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| | <li class="toctree-l2"><a class="reference internal" href="#mjsim-basic-simulation">MjSim: Basic simulation</a></li> |
| | <li class="toctree-l2"><a class="reference internal" href="#pymjdata-time-dependent-data">PyMjData: Time-dependent data</a></li> |
| | <li class="toctree-l2"><a class="reference internal" href="#mjsimpool-batched-simulation">MjSimPool: Batched simulation</a></li> |
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| | <div class="section" id="api-reference"> |
| | <h1>API reference<a class="headerlink" href="#api-reference" title="Permalink to this headline">¶</a></h1> |
| | <div class="contents local topic" id="contents"> |
| | <ul class="simple"> |
| | <li><a class="reference internal" href="#mjsim-basic-simulation" id="id1">MjSim: Basic simulation</a></li> |
| | <li><a class="reference internal" href="#pymjdata-time-dependent-data" id="id2">PyMjData: Time-dependent data</a></li> |
| | <li><a class="reference internal" href="#mjsimpool-batched-simulation" id="id3">MjSimPool: Batched simulation</a></li> |
| | <li><a class="reference internal" href="#mjviewer-3d-rendering" id="id4">MjViewer: 3D rendering</a></li> |
| | </ul> |
| | </div> |
| | <div class="section" id="mjsim-basic-simulation"> |
| | <h2><a class="toc-backref" href="#id1">MjSim: Basic simulation</a><a class="headerlink" href="#mjsim-basic-simulation" title="Permalink to this headline">¶</a></h2> |
| | <dl class="function"> |
| | <dt id="mujoco_py.load_model_from_path"> |
| | <code class="descclassname">mujoco_py.</code><code class="descname">load_model_from_path</code><span class="sig-paren">(</span><em>path</em><span class="sig-paren">)</span><a class="headerlink" href="#mujoco_py.load_model_from_path" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Loads model from path.</p> |
| | </dd></dl> |
| |
|
| | <dl class="function"> |
| | <dt id="mujoco_py.load_model_from_xml"> |
| | <code class="descclassname">mujoco_py.</code><code class="descname">load_model_from_xml</code><span class="sig-paren">(</span><em>xml_string</em><span class="sig-paren">)</span><a class="headerlink" href="#mujoco_py.load_model_from_xml" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Loads and returns a PyMjModel model from a string containing XML markup. |
| | Saves the XML string used to create the returned model in <cite>model.xml</cite>.</p> |
| | </dd></dl> |
| |
|
| | <dl class="function"> |
| | <dt id="mujoco_py.load_model_from_mjb"> |
| | <code class="descclassname">mujoco_py.</code><code class="descname">load_model_from_mjb</code><span class="sig-paren">(</span><em>path</em><span class="sig-paren">)</span><a class="headerlink" href="#mujoco_py.load_model_from_mjb" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Loads and returns a PyMjModel model from bytes encoded MJB. |
| | MJB is a MuJoCo-custom format that includes assets like meshes/textures.</p> |
| | </dd></dl> |
| |
|
| | <dl class="class"> |
| | <dt id="mujoco_py.MjSim"> |
| | <em class="property">class </em><code class="descclassname">mujoco_py.</code><code class="descname">MjSim</code><span class="sig-paren">(</span><em>model</em>, <em>data=None</em>, <em>nsubsteps=1</em>, <em>udd_callback=None</em><span class="sig-paren">)</span><a class="headerlink" href="#mujoco_py.MjSim" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>MjSim represents a running simulation including its state.</p> |
| | <p>Similar to Gym’s <code class="docutils literal"><span class="pre">MujocoEnv</span></code>, it internally wraps a <code class="xref py py-class docutils literal"><span class="pre">PyMjModel</span></code> |
| | and a <code class="xref py py-class docutils literal"><span class="pre">PyMjData</span></code>.</p> |
| | <table class="docutils field-list" frame="void" rules="none"> |
| | <col class="field-name" /> |
| | <col class="field-body" /> |
| | <tbody valign="top"> |
| | <tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><p class="first"><strong>model</strong> : <code class="xref py py-class docutils literal"><span class="pre">PyMjModel</span></code></p> |
| | <blockquote> |
| | <div><p>The model to simulate.</p> |
| | </div></blockquote> |
| | <p><strong>data</strong> : <code class="xref py py-class docutils literal"><span class="pre">PyMjData</span></code></p> |
| | <blockquote> |
| | <div><p>Optional container for the simulation state. Will be created if <code class="docutils literal"><span class="pre">None</span></code>.</p> |
| | </div></blockquote> |
| | <p><strong>nsubsteps</strong> : int</p> |
| | <blockquote> |
| | <div><p>Optional number of MuJoCo steps to run for every call to <a class="reference internal" href="#mujoco_py.MjSim.step" title="mujoco_py.MjSim.step"><code class="xref py py-meth docutils literal"><span class="pre">step()</span></code></a>. |
| | Buffers will be swapped only once per step.</p> |
| | </div></blockquote> |
| | <p><strong>udd_callback</strong> : fn(<a class="reference internal" href="#mujoco_py.MjSim" title="mujoco_py.MjSim"><code class="xref py py-class docutils literal"><span class="pre">MjSim</span></code></a>) -> dict</p> |
| | <blockquote class="last"> |
| | <div><p>Optional callback for user-defined dynamics. At every call to |
| | <a class="reference internal" href="#mujoco_py.MjSim.step" title="mujoco_py.MjSim.step"><code class="xref py py-meth docutils literal"><span class="pre">step()</span></code></a>, it receives an MjSim object <code class="docutils literal"><span class="pre">sim</span></code> containing the |
| | current user-defined dynamics state in <code class="docutils literal"><span class="pre">sim.udd_state</span></code>, and returns the |
| | next <code class="docutils literal"><span class="pre">udd_state</span></code> after applying the user-defined dynamics. This is |
| | useful e.g. for reward functions that operate over functions of historical |
| | state.</p> |
| | </div></blockquote> |
| | </td> |
| | </tr> |
| | </tbody> |
| | </table> |
| | <p class="rubric">Attributes</p> |
| | <p class="rubric">Methods</p> |
| | <dl class="method"> |
| | <dt id="mujoco_py.MjSim.get_state"> |
| | <code class="descname">get_state</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#mujoco_py.MjSim.get_state" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Returns a copy of the simulator state.</p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="mujoco_py.MjSim.render"> |
| | <code class="descname">render</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#mujoco_py.MjSim.render" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Renders view from a camera and returns image as an <cite>numpy.ndarray</cite>.</p> |
| | <p>Args: |
| | - width (int): desired image width. |
| | - height (int): desired image height. |
| | - camera_name (str): name of camera in model. If None, the free</p> |
| | <blockquote> |
| | <div>camera will be used.</div></blockquote> |
| | <ul class="simple"> |
| | <li>depth (bool): if True, also return depth buffer</li> |
| | </ul> |
| | <p>Returns: |
| | - rgb (uint8 array): image buffer from camera |
| | - depth (float array): depth buffer from camera (only returned</p> |
| | <blockquote> |
| | <div>if depth=True)</div></blockquote> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="mujoco_py.MjSim.reset"> |
| | <code class="descname">reset</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#mujoco_py.MjSim.reset" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Resets the simulation data and clears buffers.</p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="mujoco_py.MjSim.save"> |
| | <code class="descname">save</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#mujoco_py.MjSim.save" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Saves the simulator model and state to a file as either |
| | a MuJoCo XML or MJB file. The current state is saved as |
| | a keyframe in the model file. This is useful for debugging |
| | using MuJoCo’s <cite>simulate</cite> utility.</p> |
| | <p>Note that this doesn’t save the UDD-state which is |
| | part of MjSimState, since that’s not supported natively |
| | by MuJoCo. If you want to save the model together with |
| | the UDD-state, you should use the <cite>get_xml</cite> or <cite>get_mjb</cite> |
| | methods on <cite>MjModel</cite> together with <cite>MjSim.get_state</cite> and |
| | save them with e.g. pickle.</p> |
| | <p>Args: |
| | - file (IO stream): stream to write model to. |
| | - format: format to use (either ‘xml’ or ‘mjb’) |
| | - keep_inertials (bool): if False, removes all <inertial></p> |
| | <blockquote> |
| | <div>properties derived automatically for geoms by MuJoco. Note |
| | that this removes ones that were provided by the user |
| | as well.</div></blockquote> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="mujoco_py.MjSim.set_state"> |
| | <code class="descname">set_state</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#mujoco_py.MjSim.set_state" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Sets the state from an MjSimState. |
| | If the MjSimState was previously unflattened from a numpy array, consider |
| | set_state_from_flattened, as the defensive copy is a substantial overhead |
| | in an inner loop.</p> |
| | <p>Args: |
| | - value (MjSimState): the desired state. |
| | - call_forward: optionally call sim.forward(). Called by default if</p> |
| | <blockquote> |
| | <div>the udd_callback is set.</div></blockquote> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="mujoco_py.MjSim.set_state_from_flattened"> |
| | <code class="descname">set_state_from_flattened</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#mujoco_py.MjSim.set_state_from_flattened" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>This helper method sets the state from an array without requiring a defensive copy.</p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="mujoco_py.MjSim.step"> |
| | <code class="descname">step</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#mujoco_py.MjSim.step" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Advances the simulation by calling <code class="docutils literal"><span class="pre">mj_step</span></code>.</p> |
| | <p>If <code class="docutils literal"><span class="pre">qpos</span></code> or <code class="docutils literal"><span class="pre">qvel</span></code> have been modified directly, the user is required to call |
| | <a class="reference internal" href="#mujoco_py.MjSimPool.forward" title="mujoco_py.MjSimPool.forward"><code class="xref py py-meth docutils literal"><span class="pre">forward()</span></code></a> before <a class="reference internal" href="#mujoco_py.MjSim.step" title="mujoco_py.MjSim.step"><code class="xref py py-meth docutils literal"><span class="pre">step()</span></code></a> if their <code class="docutils literal"><span class="pre">udd_callback</span></code> requires access to MuJoCo state |
| | set during the forward dynamics.</p> |
| | </dd></dl> |
| |
|
| | </dd></dl> |
| |
|
| | <dl class="class"> |
| | <dt id="mujoco_py.MjSimState"> |
| | <em class="property">class </em><code class="descclassname">mujoco_py.</code><code class="descname">MjSimState</code><a class="headerlink" href="#mujoco_py.MjSimState" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Represents a snapshot of the simulator’s state.</p> |
| | <p>This includes time, qpos, qvel, act, and udd_state.</p> |
| | <p class="rubric">Attributes</p> |
| | <p class="rubric">Methods</p> |
| | </dd></dl> |
| |
|
| | <dl class="function"> |
| | <dt id="mujoco_py.ignore_mujoco_warnings"> |
| | <code class="descclassname">mujoco_py.</code><code class="descname">ignore_mujoco_warnings</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="_modules/mujoco_py/builder.html#ignore_mujoco_warnings"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#mujoco_py.ignore_mujoco_warnings" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Class to turn off mujoco warning exceptions within a scope. Useful for |
| | large, vectorized rollouts.</p> |
| | </dd></dl> |
| |
|
| | </div> |
| | <div class="section" id="pymjdata-time-dependent-data"> |
| | <span id="pymjdata"></span><h2><a class="toc-backref" href="#id2">PyMjData: Time-dependent data</a><a class="headerlink" href="#pymjdata-time-dependent-data" title="Permalink to this headline">¶</a></h2> |
| | <p><code class="docutils literal"><span class="pre">PyMjData</span></code> and related classes are automatically generated from the MuJoCo C header files. For more information on this process, see <a class="reference internal" href="internals.html#genwrapper"><span class="std std-ref">Autogenerated wrappers</span></a>. Their structure therefore directly follows the MuJoCo structs.</p> |
| | <dl class="class"> |
| | <dt id="mujoco_py.PyMjData"> |
| | <em class="property">class </em><code class="descclassname">mujoco_py.</code><code class="descname">PyMjData</code><a class="headerlink" href="#mujoco_py.PyMjData" title="Permalink to this definition">¶</a></dt> |
| | <dd> |
| | <p class="rubric">Attributes</p><dl class="attribute"> |
| | <dt id="act"> |
| | <code class="descname">act</code><a class="headerlink" href="#act" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="act_dot"> |
| | <code class="descname">act_dot</code><a class="headerlink" href="#act_dot" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="active_contacts_efc_pos"> |
| | <code class="descname">active_contacts_efc_pos</code><a class="headerlink" href="#active_contacts_efc_pos" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="actuator_force"> |
| | <code class="descname">actuator_force</code><a class="headerlink" href="#actuator_force" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="actuator_length"> |
| | <code class="descname">actuator_length</code><a class="headerlink" href="#actuator_length" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="actuator_moment"> |
| | <code class="descname">actuator_moment</code><a class="headerlink" href="#actuator_moment" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="actuator_velocity"> |
| | <code class="descname">actuator_velocity</code><a class="headerlink" href="#actuator_velocity" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="body_jacp"> |
| | <code class="descname">body_jacp</code><a class="headerlink" href="#body_jacp" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="body_jacr"> |
| | <code class="descname">body_jacr</code><a class="headerlink" href="#body_jacr" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="body_xmat"> |
| | <code class="descname">body_xmat</code><a class="headerlink" href="#body_xmat" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="body_xpos"> |
| | <code class="descname">body_xpos</code><a class="headerlink" href="#body_xpos" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="body_xquat"> |
| | <code class="descname">body_xquat</code><a class="headerlink" href="#body_xquat" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="body_xvelp"> |
| | <code class="descname">body_xvelp</code><a class="headerlink" href="#body_xvelp" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="body_xvelr"> |
| | <code class="descname">body_xvelr</code><a class="headerlink" href="#body_xvelr" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="cacc"> |
| | <code class="descname">cacc</code><a class="headerlink" href="#cacc" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="cam_xmat"> |
| | <code class="descname">cam_xmat</code><a class="headerlink" href="#cam_xmat" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="cam_xpos"> |
| | <code class="descname">cam_xpos</code><a class="headerlink" href="#cam_xpos" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="cdof"> |
| | <code class="descname">cdof</code><a class="headerlink" href="#cdof" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="cdof_dot"> |
| | <code class="descname">cdof_dot</code><a class="headerlink" href="#cdof_dot" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="cfrc_ext"> |
| | <code class="descname">cfrc_ext</code><a class="headerlink" href="#cfrc_ext" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="cfrc_int"> |
| | <code class="descname">cfrc_int</code><a class="headerlink" href="#cfrc_int" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="cinert"> |
| | <code class="descname">cinert</code><a class="headerlink" href="#cinert" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="contact"> |
| | <code class="descname">contact</code><a class="headerlink" href="#contact" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="crb"> |
| | <code class="descname">crb</code><a class="headerlink" href="#crb" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="ctrl"> |
| | <code class="descname">ctrl</code><a class="headerlink" href="#ctrl" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="cvel"> |
| | <code class="descname">cvel</code><a class="headerlink" href="#cvel" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_AR"> |
| | <code class="descname">efc_AR</code><a class="headerlink" href="#efc_AR" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_AR_colind"> |
| | <code class="descname">efc_AR_colind</code><a class="headerlink" href="#efc_AR_colind" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_AR_rowadr"> |
| | <code class="descname">efc_AR_rowadr</code><a class="headerlink" href="#efc_AR_rowadr" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_AR_rownnz"> |
| | <code class="descname">efc_AR_rownnz</code><a class="headerlink" href="#efc_AR_rownnz" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_D"> |
| | <code class="descname">efc_D</code><a class="headerlink" href="#efc_D" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_J"> |
| | <code class="descname">efc_J</code><a class="headerlink" href="#efc_J" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_JT"> |
| | <code class="descname">efc_JT</code><a class="headerlink" href="#efc_JT" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_JT_colind"> |
| | <code class="descname">efc_JT_colind</code><a class="headerlink" href="#efc_JT_colind" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_JT_rowadr"> |
| | <code class="descname">efc_JT_rowadr</code><a class="headerlink" href="#efc_JT_rowadr" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_JT_rownnz"> |
| | <code class="descname">efc_JT_rownnz</code><a class="headerlink" href="#efc_JT_rownnz" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_J_colind"> |
| | <code class="descname">efc_J_colind</code><a class="headerlink" href="#efc_J_colind" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_J_rowadr"> |
| | <code class="descname">efc_J_rowadr</code><a class="headerlink" href="#efc_J_rowadr" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_J_rownnz"> |
| | <code class="descname">efc_J_rownnz</code><a class="headerlink" href="#efc_J_rownnz" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_R"> |
| | <code class="descname">efc_R</code><a class="headerlink" href="#efc_R" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_aref"> |
| | <code class="descname">efc_aref</code><a class="headerlink" href="#efc_aref" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_b"> |
| | <code class="descname">efc_b</code><a class="headerlink" href="#efc_b" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_diagApprox"> |
| | <code class="descname">efc_diagApprox</code><a class="headerlink" href="#efc_diagApprox" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_force"> |
| | <code class="descname">efc_force</code><a class="headerlink" href="#efc_force" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_frictionloss"> |
| | <code class="descname">efc_frictionloss</code><a class="headerlink" href="#efc_frictionloss" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_id"> |
| | <code class="descname">efc_id</code><a class="headerlink" href="#efc_id" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_margin"> |
| | <code class="descname">efc_margin</code><a class="headerlink" href="#efc_margin" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_solimp"> |
| | <code class="descname">efc_solimp</code><a class="headerlink" href="#efc_solimp" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_solref"> |
| | <code class="descname">efc_solref</code><a class="headerlink" href="#efc_solref" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_state"> |
| | <code class="descname">efc_state</code><a class="headerlink" href="#efc_state" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_type"> |
| | <code class="descname">efc_type</code><a class="headerlink" href="#efc_type" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="efc_vel"> |
| | <code class="descname">efc_vel</code><a class="headerlink" href="#efc_vel" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="energy"> |
| | <code class="descname">energy</code><a class="headerlink" href="#energy" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="geom_jacp"> |
| | <code class="descname">geom_jacp</code><a class="headerlink" href="#geom_jacp" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="geom_jacr"> |
| | <code class="descname">geom_jacr</code><a class="headerlink" href="#geom_jacr" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="geom_xmat"> |
| | <code class="descname">geom_xmat</code><a class="headerlink" href="#geom_xmat" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="geom_xpos"> |
| | <code class="descname">geom_xpos</code><a class="headerlink" href="#geom_xpos" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="geom_xvelp"> |
| | <code class="descname">geom_xvelp</code><a class="headerlink" href="#geom_xvelp" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="geom_xvelr"> |
| | <code class="descname">geom_xvelr</code><a class="headerlink" href="#geom_xvelr" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="light_xdir"> |
| | <code class="descname">light_xdir</code><a class="headerlink" href="#light_xdir" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="light_xpos"> |
| | <code class="descname">light_xpos</code><a class="headerlink" href="#light_xpos" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="maxuse_con"> |
| | <code class="descname">maxuse_con</code><a class="headerlink" href="#maxuse_con" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="maxuse_efc"> |
| | <code class="descname">maxuse_efc</code><a class="headerlink" href="#maxuse_efc" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="maxuse_stack"> |
| | <code class="descname">maxuse_stack</code><a class="headerlink" href="#maxuse_stack" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="mocap_pos"> |
| | <code class="descname">mocap_pos</code><a class="headerlink" href="#mocap_pos" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="mocap_quat"> |
| | <code class="descname">mocap_quat</code><a class="headerlink" href="#mocap_quat" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="nbuffer"> |
| | <code class="descname">nbuffer</code><a class="headerlink" href="#nbuffer" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="ncon"> |
| | <code class="descname">ncon</code><a class="headerlink" href="#ncon" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="ne"> |
| | <code class="descname">ne</code><a class="headerlink" href="#ne" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="nefc"> |
| | <code class="descname">nefc</code><a class="headerlink" href="#nefc" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="nf"> |
| | <code class="descname">nf</code><a class="headerlink" href="#nf" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="nstack"> |
| | <code class="descname">nstack</code><a class="headerlink" href="#nstack" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="pstack"> |
| | <code class="descname">pstack</code><a class="headerlink" href="#pstack" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="qLD"> |
| | <code class="descname">qLD</code><a class="headerlink" href="#qLD" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="qLDiagInv"> |
| | <code class="descname">qLDiagInv</code><a class="headerlink" href="#qLDiagInv" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="qLDiagSqrtInv"> |
| | <code class="descname">qLDiagSqrtInv</code><a class="headerlink" href="#qLDiagSqrtInv" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="qM"> |
| | <code class="descname">qM</code><a class="headerlink" href="#qM" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="qacc"> |
| | <code class="descname">qacc</code><a class="headerlink" href="#qacc" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="qacc_unc"> |
| | <code class="descname">qacc_unc</code><a class="headerlink" href="#qacc_unc" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="qacc_warmstart"> |
| | <code class="descname">qacc_warmstart</code><a class="headerlink" href="#qacc_warmstart" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="qfrc_actuator"> |
| | <code class="descname">qfrc_actuator</code><a class="headerlink" href="#qfrc_actuator" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="qfrc_applied"> |
| | <code class="descname">qfrc_applied</code><a class="headerlink" href="#qfrc_applied" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="qfrc_bias"> |
| | <code class="descname">qfrc_bias</code><a class="headerlink" href="#qfrc_bias" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="qfrc_constraint"> |
| | <code class="descname">qfrc_constraint</code><a class="headerlink" href="#qfrc_constraint" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="qfrc_inverse"> |
| | <code class="descname">qfrc_inverse</code><a class="headerlink" href="#qfrc_inverse" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="qfrc_passive"> |
| | <code class="descname">qfrc_passive</code><a class="headerlink" href="#qfrc_passive" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="qfrc_unc"> |
| | <code class="descname">qfrc_unc</code><a class="headerlink" href="#qfrc_unc" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="qpos"> |
| | <code class="descname">qpos</code><a class="headerlink" href="#qpos" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="qvel"> |
| | <code class="descname">qvel</code><a class="headerlink" href="#qvel" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="sensordata"> |
| | <code class="descname">sensordata</code><a class="headerlink" href="#sensordata" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="set_joint_qpos"> |
| | <code class="descname">set_joint_qpos</code><a class="headerlink" href="#set_joint_qpos" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="set_joint_qvel"> |
| | <code class="descname">set_joint_qvel</code><a class="headerlink" href="#set_joint_qvel" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="set_mocap_pos"> |
| | <code class="descname">set_mocap_pos</code><a class="headerlink" href="#set_mocap_pos" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="set_mocap_quat"> |
| | <code class="descname">set_mocap_quat</code><a class="headerlink" href="#set_mocap_quat" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="site_jacp"> |
| | <code class="descname">site_jacp</code><a class="headerlink" href="#site_jacp" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="site_jacr"> |
| | <code class="descname">site_jacr</code><a class="headerlink" href="#site_jacr" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="site_xmat"> |
| | <code class="descname">site_xmat</code><a class="headerlink" href="#site_xmat" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="site_xpos"> |
| | <code class="descname">site_xpos</code><a class="headerlink" href="#site_xpos" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="site_xvelp"> |
| | <code class="descname">site_xvelp</code><a class="headerlink" href="#site_xvelp" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="site_xvelr"> |
| | <code class="descname">site_xvelr</code><a class="headerlink" href="#site_xvelr" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="solver"> |
| | <code class="descname">solver</code><a class="headerlink" href="#solver" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="solver_fwdinv"> |
| | <code class="descname">solver_fwdinv</code><a class="headerlink" href="#solver_fwdinv" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="solver_iter"> |
| | <code class="descname">solver_iter</code><a class="headerlink" href="#solver_iter" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="solver_nnz"> |
| | <code class="descname">solver_nnz</code><a class="headerlink" href="#solver_nnz" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="subtree_angmom"> |
| | <code class="descname">subtree_angmom</code><a class="headerlink" href="#subtree_angmom" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="subtree_com"> |
| | <code class="descname">subtree_com</code><a class="headerlink" href="#subtree_com" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="subtree_linvel"> |
| | <code class="descname">subtree_linvel</code><a class="headerlink" href="#subtree_linvel" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="ten_length"> |
| | <code class="descname">ten_length</code><a class="headerlink" href="#ten_length" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="ten_moment"> |
| | <code class="descname">ten_moment</code><a class="headerlink" href="#ten_moment" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="ten_velocity"> |
| | <code class="descname">ten_velocity</code><a class="headerlink" href="#ten_velocity" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="ten_wrapadr"> |
| | <code class="descname">ten_wrapadr</code><a class="headerlink" href="#ten_wrapadr" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="ten_wrapnum"> |
| | <code class="descname">ten_wrapnum</code><a class="headerlink" href="#ten_wrapnum" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="time"> |
| | <code class="descname">time</code><a class="headerlink" href="#time" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="timer"> |
| | <code class="descname">timer</code><a class="headerlink" href="#timer" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="userdata"> |
| | <code class="descname">userdata</code><a class="headerlink" href="#userdata" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="warning"> |
| | <code class="descname">warning</code><a class="headerlink" href="#warning" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="wrap_obj"> |
| | <code class="descname">wrap_obj</code><a class="headerlink" href="#wrap_obj" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="wrap_xpos"> |
| | <code class="descname">wrap_xpos</code><a class="headerlink" href="#wrap_xpos" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="xanchor"> |
| | <code class="descname">xanchor</code><a class="headerlink" href="#xanchor" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="xaxis"> |
| | <code class="descname">xaxis</code><a class="headerlink" href="#xaxis" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="xfrc_applied"> |
| | <code class="descname">xfrc_applied</code><a class="headerlink" href="#xfrc_applied" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="ximat"> |
| | <code class="descname">ximat</code><a class="headerlink" href="#ximat" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <dl class="attribute"> |
| | <dt id="xipos"> |
| | <code class="descname">xipos</code><a class="headerlink" href="#xipos" title="Permalink to this definition">¶</a></dt> |
| | <dd></dd></dl> |
| |
|
| | <p class="rubric">Methods</p><dl class="method"> |
| | <dt id="get_body_jacp"> |
| | <code class="descname">get_body_jacp</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_body_jacp" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">jacp</span></code> corresponding to the body with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_body_jacr"> |
| | <code class="descname">get_body_jacr</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_body_jacr" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">jacr</span></code> corresponding to the body with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_body_ximat"> |
| | <code class="descname">get_body_ximat</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_body_ximat" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">ximat</span></code> corresponding to the body with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_body_xipos"> |
| | <code class="descname">get_body_xipos</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_body_xipos" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xipos</span></code> corresponding to the body with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_body_xmat"> |
| | <code class="descname">get_body_xmat</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_body_xmat" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xmat</span></code> corresponding to the body with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_body_xpos"> |
| | <code class="descname">get_body_xpos</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_body_xpos" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xpos</span></code> corresponding to the body with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_body_xquat"> |
| | <code class="descname">get_body_xquat</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_body_xquat" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xquat</span></code> corresponding to the body with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_body_xvelp"> |
| | <code class="descname">get_body_xvelp</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_body_xvelp" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xvelp</span></code> corresponding to the body with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_body_xvelr"> |
| | <code class="descname">get_body_xvelr</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_body_xvelr" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xvelr</span></code> corresponding to the body with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_cam_xmat"> |
| | <code class="descname">get_cam_xmat</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_cam_xmat" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xmat</span></code> corresponding to the cam with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_cam_xpos"> |
| | <code class="descname">get_cam_xpos</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_cam_xpos" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xpos</span></code> corresponding to the cam with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_camera_xmat"> |
| | <code class="descname">get_camera_xmat</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_camera_xmat" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xmat</span></code> corresponding to the camera with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_camera_xpos"> |
| | <code class="descname">get_camera_xpos</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_camera_xpos" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xpos</span></code> corresponding to the camera with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_geom_jacp"> |
| | <code class="descname">get_geom_jacp</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_geom_jacp" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">jacp</span></code> corresponding to the geom with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_geom_jacr"> |
| | <code class="descname">get_geom_jacr</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_geom_jacr" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">jacr</span></code> corresponding to the geom with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_geom_xmat"> |
| | <code class="descname">get_geom_xmat</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_geom_xmat" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xmat</span></code> corresponding to the geom with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_geom_xpos"> |
| | <code class="descname">get_geom_xpos</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_geom_xpos" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xpos</span></code> corresponding to the geom with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_geom_xvelp"> |
| | <code class="descname">get_geom_xvelp</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_geom_xvelp" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xvelp</span></code> corresponding to the geom with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_geom_xvelr"> |
| | <code class="descname">get_geom_xvelr</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_geom_xvelr" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xvelr</span></code> corresponding to the geom with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_joint_qpos"> |
| | <code class="descname">get_joint_qpos</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_joint_qpos" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">qpos</span></code> corresponding to the joint with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_joint_qvel"> |
| | <code class="descname">get_joint_qvel</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_joint_qvel" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">qvel</span></code> corresponding to the joint with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_joint_xanchor"> |
| | <code class="descname">get_joint_xanchor</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_joint_xanchor" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xanchor</span></code> corresponding to the joint with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_joint_xaxis"> |
| | <code class="descname">get_joint_xaxis</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_joint_xaxis" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xaxis</span></code> corresponding to the joint with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_light_xdir"> |
| | <code class="descname">get_light_xdir</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_light_xdir" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xdir</span></code> corresponding to the light with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_light_xpos"> |
| | <code class="descname">get_light_xpos</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_light_xpos" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xpos</span></code> corresponding to the light with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_mocap_pos"> |
| | <code class="descname">get_mocap_pos</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_mocap_pos" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">pos</span></code> corresponding to the mocap with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_mocap_quat"> |
| | <code class="descname">get_mocap_quat</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_mocap_quat" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">quat</span></code> corresponding to the mocap with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_site_jacp"> |
| | <code class="descname">get_site_jacp</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_site_jacp" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">jacp</span></code> corresponding to the site with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_site_jacr"> |
| | <code class="descname">get_site_jacr</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_site_jacr" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">jacr</span></code> corresponding to the site with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_site_xmat"> |
| | <code class="descname">get_site_xmat</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_site_xmat" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xmat</span></code> corresponding to the site with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_site_xpos"> |
| | <code class="descname">get_site_xpos</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_site_xpos" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xpos</span></code> corresponding to the site with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_site_xvelp"> |
| | <code class="descname">get_site_xvelp</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_site_xvelp" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xvelp</span></code> corresponding to the site with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="get_site_xvelr"> |
| | <code class="descname">get_site_xvelr</code><span class="sig-paren">(</span><em>name</em><span class="sig-paren">)</span><a class="headerlink" href="#get_site_xvelr" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Get the entry in <code class="docutils literal"><span class="pre">xvelr</span></code> corresponding to the site with the given <cite>name</cite></p> |
| | </dd></dl> |
| |
|
| | </dd></dl></div> |
| | <div class="section" id="mjsimpool-batched-simulation"> |
| | <h2><a class="toc-backref" href="#id3">MjSimPool: Batched simulation</a><a class="headerlink" href="#mjsimpool-batched-simulation" title="Permalink to this headline">¶</a></h2> |
| | <dl class="class"> |
| | <dt id="mujoco_py.MjSimPool"> |
| | <em class="property">class </em><code class="descclassname">mujoco_py.</code><code class="descname">MjSimPool</code><a class="headerlink" href="#mujoco_py.MjSimPool" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Keeps a pool of multiple MjSims and enables stepping them quickly |
| | in parallel.</p> |
| | <table class="docutils field-list" frame="void" rules="none"> |
| | <col class="field-name" /> |
| | <col class="field-body" /> |
| | <tbody valign="top"> |
| | <tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><p class="first"><strong>sims</strong> : list of <a class="reference internal" href="#mujoco_py.MjSim" title="mujoco_py.MjSim"><code class="xref py py-class docutils literal"><span class="pre">MjSim</span></code></a></p> |
| | <blockquote> |
| | <div><p>List of simulators that make up the pool.</p> |
| | </div></blockquote> |
| | <p><strong>nsubsteps:</strong></p> |
| | <blockquote class="last"> |
| | <div><p>Number of substeps to run on <a class="reference internal" href="#mujoco_py.MjSim.step" title="mujoco_py.MjSim.step"><code class="xref py py-meth docutils literal"><span class="pre">step()</span></code></a>. The individual |
| | simulators’ <code class="docutils literal"><span class="pre">nsubstep</span></code> will be ignored.</p> |
| | </div></blockquote> |
| | </td> |
| | </tr> |
| | </tbody> |
| | </table> |
| | <p class="rubric">Attributes</p> |
| | <p class="rubric">Methods</p> |
| | <dl class="staticmethod"> |
| | <dt id="mujoco_py.MjSimPool.create_from_sim"> |
| | <em class="property">static </em><code class="descname">create_from_sim</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#mujoco_py.MjSimPool.create_from_sim" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Create an <a class="reference internal" href="#mujoco_py.MjSimPool" title="mujoco_py.MjSimPool"><code class="xref py py-class docutils literal"><span class="pre">MjSimPool</span></code></a> by cloning the provided <code class="docutils literal"><span class="pre">sim</span></code> a total of <code class="docutils literal"><span class="pre">nsims</span></code> times. |
| | Returns the created <a class="reference internal" href="#mujoco_py.MjSimPool" title="mujoco_py.MjSimPool"><code class="xref py py-class docutils literal"><span class="pre">MjSimPool</span></code></a>.</p> |
| | <table class="docutils field-list" frame="void" rules="none"> |
| | <col class="field-name" /> |
| | <col class="field-body" /> |
| | <tbody valign="top"> |
| | <tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><p class="first"><strong>sim</strong> : <a class="reference internal" href="#mujoco_py.MjSim" title="mujoco_py.MjSim"><code class="xref py py-class docutils literal"><span class="pre">MjSim</span></code></a></p> |
| | <blockquote> |
| | <div><p>The prototype to clone.</p> |
| | </div></blockquote> |
| | <p><strong>nsims</strong> : int</p> |
| | <blockquote class="last"> |
| | <div><p>Number of clones to create.</p> |
| | </div></blockquote> |
| | </td> |
| | </tr> |
| | </tbody> |
| | </table> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="mujoco_py.MjSimPool.forward"> |
| | <code class="descname">forward</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#mujoco_py.MjSimPool.forward" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Calls <code class="docutils literal"><span class="pre">mj_forward</span></code> on all simulations in parallel. |
| | If <code class="xref py py-attr docutils literal"><span class="pre">nsims</span></code> is specified, than only the first <code class="xref py py-attr docutils literal"><span class="pre">nsims</span></code> simulator are forwarded.</p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="mujoco_py.MjSimPool.reset"> |
| | <code class="descname">reset</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#mujoco_py.MjSimPool.reset" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Resets all simulations in pool. |
| | If <code class="xref py py-attr docutils literal"><span class="pre">nsims</span></code> is specified, than only the first <code class="xref py py-attr docutils literal"><span class="pre">nsims</span></code> simulators are reset.</p> |
| | </dd></dl> |
| |
|
| | <dl class="method"> |
| | <dt id="mujoco_py.MjSimPool.step"> |
| | <code class="descname">step</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#mujoco_py.MjSimPool.step" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Calls <code class="docutils literal"><span class="pre">mj_step</span></code> on all simulations in parallel, with <code class="docutils literal"><span class="pre">nsubsteps</span></code> as |
| | specified when the pool was created.</p> |
| | <p>If <code class="xref py py-attr docutils literal"><span class="pre">nsims</span></code> is specified, than only the first <code class="xref py py-attr docutils literal"><span class="pre">nsims</span></code> simulator are stepped.</p> |
| | </dd></dl> |
| |
|
| | </dd></dl> |
| |
|
| | </div> |
| | <div class="section" id="mjviewer-3d-rendering"> |
| | <h2><a class="toc-backref" href="#id4">MjViewer: 3D rendering</a><a class="headerlink" href="#mjviewer-3d-rendering" title="Permalink to this headline">¶</a></h2> |
| | <dl class="class"> |
| | <dt id="mujoco_py.MjViewerBasic"> |
| | <em class="property">class </em><code class="descclassname">mujoco_py.</code><code class="descname">MjViewerBasic</code><span class="sig-paren">(</span><em>sim</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/mujoco_py/mjviewer.html#MjViewerBasic"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#mujoco_py.MjViewerBasic" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>A simple display GUI showing the scene of an <a class="reference internal" href="#mujoco_py.MjSim" title="mujoco_py.MjSim"><code class="xref py py-class docutils literal"><span class="pre">MjSim</span></code></a> with a mouse-movable camera.</p> |
| | <p><a class="reference internal" href="#mujoco_py.MjViewer" title="mujoco_py.MjViewer"><code class="xref py py-class docutils literal"><span class="pre">MjViewer</span></code></a> extends this class to provide more sophisticated playback and interaction controls.</p> |
| | <table class="docutils field-list" frame="void" rules="none"> |
| | <col class="field-name" /> |
| | <col class="field-body" /> |
| | <tbody valign="top"> |
| | <tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><p class="first"><strong>sim</strong> : <a class="reference internal" href="#mujoco_py.MjSim" title="mujoco_py.MjSim"><code class="xref py py-class docutils literal"><span class="pre">MjSim</span></code></a></p> |
| | <blockquote class="last"> |
| | <div><p>The simulator to display.</p> |
| | </div></blockquote> |
| | </td> |
| | </tr> |
| | </tbody> |
| | </table> |
| | <p class="rubric">Attributes</p> |
| | <p class="rubric">Methods</p> |
| | <dl class="method"> |
| | <dt id="mujoco_py.MjViewerBasic.render"> |
| | <code class="descname">render</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="_modules/mujoco_py/mjviewer.html#MjViewerBasic.render"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#mujoco_py.MjViewerBasic.render" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Render the current simulation state to the screen or off-screen buffer. |
| | Call this in your main loop.</p> |
| | </dd></dl> |
| |
|
| | </dd></dl> |
| |
|
| | <dl class="class"> |
| | <dt id="mujoco_py.MjViewer"> |
| | <em class="property">class </em><code class="descclassname">mujoco_py.</code><code class="descname">MjViewer</code><span class="sig-paren">(</span><em>sim</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/mujoco_py/mjviewer.html#MjViewer"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#mujoco_py.MjViewer" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Extends <a class="reference internal" href="#mujoco_py.MjViewerBasic" title="mujoco_py.MjViewerBasic"><code class="xref py py-class docutils literal"><span class="pre">MjViewerBasic</span></code></a> to add video recording, interactive time and interaction controls.</p> |
| | <p>The key bindings are as follows:</p> |
| | <ul class="simple"> |
| | <li>TAB: Switch between MuJoCo cameras.</li> |
| | <li>H: Toggle hiding all GUI components.</li> |
| | <li>SPACE: Pause/unpause the simulation.</li> |
| | <li>RIGHT: Advance simulation by one step.</li> |
| | <li>V: Start/stop video recording.</li> |
| | <li>T: Capture screenshot.</li> |
| | <li>I: Drop into <code class="docutils literal"><span class="pre">ipdb</span></code> debugger.</li> |
| | <li>S/F: Decrease/Increase simulation playback speed.</li> |
| | <li>C: Toggle visualization of contact forces (off by default).</li> |
| | <li>D: Enable/disable frame skipping when rendering lags behind real time.</li> |
| | <li>R: Toggle transparency of geoms.</li> |
| | <li>M: Toggle display of mocap bodies.</li> |
| | </ul> |
| | <table class="docutils field-list" frame="void" rules="none"> |
| | <col class="field-name" /> |
| | <col class="field-body" /> |
| | <tbody valign="top"> |
| | <tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><p class="first"><strong>sim</strong> : <a class="reference internal" href="#mujoco_py.MjSim" title="mujoco_py.MjSim"><code class="xref py py-class docutils literal"><span class="pre">MjSim</span></code></a></p> |
| | <blockquote class="last"> |
| | <div><p>The simulator to display.</p> |
| | </div></blockquote> |
| | </td> |
| | </tr> |
| | </tbody> |
| | </table> |
| | <p class="rubric">Attributes</p> |
| | <p class="rubric">Methods</p> |
| | <dl class="method"> |
| | <dt id="mujoco_py.MjViewer.render"> |
| | <code class="descname">render</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="_modules/mujoco_py/mjviewer.html#MjViewer.render"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#mujoco_py.MjViewer.render" title="Permalink to this definition">¶</a></dt> |
| | <dd><p>Render the current simulation state to the screen or off-screen buffer. |
| | Call this in your main loop.</p> |
| | </dd></dl> |
| |
|
| | </dd></dl> |
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