# Automatically generated. Do not modify! ###### const from defines ###### MINVAL = 1e-15 # minimum value in any denominator PI = 3.141592653589793 # MAXVAL = 10000000000.0 # maximum value in qpos, qvel, qacc MINMU = 1e-05 # minimum friction coefficient MINIMP = 0.0001 # minimum constraint impedance MAXIMP = 0.9999 # maximum constraint impedance MAXCONPAIR = 50.0 # maximum number of contacts per geom pair MAXVFS = 2000.0 # maximum number of files in virtual file system MAXVFSNAME = 1000.0 # maximum filename size in virtual file system NEQDATA = 7.0 # number of eq_data fields NDYN = 10.0 # number of actuator dynamics parameters NGAIN = 10.0 # number of actuator gain parameters NBIAS = 10.0 # number of actuator bias parameters NREF = 2.0 # number of solver reference parameters NIMP = 5.0 # number of solver impedance parameters NSOLVER = 1000.0 # size of mjData.solver_XXX arrays NGROUP = 6.0 # number of geom, site, joint groups with visflags MAXOVERLAY = 500.0 # maximum number of characters in overlay text MAXLINE = 100.0 # maximum number of lines per plot MAXLINEPNT = 1000.0 # maximum number points per line MAXPLANEGRID = 200.0 # maximum number of grid divisions for plane NAUX = 10.0 # number of auxiliary buffers MAXTEXTURE = 1000.0 # maximum number of textures MAXUISECT = 10.0 # maximum number of sections MAXUIITEM = 80.0 # maximum number of items per section MAXUITEXT = 300.0 # maximum number of chars in edittext and other MAXUINAME = 40.0 # maximum number of chars in name MAXUIMULTI = 35.0 # maximum number of radio/select items in group MAXUIEDIT = 7.0 # maximum number of elements in edit list MAXUIRECT = 25.0 # maximum number of rectangles SEPCLOSED = 1000.0 # closed state of adjustable separator KEY_ESCAPE = 256.0 # KEY_ENTER = 257.0 # KEY_TAB = 258.0 # KEY_BACKSPACE = 259.0 # KEY_INSERT = 260.0 # KEY_DELETE = 261.0 # KEY_RIGHT = 262.0 # KEY_LEFT = 263.0 # KEY_DOWN = 264.0 # KEY_UP = 265.0 # KEY_PAGE_UP = 266.0 # KEY_PAGE_DOWN = 267.0 # KEY_HOME = 268.0 # KEY_END = 269.0 # KEY_F1 = 290.0 # KEY_F2 = 291.0 # KEY_F3 = 292.0 # KEY_F4 = 293.0 # KEY_F5 = 294.0 # KEY_F6 = 295.0 # KEY_F7 = 296.0 # KEY_F8 = 297.0 # KEY_F9 = 298.0 # KEY_F10 = 299.0 # KEY_F11 = 300.0 # KEY_F12 = 301.0 # ###### const from enums ###### # _mjtDisableBit DSBL_CONSTRAINT = 1 DSBL_EQUALITY = 2 DSBL_FRICTIONLOSS = 4 DSBL_LIMIT = 8 DSBL_CONTACT = 16 DSBL_PASSIVE = 32 DSBL_GRAVITY = 64 DSBL_CLAMPCTRL = 128 DSBL_WARMSTART = 256 DSBL_FILTERPARENT = 512 DSBL_ACTUATION = 1024 DSBL_REFSAFE = 2048 NDISABLE = 12 # _mjtEnableBit ENBL_OVERRIDE = 1 ENBL_ENERGY = 2 ENBL_FWDINV = 4 ENBL_SENSORNOISE = 8 NENABLE = 4 # _mjtJoint JNT_FREE = 0 JNT_BALL = 1 JNT_SLIDE = 2 JNT_HINGE = 3 # _mjtGeom GEOM_PLANE = 0 GEOM_HFIELD = 1 GEOM_SPHERE = 2 GEOM_CAPSULE = 3 GEOM_ELLIPSOID = 4 GEOM_CYLINDER = 5 GEOM_BOX = 6 GEOM_MESH = 7 NGEOMTYPES = 8 GEOM_ARROW = 100 GEOM_ARROW1 = 101 GEOM_ARROW2 = 102 GEOM_LINE = 103 GEOM_SKIN = 104 GEOM_LABEL = 105 GEOM_NONE = 1001 # _mjtCamLight CAMLIGHT_FIXED = 0 CAMLIGHT_TRACK = 1 CAMLIGHT_TRACKCOM = 2 CAMLIGHT_TARGETBODY = 3 CAMLIGHT_TARGETBODYCOM = 4 # _mjtTexture TEXTURE_2D = 0 TEXTURE_CUBE = 1 TEXTURE_SKYBOX = 2 # _mjtIntegrator INT_EULER = 0 INT_RK4 = 1 # _mjtCollision COL_ALL = 0 COL_PAIR = 1 COL_DYNAMIC = 2 # _mjtCone CONE_PYRAMIDAL = 0 CONE_ELLIPTIC = 1 # _mjtJacobian JAC_DENSE = 0 JAC_SPARSE = 1 JAC_AUTO = 2 # _mjtSolver SOL_PGS = 0 SOL_CG = 1 SOL_NEWTON = 2 # _mjtEq EQ_CONNECT = 0 EQ_WELD = 1 EQ_JOINT = 2 EQ_TENDON = 3 EQ_DISTANCE = 4 # _mjtWrap WRAP_NONE = 0 WRAP_JOINT = 1 WRAP_PULLEY = 2 WRAP_SITE = 3 WRAP_SPHERE = 4 WRAP_CYLINDER = 5 # _mjtTrn TRN_JOINT = 0 TRN_JOINTINPARENT = 1 TRN_SLIDERCRANK = 2 TRN_TENDON = 3 TRN_SITE = 4 TRN_UNDEFINED = 1000 # _mjtDyn DYN_NONE = 0 DYN_INTEGRATOR = 1 DYN_FILTER = 2 DYN_MUSCLE = 3 DYN_USER = 4 # _mjtGain GAIN_FIXED = 0 GAIN_MUSCLE = 1 GAIN_USER = 2 # _mjtBias BIAS_NONE = 0 BIAS_AFFINE = 1 BIAS_MUSCLE = 2 BIAS_USER = 3 # _mjtObj OBJ_UNKNOWN = 0 OBJ_BODY = 1 OBJ_XBODY = 2 OBJ_JOINT = 3 OBJ_DOF = 4 OBJ_GEOM = 5 OBJ_SITE = 6 OBJ_CAMERA = 7 OBJ_LIGHT = 8 OBJ_MESH = 9 OBJ_SKIN = 10 OBJ_HFIELD = 11 OBJ_TEXTURE = 12 OBJ_MATERIAL = 13 OBJ_PAIR = 14 OBJ_EXCLUDE = 15 OBJ_EQUALITY = 16 OBJ_TENDON = 17 OBJ_ACTUATOR = 18 OBJ_SENSOR = 19 OBJ_NUMERIC = 20 OBJ_TEXT = 21 OBJ_TUPLE = 22 OBJ_KEY = 23 # _mjtConstraint CNSTR_EQUALITY = 0 CNSTR_FRICTION_DOF = 1 CNSTR_FRICTION_TENDON = 2 CNSTR_LIMIT_JOINT = 3 CNSTR_LIMIT_TENDON = 4 CNSTR_CONTACT_FRICTIONLESS = 5 CNSTR_CONTACT_PYRAMIDAL = 6 CNSTR_CONTACT_ELLIPTIC = 7 # _mjtConstraintState CNSTRSTATE_SATISFIED = 0 CNSTRSTATE_QUADRATIC = 1 CNSTRSTATE_LINEARNEG = 2 CNSTRSTATE_LINEARPOS = 3 CNSTRSTATE_CONE = 4 # _mjtSensor SENS_TOUCH = 0 SENS_ACCELEROMETER = 1 SENS_VELOCIMETER = 2 SENS_GYRO = 3 SENS_FORCE = 4 SENS_TORQUE = 5 SENS_MAGNETOMETER = 6 SENS_RANGEFINDER = 7 SENS_JOINTPOS = 8 SENS_JOINTVEL = 9 SENS_TENDONPOS = 10 SENS_TENDONVEL = 11 SENS_ACTUATORPOS = 12 SENS_ACTUATORVEL = 13 SENS_ACTUATORFRC = 14 SENS_BALLQUAT = 15 SENS_BALLANGVEL = 16 SENS_JOINTLIMITPOS = 17 SENS_JOINTLIMITVEL = 18 SENS_JOINTLIMITFRC = 19 SENS_TENDONLIMITPOS = 20 SENS_TENDONLIMITVEL = 21 SENS_TENDONLIMITFRC = 22 SENS_FRAMEPOS = 23 SENS_FRAMEQUAT = 24 SENS_FRAMEXAXIS = 25 SENS_FRAMEYAXIS = 26 SENS_FRAMEZAXIS = 27 SENS_FRAMELINVEL = 28 SENS_FRAMEANGVEL = 29 SENS_FRAMELINACC = 30 SENS_FRAMEANGACC = 31 SENS_SUBTREECOM = 32 SENS_SUBTREELINVEL = 33 SENS_SUBTREEANGMOM = 34 SENS_USER = 35 # _mjtStage STAGE_NONE = 0 STAGE_POS = 1 STAGE_VEL = 2 STAGE_ACC = 3 # _mjtDataType DATATYPE_REAL = 0 DATATYPE_POSITIVE = 1 DATATYPE_AXIS = 2 DATATYPE_QUATERNION = 3 # _mjtLRMode LRMODE_NONE = 0 LRMODE_MUSCLE = 1 LRMODE_MUSCLEUSER = 2 LRMODE_ALL = 3 # _mjtWarning WARN_INERTIA = 0 WARN_CONTACTFULL = 1 WARN_CNSTRFULL = 2 WARN_VGEOMFULL = 3 WARN_BADQPOS = 4 WARN_BADQVEL = 5 WARN_BADQACC = 6 WARN_BADCTRL = 7 NWARNING = 8 # _mjtTimer TIMER_STEP = 0 TIMER_FORWARD = 1 TIMER_INVERSE = 2 TIMER_POSITION = 3 TIMER_VELOCITY = 4 TIMER_ACTUATION = 5 TIMER_ACCELERATION = 6 TIMER_CONSTRAINT = 7 TIMER_POS_KINEMATICS = 8 TIMER_POS_INERTIA = 9 TIMER_POS_COLLISION = 10 TIMER_POS_MAKE = 11 TIMER_POS_PROJECT = 12 NTIMER = 13 # _mjtCatBit CAT_STATIC = 1 CAT_DYNAMIC = 2 CAT_DECOR = 4 CAT_ALL = 7 # _mjtMouse MOUSE_NONE = 0 MOUSE_ROTATE_V = 1 MOUSE_ROTATE_H = 2 MOUSE_MOVE_V = 3 MOUSE_MOVE_H = 4 MOUSE_ZOOM = 5 MOUSE_SELECT = 6 # _mjtPertBit PERT_TRANSLATE = 1 PERT_ROTATE = 2 # _mjtCamera CAMERA_FREE = 0 CAMERA_TRACKING = 1 CAMERA_FIXED = 2 CAMERA_USER = 3 # _mjtLabel LABEL_NONE = 0 LABEL_BODY = 1 LABEL_JOINT = 2 LABEL_GEOM = 3 LABEL_SITE = 4 LABEL_CAMERA = 5 LABEL_LIGHT = 6 LABEL_TENDON = 7 LABEL_ACTUATOR = 8 LABEL_CONSTRAINT = 9 LABEL_SKIN = 10 LABEL_SELECTION = 11 LABEL_SELPNT = 12 LABEL_CONTACTFORCE = 13 NLABEL = 14 # _mjtFrame FRAME_NONE = 0 FRAME_BODY = 1 FRAME_GEOM = 2 FRAME_SITE = 3 FRAME_CAMERA = 4 FRAME_LIGHT = 5 FRAME_WORLD = 6 NFRAME = 7 # _mjtVisFlag VIS_CONVEXHULL = 0 VIS_TEXTURE = 1 VIS_JOINT = 2 VIS_ACTUATOR = 3 VIS_CAMERA = 4 VIS_LIGHT = 5 VIS_TENDON = 6 VIS_RANGEFINDER = 7 VIS_CONSTRAINT = 8 VIS_INERTIA = 9 VIS_SCLINERTIA = 10 VIS_PERTFORCE = 11 VIS_PERTOBJ = 12 VIS_CONTACTPOINT = 13 VIS_CONTACTFORCE = 14 VIS_CONTACTSPLIT = 15 VIS_TRANSPARENT = 16 VIS_AUTOCONNECT = 17 VIS_COM = 18 VIS_SELECT = 19 VIS_STATIC = 20 VIS_SKIN = 21 NVISFLAG = 22 # _mjtRndFlag RND_SHADOW = 0 RND_WIREFRAME = 1 RND_REFLECTION = 2 RND_ADDITIVE = 3 RND_SKYBOX = 4 RND_FOG = 5 RND_HAZE = 6 RND_SEGMENT = 7 RND_IDCOLOR = 8 NRNDFLAG = 9 # _mjtStereo STEREO_NONE = 0 STEREO_QUADBUFFERED = 1 STEREO_SIDEBYSIDE = 2 # _mjtGridPos GRID_TOPLEFT = 0 GRID_TOPRIGHT = 1 GRID_BOTTOMLEFT = 2 GRID_BOTTOMRIGHT = 3 # _mjtFramebuffer FB_WINDOW = 0 FB_OFFSCREEN = 1 # _mjtFontScale FONTSCALE_50 = 50 FONTSCALE_100 = 100 FONTSCALE_150 = 150 FONTSCALE_200 = 200 FONTSCALE_250 = 250 FONTSCALE_300 = 300 # _mjtFont FONT_NORMAL = 0 FONT_SHADOW = 1 FONT_BIG = 2 # _mjtButton BUTTON_NONE = 0 BUTTON_LEFT = 1 BUTTON_RIGHT = 2 BUTTON_MIDDLE = 3 # _mjtEvent EVENT_NONE = 0 EVENT_MOVE = 1 EVENT_PRESS = 2 EVENT_RELEASE = 3 EVENT_SCROLL = 4 EVENT_KEY = 5 EVENT_RESIZE = 6 # _mjtItem ITEM_END = -2 ITEM_SECTION = -1 ITEM_SEPARATOR = 0 ITEM_STATIC = 1 ITEM_BUTTON = 2 ITEM_CHECKINT = 3 ITEM_CHECKBYTE = 4 ITEM_RADIO = 5 ITEM_RADIOLINE = 6 ITEM_SELECT = 7 ITEM_SLIDERINT = 8 ITEM_SLIDERNUM = 9 ITEM_EDITINT = 10 ITEM_EDITNUM = 11 ITEM_EDITTXT = 12 NITEM = 13