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