name='mjFloatVec'),
- ),
- doc='user texcoord data',
- ),
- StructFieldDecl(
- name='userface',
- type=PointerType(
- inner_type=ValueType(name='mjIntVec'),
- ),
- doc='user vertex indices',
- ),
- StructFieldDecl(
- name='userfacenormal',
- type=PointerType(
- inner_type=ValueType(name='mjIntVec'),
- ),
- doc='user normal indices',
- ),
- StructFieldDecl(
- name='userfacetexcoord',
- type=PointerType(
- inner_type=ValueType(name='mjIntVec'),
- ),
- doc='user texcoord indices',
- ),
- StructFieldDecl(
- name='plugin',
- type=ValueType(name='mjsPlugin'),
- doc='sdf plugin',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errors',
- ),
- ),
- )),
- ('mjsHField',
- StructDecl(
- name='mjsHField',
- declname='struct mjsHField_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='content_type',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='content type of file',
- ),
- StructFieldDecl(
- name='file',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='file: (nrow, ncol, [elevation data])',
- ),
- StructFieldDecl(
- name='size',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(4,),
- ),
- doc='hfield size (ignore referencing geom size)',
- ),
- StructFieldDecl(
- name='nrow',
- type=ValueType(name='int'),
- doc='number of rows',
- ),
- StructFieldDecl(
- name='ncol',
- type=ValueType(name='int'),
- doc='number of columns',
- ),
- StructFieldDecl(
- name='userdata',
- type=PointerType(
- inner_type=ValueType(name='mjFloatVec'),
- ),
- doc='user-provided elevation data',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errors',
- ),
- ),
- )),
- ('mjsSkin',
- StructDecl(
- name='mjsSkin',
- declname='struct mjsSkin_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='file',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='skin file',
- ),
- StructFieldDecl(
- name='material',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name of material used for rendering',
- ),
- StructFieldDecl(
- name='rgba',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='rgba when material is omitted',
- ),
- StructFieldDecl(
- name='inflate',
- type=ValueType(name='float'),
- doc='inflate in normal direction',
- ),
- StructFieldDecl(
- name='group',
- type=ValueType(name='int'),
- doc='group for visualization',
- ),
- StructFieldDecl(
- name='vert',
- type=PointerType(
- inner_type=ValueType(name='mjFloatVec'),
- ),
- doc='vertex positions',
- ),
- StructFieldDecl(
- name='texcoord',
- type=PointerType(
- inner_type=ValueType(name='mjFloatVec'),
- ),
- doc='texture coordinates',
- ),
- StructFieldDecl(
- name='face',
- type=PointerType(
- inner_type=ValueType(name='mjIntVec'),
- ),
- doc='faces',
- ),
- StructFieldDecl(
- name='bodyname',
- type=PointerType(
- inner_type=ValueType(name='mjStringVec'),
- ),
- doc='body names',
- ),
- StructFieldDecl(
- name='bindpos',
- type=PointerType(
- inner_type=ValueType(name='mjFloatVec'),
- ),
- doc='bind pos',
- ),
- StructFieldDecl(
- name='bindquat',
- type=PointerType(
- inner_type=ValueType(name='mjFloatVec'),
- ),
- doc='bind quat',
- ),
- StructFieldDecl(
- name='vertid',
- type=PointerType(
- inner_type=ValueType(name='mjIntVecVec'),
- ),
- doc='vertex ids',
- ),
- StructFieldDecl(
- name='vertweight',
- type=PointerType(
- inner_type=ValueType(name='mjFloatVecVec'),
- ),
- doc='vertex weights',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errors',
- ),
- ),
- )),
- ('mjsTexture',
- StructDecl(
- name='mjsTexture',
- declname='struct mjsTexture_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='type',
- type=ValueType(name='mjtTexture'),
- doc='texture type',
- ),
- StructFieldDecl(
- name='builtin',
- type=ValueType(name='int'),
- doc='builtin type (mjtBuiltin)',
- ),
- StructFieldDecl(
- name='mark',
- type=ValueType(name='int'),
- doc='mark type (mjtMark)',
- ),
- StructFieldDecl(
- name='rgb1',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='first color for builtin',
- ),
- StructFieldDecl(
- name='rgb2',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='second color for builtin',
- ),
- StructFieldDecl(
- name='markrgb',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(3,),
- ),
- doc='mark color',
- ),
- StructFieldDecl(
- name='random',
- type=ValueType(name='double'),
- doc='probability of random dots',
- ),
- StructFieldDecl(
- name='height',
- type=ValueType(name='int'),
- doc='height in pixels (square for cube and skybox)',
- ),
- StructFieldDecl(
- name='width',
- type=ValueType(name='int'),
- doc='width in pixels',
- ),
- StructFieldDecl(
- name='nchannel',
- type=ValueType(name='int'),
- doc='number of channels',
- ),
- StructFieldDecl(
- name='content_type',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='content type of file',
- ),
- StructFieldDecl(
- name='file',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='png file to load; use for all sides of cube',
- ),
- StructFieldDecl(
- name='gridsize',
- type=ArrayType(
- inner_type=ValueType(name='int'),
- extents=(2,),
- ),
- doc='size of grid for composite file; (1,1)-repeat',
- ),
- StructFieldDecl(
- name='gridlayout',
- type=ArrayType(
- inner_type=ValueType(name='char'),
- extents=(13,),
- ),
- doc='row-major: L,R,F,B,U,D for faces; . for unused',
- ),
- StructFieldDecl(
- name='cubefiles',
- type=PointerType(
- inner_type=ValueType(name='mjStringVec'),
- ),
- doc='different file for each side of the cube',
- ),
- StructFieldDecl(
- name='data',
- type=PointerType(
- inner_type=ValueType(name='mjByteVec'),
- ),
- doc='texture data',
- ),
- StructFieldDecl(
- name='hflip',
- type=ValueType(name='mjtByte'),
- doc='horizontal flip',
- ),
- StructFieldDecl(
- name='vflip',
- type=ValueType(name='mjtByte'),
- doc='vertical flip',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errors',
- ),
- ),
- )),
- ('mjsMaterial',
- StructDecl(
- name='mjsMaterial',
- declname='struct mjsMaterial_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='textures',
- type=PointerType(
- inner_type=ValueType(name='mjStringVec'),
- ),
- doc='names of textures (empty: none)',
- ),
- StructFieldDecl(
- name='texuniform',
- type=ValueType(name='mjtByte'),
- doc='make texture cube uniform',
- ),
- StructFieldDecl(
- name='texrepeat',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(2,),
- ),
- doc='texture repetition for 2D mapping',
- ),
- StructFieldDecl(
- name='emission',
- type=ValueType(name='float'),
- doc='emission',
- ),
- StructFieldDecl(
- name='specular',
- type=ValueType(name='float'),
- doc='specular',
- ),
- StructFieldDecl(
- name='shininess',
- type=ValueType(name='float'),
- doc='shininess',
- ),
- StructFieldDecl(
- name='reflectance',
- type=ValueType(name='float'),
- doc='reflectance',
- ),
- StructFieldDecl(
- name='metallic',
- type=ValueType(name='float'),
- doc='metallic',
- ),
- StructFieldDecl(
- name='roughness',
- type=ValueType(name='float'),
- doc='roughness',
- ),
- StructFieldDecl(
- name='rgba',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='rgba',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errors',
- ),
- ),
- )),
- ('mjsPair',
- StructDecl(
- name='mjsPair',
- declname='struct mjsPair_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='geomname1',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name of geom 1',
- ),
- StructFieldDecl(
- name='geomname2',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name of geom 2',
- ),
- StructFieldDecl(
- name='condim',
- type=ValueType(name='int'),
- doc='contact dimensionality',
- ),
- StructFieldDecl(
- name='solref',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(2,),
- ),
- doc='solver reference, normal direction',
- ),
- StructFieldDecl(
- name='solreffriction',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(2,),
- ),
- doc='solver reference, frictional directions',
- ),
- StructFieldDecl(
- name='solimp',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(5,),
- ),
- doc='solver impedance',
- ),
- StructFieldDecl(
- name='margin',
- type=ValueType(name='double'),
- doc='margin for contact detection',
- ),
- StructFieldDecl(
- name='gap',
- type=ValueType(name='double'),
- doc='include in solver if dist<margin-gap',
- ),
- StructFieldDecl(
- name='friction',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(5,),
- ),
- doc='full contact friction',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to errors',
- ),
- ),
- )),
- ('mjsExclude',
- StructDecl(
- name='mjsExclude',
- declname='struct mjsExclude_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='bodyname1',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name of geom 1',
- ),
- StructFieldDecl(
- name='bodyname2',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name of geom 2',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to errors',
- ),
- ),
- )),
- ('mjsEquality',
- StructDecl(
- name='mjsEquality',
- declname='struct mjsEquality_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='type',
- type=ValueType(name='mjtEq'),
- doc='constraint type',
- ),
- StructFieldDecl(
- name='data',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(11,),
- ),
- doc='type-dependent data',
- ),
- StructFieldDecl(
- name='active',
- type=ValueType(name='mjtByte'),
- doc='is equality initially active',
- ),
- StructFieldDecl(
- name='name1',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name of object 1',
- ),
- StructFieldDecl(
- name='name2',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name of object 2',
- ),
- StructFieldDecl(
- name='objtype',
- type=ValueType(name='mjtObj'),
- doc='type of both objects',
- ),
- StructFieldDecl(
- name='solref',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(2,),
- ),
- doc='solver reference',
- ),
- StructFieldDecl(
- name='solimp',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(5,),
- ),
- doc='solver impedance',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to errors',
- ),
- ),
- )),
- ('mjsTendon',
- StructDecl(
- name='mjsTendon',
- declname='struct mjsTendon_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='stiffness',
- type=ValueType(name='double'),
- doc='stiffness coefficient',
- ),
- StructFieldDecl(
- name='springlength',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(2,),
- ),
- doc='spring resting length; {-1, -1}: use qpos_spring',
- ),
- StructFieldDecl(
- name='damping',
- type=ValueType(name='double'),
- doc='damping coefficient',
- ),
- StructFieldDecl(
- name='frictionloss',
- type=ValueType(name='double'),
- doc='friction loss',
- ),
- StructFieldDecl(
- name='solref_friction',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(2,),
- ),
- doc='solver reference: tendon friction',
- ),
- StructFieldDecl(
- name='solimp_friction',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(5,),
- ),
- doc='solver impedance: tendon friction',
- ),
- StructFieldDecl(
- name='limited',
- type=ValueType(name='int'),
- doc='does tendon have limits (mjtLimited)',
- ),
- StructFieldDecl(
- name='range',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(2,),
- ),
- doc='length limits',
- ),
- StructFieldDecl(
- name='margin',
- type=ValueType(name='double'),
- doc='margin value for tendon limit detection',
- ),
- StructFieldDecl(
- name='solref_limit',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(2,),
- ),
- doc='solver reference: tendon limits',
- ),
- StructFieldDecl(
- name='solimp_limit',
- type=ArrayType(
- inner_type=ValueType(name='mjtNum'),
- extents=(5,),
- ),
- doc='solver impedance: tendon limits',
- ),
- StructFieldDecl(
- name='material',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name of material for rendering',
- ),
- StructFieldDecl(
- name='width',
- type=ValueType(name='double'),
- doc='width for rendering',
- ),
- StructFieldDecl(
- name='rgba',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(4,),
- ),
- doc='rgba when material is omitted',
- ),
- StructFieldDecl(
- name='group',
- type=ValueType(name='int'),
- doc='group',
- ),
- StructFieldDecl(
- name='userdata',
- type=PointerType(
- inner_type=ValueType(name='mjDoubleVec'),
- ),
- doc='user data',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to errors',
- ),
- ),
- )),
- ('mjsWrap',
- StructDecl(
- name='mjsWrap',
- declname='struct mjsWrap_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to errors',
- ),
- ),
- )),
- ('mjsActuator',
- StructDecl(
- name='mjsActuator',
- declname='struct mjsActuator_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='gaintype',
- type=ValueType(name='mjtGain'),
- doc='gain type',
- ),
- StructFieldDecl(
- name='gainprm',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(10,),
- ),
- doc='gain parameters',
- ),
- StructFieldDecl(
- name='biastype',
- type=ValueType(name='mjtBias'),
- doc='bias type',
- ),
- StructFieldDecl(
- name='biasprm',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(10,),
- ),
- doc='bias parameters',
- ),
- StructFieldDecl(
- name='dyntype',
- type=ValueType(name='mjtDyn'),
- doc='dynamics type',
- ),
- StructFieldDecl(
- name='dynprm',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(10,),
- ),
- doc='dynamics parameters',
- ),
- StructFieldDecl(
- name='actdim',
- type=ValueType(name='int'),
- doc='number of activation variables',
- ),
- StructFieldDecl(
- name='actearly',
- type=ValueType(name='mjtByte'),
- doc='apply next activations to qfrc',
- ),
- StructFieldDecl(
- name='trntype',
- type=ValueType(name='mjtTrn'),
- doc='transmission type',
- ),
- StructFieldDecl(
- name='gear',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(6,),
- ),
- doc='length and transmitted force scaling',
- ),
- StructFieldDecl(
- name='target',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name of transmission target',
- ),
- StructFieldDecl(
- name='refsite',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='reference site, for site transmission',
- ),
- StructFieldDecl(
- name='slidersite',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='site defining cylinder, for slider-crank',
- ),
- StructFieldDecl(
- name='cranklength',
- type=ValueType(name='double'),
- doc='crank length, for slider-crank',
- ),
- StructFieldDecl(
- name='lengthrange',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(2,),
- ),
- doc='transmission length range',
- ),
- StructFieldDecl(
- name='inheritrange',
- type=ValueType(name='double'),
- doc='automatic range setting for position and intvelocity',
- ),
- StructFieldDecl(
- name='ctrllimited',
- type=ValueType(name='int'),
- doc='are control limits defined (mjtLimited)',
- ),
- StructFieldDecl(
- name='ctrlrange',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(2,),
- ),
- doc='control range',
- ),
- StructFieldDecl(
- name='forcelimited',
- type=ValueType(name='int'),
- doc='are force limits defined (mjtLimited)',
- ),
- StructFieldDecl(
- name='forcerange',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(2,),
- ),
- doc='force range',
- ),
- StructFieldDecl(
- name='actlimited',
- type=ValueType(name='int'),
- doc='are activation limits defined (mjtLimited)',
- ),
- StructFieldDecl(
- name='actrange',
- type=ArrayType(
- inner_type=ValueType(name='double'),
- extents=(2,),
- ),
- doc='activation range',
- ),
- StructFieldDecl(
- name='group',
- type=ValueType(name='int'),
- doc='group',
- ),
- StructFieldDecl(
- name='userdata',
- type=PointerType(
- inner_type=ValueType(name='mjDoubleVec'),
- ),
- doc='user data',
- ),
- StructFieldDecl(
- name='plugin',
- type=ValueType(name='mjsPlugin'),
- doc='actuator plugin',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errors',
- ),
- ),
- )),
- ('mjsSensor',
- StructDecl(
- name='mjsSensor',
- declname='struct mjsSensor_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='type',
- type=ValueType(name='mjtSensor'),
- doc='type of sensor',
- ),
- StructFieldDecl(
- name='objtype',
- type=ValueType(name='mjtObj'),
- doc='type of sensorized object',
- ),
- StructFieldDecl(
- name='objname',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name of sensorized object',
- ),
- StructFieldDecl(
- name='reftype',
- type=ValueType(name='mjtObj'),
- doc='type of referenced object',
- ),
- StructFieldDecl(
- name='refname',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name of referenced object',
- ),
- StructFieldDecl(
- name='datatype',
- type=ValueType(name='mjtDataType'),
- doc='data type for sensor measurement',
- ),
- StructFieldDecl(
- name='needstage',
- type=ValueType(name='mjtStage'),
- doc='compute stage needed to simulate sensor',
- ),
- StructFieldDecl(
- name='dim',
- type=ValueType(name='int'),
- doc='number of scalar outputs',
- ),
- StructFieldDecl(
- name='cutoff',
- type=ValueType(name='double'),
- doc='cutoff for real and positive datatypes',
- ),
- StructFieldDecl(
- name='noise',
- type=ValueType(name='double'),
- doc='noise stdev',
- ),
- StructFieldDecl(
- name='userdata',
- type=PointerType(
- inner_type=ValueType(name='mjDoubleVec'),
- ),
- doc='user data',
- ),
- StructFieldDecl(
- name='plugin',
- type=ValueType(name='mjsPlugin'),
- doc='sensor plugin',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errors',
- ),
- ),
- )),
- ('mjsNumeric',
- StructDecl(
- name='mjsNumeric',
- declname='struct mjsNumeric_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='data',
- type=PointerType(
- inner_type=ValueType(name='mjDoubleVec'),
- ),
- doc='initialization data',
- ),
- StructFieldDecl(
- name='size',
- type=ValueType(name='int'),
- doc='array size, can be bigger than data size',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errors',
- ),
- ),
- )),
- ('mjsText',
- StructDecl(
- name='mjsText',
- declname='struct mjsText_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='data',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='text string',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errors',
- ),
- ),
- )),
- ('mjsTuple',
- StructDecl(
- name='mjsTuple',
- declname='struct mjsTuple_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='objtype',
- type=PointerType(
- inner_type=ValueType(name='mjIntVec'),
- ),
- doc='object types',
- ),
- StructFieldDecl(
- name='objname',
- type=PointerType(
- inner_type=ValueType(name='mjStringVec'),
- ),
- doc='object names',
- ),
- StructFieldDecl(
- name='objprm',
- type=PointerType(
- inner_type=ValueType(name='mjDoubleVec'),
- ),
- doc='object parameters',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errors',
- ),
- ),
- )),
- ('mjsKey',
- StructDecl(
- name='mjsKey',
- declname='struct mjsKey_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='time',
- type=ValueType(name='double'),
- doc='time',
- ),
- StructFieldDecl(
- name='qpos',
- type=PointerType(
- inner_type=ValueType(name='mjDoubleVec'),
- ),
- doc='qpos',
- ),
- StructFieldDecl(
- name='qvel',
- type=PointerType(
- inner_type=ValueType(name='mjDoubleVec'),
- ),
- doc='qvel',
- ),
- StructFieldDecl(
- name='act',
- type=PointerType(
- inner_type=ValueType(name='mjDoubleVec'),
- ),
- doc='act',
- ),
- StructFieldDecl(
- name='mpos',
- type=PointerType(
- inner_type=ValueType(name='mjDoubleVec'),
- ),
- doc='mocap pos',
- ),
- StructFieldDecl(
- name='mquat',
- type=PointerType(
- inner_type=ValueType(name='mjDoubleVec'),
- ),
- doc='mocap quat',
- ),
- StructFieldDecl(
- name='ctrl',
- type=PointerType(
- inner_type=ValueType(name='mjDoubleVec'),
- ),
- doc='ctrl',
- ),
- StructFieldDecl(
- name='info',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='message appended to compiler errors',
- ),
- ),
- )),
- ('mjsDefault',
- StructDecl(
- name='mjsDefault',
- declname='struct mjsDefault_',
- fields=(
- StructFieldDecl(
- name='element',
- type=PointerType(
- inner_type=ValueType(name='mjsElement'),
- ),
- doc='element type',
- ),
- StructFieldDecl(
- name='name',
- type=PointerType(
- inner_type=ValueType(name='mjString'),
- ),
- doc='class name',
- ),
- StructFieldDecl(
- name='joint',
- type=PointerType(
- inner_type=ValueType(name='mjsJoint'),
- ),
- doc='joint defaults',
- ),
- StructFieldDecl(
- name='geom',
- type=PointerType(
- inner_type=ValueType(name='mjsGeom'),
- ),
- doc='geom defaults',
- ),
- StructFieldDecl(
- name='site',
- type=PointerType(
- inner_type=ValueType(name='mjsSite'),
- ),
- doc='site defaults',
- ),
- StructFieldDecl(
- name='camera',
- type=PointerType(
- inner_type=ValueType(name='mjsCamera'),
- ),
- doc='camera defaults',
- ),
- StructFieldDecl(
- name='light',
- type=PointerType(
- inner_type=ValueType(name='mjsLight'),
- ),
- doc='light defaults',
- ),
- StructFieldDecl(
- name='flex',
- type=PointerType(
- inner_type=ValueType(name='mjsFlex'),
- ),
- doc='flex defaults',
- ),
- StructFieldDecl(
- name='mesh',
- type=PointerType(
- inner_type=ValueType(name='mjsMesh'),
- ),
- doc='mesh defaults',
- ),
- StructFieldDecl(
- name='material',
- type=PointerType(
- inner_type=ValueType(name='mjsMaterial'),
- ),
- doc='material defaults',
- ),
- StructFieldDecl(
- name='pair',
- type=PointerType(
- inner_type=ValueType(name='mjsPair'),
- ),
- doc='pair defaults',
- ),
- StructFieldDecl(
- name='equality',
- type=PointerType(
- inner_type=ValueType(name='mjsEquality'),
- ),
- doc='equality defaults',
- ),
- StructFieldDecl(
- name='tendon',
- type=PointerType(
- inner_type=ValueType(name='mjsTendon'),
- ),
- doc='tendon defaults',
- ),
- StructFieldDecl(
- name='actuator',
- type=PointerType(
- inner_type=ValueType(name='mjsActuator'),
- ),
- doc='actuator defaults',
- ),
- ),
- )),
- ('mjuiState',
- StructDecl(
- name='mjuiState',
- declname='struct mjuiState_',
- fields=(
- StructFieldDecl(
- name='nrect',
- type=ValueType(name='int'),
- doc='number of rectangles used',
- ),
- StructFieldDecl(
- name='rect',
- type=ArrayType(
- inner_type=ValueType(name='mjrRect'),
- extents=(25,),
- ),
- doc='rectangles (index 0: entire window)',
- ),
- StructFieldDecl(
- name='userdata',
- type=PointerType(
- inner_type=ValueType(name='void'),
- ),
- doc='pointer to user data (for callbacks)',
- ),
- StructFieldDecl(
- name='type',
- type=ValueType(name='int'),
- doc='(type mjtEvent)',
- ),
- StructFieldDecl(
- name='left',
- type=ValueType(name='int'),
- doc='is left button down',
- ),
- StructFieldDecl(
- name='right',
- type=ValueType(name='int'),
- doc='is right button down',
- ),
- StructFieldDecl(
- name='middle',
- type=ValueType(name='int'),
- doc='is middle button down',
- ),
- StructFieldDecl(
- name='doubleclick',
- type=ValueType(name='int'),
- doc='is last press a double click',
- ),
- StructFieldDecl(
- name='button',
- type=ValueType(name='int'),
- doc='which button was pressed (mjtButton)',
- ),
- StructFieldDecl(
- name='buttontime',
- type=ValueType(name='double'),
- doc='time of last button press',
- ),
- StructFieldDecl(
- name='x',
- type=ValueType(name='double'),
- doc='x position',
- ),
- StructFieldDecl(
- name='y',
- type=ValueType(name='double'),
- doc='y position',
- ),
- StructFieldDecl(
- name='dx',
- type=ValueType(name='double'),
- doc='x displacement',
- ),
- StructFieldDecl(
- name='dy',
- type=ValueType(name='double'),
- doc='y displacement',
- ),
- StructFieldDecl(
- name='sx',
- type=ValueType(name='double'),
- doc='x scroll',
- ),
- StructFieldDecl(
- name='sy',
- type=ValueType(name='double'),
- doc='y scroll',
- ),
- StructFieldDecl(
- name='control',
- type=ValueType(name='int'),
- doc='is control down',
- ),
- StructFieldDecl(
- name='shift',
- type=ValueType(name='int'),
- doc='is shift down',
- ),
- StructFieldDecl(
- name='alt',
- type=ValueType(name='int'),
- doc='is alt down',
- ),
- StructFieldDecl(
- name='key',
- type=ValueType(name='int'),
- doc='which key was pressed',
- ),
- StructFieldDecl(
- name='keytime',
- type=ValueType(name='double'),
- doc='time of last key press',
- ),
- StructFieldDecl(
- name='mouserect',
- type=ValueType(name='int'),
- doc='which rectangle contains mouse',
- ),
- StructFieldDecl(
- name='dragrect',
- type=ValueType(name='int'),
- doc='which rectangle is dragged with mouse',
- ),
- StructFieldDecl(
- name='dragbutton',
- type=ValueType(name='int'),
- doc='which button started drag (mjtButton)',
- ),
- StructFieldDecl(
- name='dropcount',
- type=ValueType(name='int'),
- doc='number of files dropped',
- ),
- StructFieldDecl(
- name='droppaths',
- type=PointerType(
- inner_type=PointerType(
- inner_type=ValueType(name='char', is_const=True),
- ),
- ),
- doc='paths to files dropped',
- ),
- ),
- )),
- ('mjuiThemeSpacing',
- StructDecl(
- name='mjuiThemeSpacing',
- declname='struct mjuiThemeSpacing_',
- fields=(
- StructFieldDecl(
- name='total',
- type=ValueType(name='int'),
- doc='total width',
- ),
- StructFieldDecl(
- name='scroll',
- type=ValueType(name='int'),
- doc='scrollbar width',
- ),
- StructFieldDecl(
- name='label',
- type=ValueType(name='int'),
- doc='label width',
- ),
- StructFieldDecl(
- name='section',
- type=ValueType(name='int'),
- doc='section gap',
- ),
- StructFieldDecl(
- name='cornersect',
- type=ValueType(name='int'),
- doc='corner radius for section',
- ),
- StructFieldDecl(
- name='cornersep',
- type=ValueType(name='int'),
- doc='corner radius for separator',
- ),
- StructFieldDecl(
- name='itemside',
- type=ValueType(name='int'),
- doc='item side gap',
- ),
- StructFieldDecl(
- name='itemmid',
- type=ValueType(name='int'),
- doc='item middle gap',
- ),
- StructFieldDecl(
- name='itemver',
- type=ValueType(name='int'),
- doc='item vertical gap',
- ),
- StructFieldDecl(
- name='texthor',
- type=ValueType(name='int'),
- doc='text horizontal gap',
- ),
- StructFieldDecl(
- name='textver',
- type=ValueType(name='int'),
- doc='text vertical gap',
- ),
- StructFieldDecl(
- name='linescroll',
- type=ValueType(name='int'),
- doc='number of pixels to scroll',
- ),
- StructFieldDecl(
- name='samples',
- type=ValueType(name='int'),
- doc='number of multisamples',
- ),
- ),
- )),
- ('mjuiThemeColor',
- StructDecl(
- name='mjuiThemeColor',
- declname='struct mjuiThemeColor_',
- fields=(
- StructFieldDecl(
- name='master',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='master background',
- ),
- StructFieldDecl(
- name='thumb',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='scrollbar thumb',
- ),
- StructFieldDecl(
- name='secttitle',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='section title',
- ),
- StructFieldDecl(
- name='secttitle2',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='section title: bottom color',
- ),
- StructFieldDecl(
- name='secttitleuncheck',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='section title with unchecked box',
- ),
- StructFieldDecl(
- name='secttitleuncheck2',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='section title with unchecked box: bottom color',
- ),
- StructFieldDecl(
- name='secttitlecheck',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='section title with checked box',
- ),
- StructFieldDecl(
- name='secttitlecheck2',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='section title with checked box: bottom color',
- ),
- StructFieldDecl(
- name='sectfont',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='section font',
- ),
- StructFieldDecl(
- name='sectsymbol',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='section symbol',
- ),
- StructFieldDecl(
- name='sectpane',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='section pane',
- ),
- StructFieldDecl(
- name='separator',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='separator title',
- ),
- StructFieldDecl(
- name='separator2',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='separator title: bottom color',
- ),
- StructFieldDecl(
- name='shortcut',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='shortcut background',
- ),
- StructFieldDecl(
- name='fontactive',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='font active',
- ),
- StructFieldDecl(
- name='fontinactive',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='font inactive',
- ),
- StructFieldDecl(
- name='decorinactive',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='decor inactive',
- ),
- StructFieldDecl(
- name='decorinactive2',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='inactive slider color 2',
- ),
- StructFieldDecl(
- name='button',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='button',
- ),
- StructFieldDecl(
- name='check',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='check',
- ),
- StructFieldDecl(
- name='radio',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='radio',
- ),
- StructFieldDecl(
- name='select',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='select',
- ),
- StructFieldDecl(
- name='select2',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='select pane',
- ),
- StructFieldDecl(
- name='slider',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='slider',
- ),
- StructFieldDecl(
- name='slider2',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='slider color 2',
- ),
- StructFieldDecl(
- name='edit',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='edit',
- ),
- StructFieldDecl(
- name='edit2',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='edit invalid',
- ),
- StructFieldDecl(
- name='cursor',
- type=ArrayType(
- inner_type=ValueType(name='float'),
- extents=(3,),
- ),
- doc='edit cursor',
- ),
- ),
- )),
- ('mjuiItem',
- StructDecl(
- name='mjuiItem',
- declname='struct mjuiItem_',
- fields=(
- StructFieldDecl(
- name='type',
- type=ValueType(name='int'),
- doc='type (mjtItem)',
- ),
- StructFieldDecl(
- name='name',
- type=ArrayType(
- inner_type=ValueType(name='char'),
- extents=(40,),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='state',
- type=ValueType(name='int'),
- doc='0: disable, 1: enable, 2+: use predicate',
- ),
- StructFieldDecl(
- name='pdata',
- type=PointerType(
- inner_type=ValueType(name='void'),
- ),
- doc='data pointer (type-specific)',
- ),
- StructFieldDecl(
- name='sectionid',
- type=ValueType(name='int'),
- doc='id of section containing item',
- ),
- StructFieldDecl(
- name='itemid',
- type=ValueType(name='int'),
- doc='id of item within section',
- ),
- StructFieldDecl(
- name='userid',
- type=ValueType(name='int'),
- doc='user-supplied id (for event handling)',
- ),
- AnonymousUnionDecl(
- fields=(
- StructFieldDecl(
- name='single',
- type=ValueType(name='struct mjuiItemSingle_'),
- doc='check and button',
- ),
- StructFieldDecl(
- name='multi',
- type=ValueType(name='struct mjuiItemMulti_'),
- doc='static, radio and select',
- ),
- StructFieldDecl(
- name='slider',
- type=ValueType(name='struct mjuiItemSlider_'),
- doc='slider',
- ),
- StructFieldDecl(
- name='edit',
- type=ValueType(name='struct mjuiItemEdit_'),
- doc='edit',
- ),
- ),
- ),
- StructFieldDecl(
- name='rect',
- type=ValueType(name='mjrRect'),
- doc='rectangle occupied by item',
- ),
- StructFieldDecl(
- name='skip',
- type=ValueType(name='int'),
- doc='item skipped due to closed separator',
- ),
- ),
- )),
- ('mjuiSection',
- StructDecl(
- name='mjuiSection',
- declname='struct mjuiSection_',
- fields=(
- StructFieldDecl(
- name='name',
- type=ArrayType(
- inner_type=ValueType(name='char'),
- extents=(40,),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='state',
- type=ValueType(name='int'),
- doc='section state (mjtSection)',
- ),
- StructFieldDecl(
- name='modifier',
- type=ValueType(name='int'),
- doc='0: none, 1: control, 2: shift; 4: alt',
- ),
- StructFieldDecl(
- name='shortcut',
- type=ValueType(name='int'),
- doc='shortcut key; 0: undefined',
- ),
- StructFieldDecl(
- name='checkbox',
- type=ValueType(name='int'),
- doc='0: none, 1: unchecked, 2: checked',
- ),
- StructFieldDecl(
- name='nitem',
- type=ValueType(name='int'),
- doc='number of items in use',
- ),
- StructFieldDecl(
- name='item',
- type=ArrayType(
- inner_type=ValueType(name='mjuiItem'),
- extents=(200,),
- ),
- doc='preallocated array of items',
- ),
- StructFieldDecl(
- name='rtitle',
- type=ValueType(name='mjrRect'),
- doc='rectangle occupied by title',
- ),
- StructFieldDecl(
- name='rcontent',
- type=ValueType(name='mjrRect'),
- doc='rectangle occupied by content',
- ),
- StructFieldDecl(
- name='lastclick',
- type=ValueType(name='int'),
- doc='last mouse click over this section',
- ),
- ),
- )),
- ('mjUI',
- StructDecl(
- name='mjUI',
- declname='struct mjUI_',
- fields=(
- StructFieldDecl(
- name='spacing',
- type=ValueType(name='mjuiThemeSpacing'),
- doc='UI theme spacing',
- ),
- StructFieldDecl(
- name='color',
- type=ValueType(name='mjuiThemeColor'),
- doc='UI theme color',
- ),
- StructFieldDecl(
- name='predicate',
- type=ValueType(name='mjfItemEnable'),
- doc='callback to set item state programmatically',
- ),
- StructFieldDecl(
- name='userdata',
- type=PointerType(
- inner_type=ValueType(name='void'),
- ),
- doc='pointer to user data (passed to predicate)',
- ),
- StructFieldDecl(
- name='rectid',
- type=ValueType(name='int'),
- doc='index of this ui rectangle in mjuiState',
- ),
- StructFieldDecl(
- name='auxid',
- type=ValueType(name='int'),
- doc='aux buffer index of this ui',
- ),
- StructFieldDecl(
- name='radiocol',
- type=ValueType(name='int'),
- doc='number of radio columns (0 defaults to 2)',
- ),
- StructFieldDecl(
- name='width',
- type=ValueType(name='int'),
- doc='width',
- ),
- StructFieldDecl(
- name='height',
- type=ValueType(name='int'),
- doc='current heigth',
- ),
- StructFieldDecl(
- name='maxheight',
- type=ValueType(name='int'),
- doc='height when all sections open',
- ),
- StructFieldDecl(
- name='scroll',
- type=ValueType(name='int'),
- doc='scroll from top of UI',
- ),
- StructFieldDecl(
- name='mousesect',
- type=ValueType(name='int'),
- doc='0: none, -1: scroll, otherwise 1+section',
- ),
- StructFieldDecl(
- name='mouseitem',
- type=ValueType(name='int'),
- doc='item within section',
- ),
- StructFieldDecl(
- name='mousehelp',
- type=ValueType(name='int'),
- doc='help button down: print shortcuts',
- ),
- StructFieldDecl(
- name='mouseclicks',
- type=ValueType(name='int'),
- doc='number of mouse clicks over UI',
- ),
- StructFieldDecl(
- name='mousesectcheck',
- type=ValueType(name='int'),
- doc='0: none, otherwise 1+section',
- ),
- StructFieldDecl(
- name='editsect',
- type=ValueType(name='int'),
- doc='0: none, otherwise 1+section',
- ),
- StructFieldDecl(
- name='edititem',
- type=ValueType(name='int'),
- doc='item within section',
- ),
- StructFieldDecl(
- name='editcursor',
- type=ValueType(name='int'),
- doc='cursor position',
- ),
- StructFieldDecl(
- name='editscroll',
- type=ValueType(name='int'),
- doc='horizontal scroll',
- ),
- StructFieldDecl(
- name='edittext',
- type=ArrayType(
- inner_type=ValueType(name='char'),
- extents=(300,),
- ),
- doc='current text',
- ),
- StructFieldDecl(
- name='editchanged',
- type=PointerType(
- inner_type=ValueType(name='mjuiItem'),
- ),
- doc='pointer to changed edit in last mjui_event',
- ),
- StructFieldDecl(
- name='nsect',
- type=ValueType(name='int'),
- doc='number of sections in use',
- ),
- StructFieldDecl(
- name='sect',
- type=ArrayType(
- inner_type=ValueType(name='mjuiSection'),
- extents=(10,),
- ),
- doc='preallocated array of sections',
- ),
- ),
- )),
- ('mjuiDef',
- StructDecl(
- name='mjuiDef',
- declname='struct mjuiDef_',
- fields=(
- StructFieldDecl(
- name='type',
- type=ValueType(name='int'),
- doc='type (mjtItem); -1: section',
- ),
- StructFieldDecl(
- name='name',
- type=ArrayType(
- inner_type=ValueType(name='char'),
- extents=(40,),
- ),
- doc='name',
- ),
- StructFieldDecl(
- name='state',
- type=ValueType(name='int'),
- doc='state',
- ),
- StructFieldDecl(
- name='pdata',
- type=PointerType(
- inner_type=ValueType(name='void'),
- ),
- doc='pointer to data',
- ),
- StructFieldDecl(
- name='other',
- type=ArrayType(
- inner_type=ValueType(name='char'),
- extents=(300,),
- ),
- doc='string with type-specific properties',
- ),
- StructFieldDecl(
- name='otherint',
- type=ValueType(name='int'),
- doc='int with type-specific properties',
- ),
- ),
- )),
- ])
|