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.. _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.
*Nullable:* ``vfs``, ``error``
.. _mj_parseXML:
`mj_parseXML <#mj_parseXML>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_parseXML
Parse spec from XML file.
*Nullable:* ``vfs``, ``error``
.. _mj_parseXMLString:
`mj_parseXMLString <#mj_parseXMLString>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_parseXMLString
Parse spec from XML string.
*Nullable:* ``vfs``, ``error``
.. _mj_parse:
`mj_parse <#mj_parse>`__
~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_parse
Parse spec from a file.
*Nullable:* ``vfs``, ``error``
.. _mj_encode:
`mj_encode <#mj_encode>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_encode
Encode :ref:`mjSpec` or :ref:`mjModel` to a file. The output format is determined by the file extension
(case insensitive) or ``content_type``. Returns the number of bytes written on success, -1 on failure.
For detailed documentation, supported output formats (``.xml``, ``.mjb``, ``.txt``, ``.mjz``), and custom encoder
plugins, see :ref:`Model Encoding & Saving <meSaving>`.
*Nullable:* ``s``, ``m``, ``vfs``, ``error``
.. _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; return 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<siIntegrationState>`, as given in the provided :ref:`mjData` instance, while accounting for
newly added or removed degrees of freedom. This allows the user to continue simulation with the same model and data
struct pointers while editing the model programmatically.
:ref:`mj_recompile` returns 0 if compilation succeed. In the case of failure, the given :ref:`mjModel` and :ref:`mjData`
instances will be deleted; as in :ref:`mj_compile`, the compilation error can be read with :ref:`mjs_getError`.
.. _mj_saveLastXML:
`mj_saveLastXML <#mj_saveLastXML>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_saveLastXML
Update XML data structures with info from low-level model created with :ref:`mj_loadXML`, save as MJCF.
If error is not NULL, it must have size error_sz.
Note that this function only saves models that have been loaded with :ref:`mj_loadXML`, the legacy loading mechanism.
See the :ref:`model editing<meOverview>` chapter to understand the difference between the old and new model loading and
saving mechanisms.
.. _mj_freeLastXML:
`mj_freeLastXML <#mj_freeLastXML>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_freeLastXML
Free last XML model if loaded. Called internally at each load.
.. _mj_saveXMLString:
`mj_saveXMLString <#mj_saveXMLString>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_saveXMLString
Save spec to XML string, return 0 on success, -1 on failure. If the length of the output buffer is too small, returns
the required size. XML saving automatically compiles the spec before saving.
.. _mj_saveXML:
`mj_saveXML <#mj_saveXML>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_saveXML
Save spec to XML file, return 0 on success, -1 otherwise. XML saving requires that the spec first be compiled.
.. _mju_getXMLDependencies:
`mju_getXMLDependencies <#mju_getXMLDependencies>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_getXMLDependencies
Given MJCF filename, fills dependencies with a list of all other asset files it depends on.
The search is recursive, and the list includes the filename itself.
.. _Mainsimulation:
Main simulation
^^^^^^^^^^^^^^^
These are the main entry points to the simulator. Most users will only need to call :ref:`mj_step`, which computes
everything and advanced the simulation state by one time step. Controls and applied forces must either be set in advance
(in ``mjData.{ctrl, qfrc_applied, xfrc_applied}``), or a control callback :ref:`mjcb_control` must be installed which
will be called just before the controls and applied forces are needed. Alternatively, one can use :ref:`mj_step1` and
:ref:`mj_step2` which break down the simulation pipeline into computations that are executed before and after the
controls are needed; in this way one can set controls that depend on the results from :ref:`mj_step1`. Keep in mind
though that the RK4 solver does not work with mj_step1/2. See :ref:`Pipeline` for a more detailed description.
mj_forward performs the same computations as :ref:`mj_step` but without the integration. It is useful after loading or
resetting a model (to put the entire mjData in a valid state), and also for out-of-order computations that involve
sampling or finite-difference approximations.
:ref:`mj_inverse` runs the inverse dynamics, and writes its output in ``mjData.qfrc_inverse``. Note that ``mjData.qacc``
must be set before calling this function. Given the state (qpos, qvel, act), mj_forward maps from force to acceleration,
while mj_inverse maps from acceleration to force. Mathematically these functions are inverse of each other, but
numerically this may not always be the case because the forward dynamics rely on a constraint optimization algorithm
which is usually terminated early. The difference between the results of forward and inverse dynamics can be computed
with the function :ref:`mj_compareFwdInv`, which can be thought of as another solver accuracy check (as well as a
general sanity check).
The skip version of :ref:`mj_forward` and :ref:`mj_inverse` are useful for example when qpos was unchanged but qvel was
changed (usually in the context of finite differencing). Then there is no point repeating the computations that only
depend on qpos. Calling the dynamics with skipstage = :ref:`mjSTAGE_POS<mjtStage>` will achieve these savings.
.. _mj_step:
`mj_step <#mj_step>`__
~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_step
Advance simulation, use control callback to obtain external force and control.
.. _mj_step1:
`mj_step1 <#mj_step1>`__
~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_step1
Advance simulation in two steps: before external force and control is set by user.
.. _mj_step2:
`mj_step2 <#mj_step2>`__
~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_step2
Advance simulation in two steps: after external force and control is set by user.
.. _mj_forward:
`mj_forward <#mj_forward>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_forward
Forward dynamics: same as mj_step but do not integrate in time.
.. _mj_inverse:
`mj_inverse <#mj_inverse>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_inverse
Inverse dynamics: qacc must be set before calling.
.. _mj_forwardSkip:
`mj_forwardSkip <#mj_forwardSkip>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_forwardSkip
Forward dynamics with skip; skipstage is mjtStage.
.. _mj_inverseSkip:
`mj_inverseSkip <#mj_inverseSkip>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_inverseSkip
Inverse dynamics with skip; skipstage is mjtStage.
.. _Support:
Support
^^^^^^^
These are support functions that need access to :ref:`mjModel` and :ref:`mjData`, unlike the utility functions which do
not need such access. Support functions are called within the simulator but some of them can also be useful for custom
computations, and are documented in more detail below.
.. _mj_stateSize:
`mj_stateSize <#mj_stateSize>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_stateSize
Returns the number of :ref:`mjtNum` |-| s required for a given state signature. The bits of the integer ``sig``
correspond to element fields of :ref:`mjtState`.
.. _mj_getState:
`mj_getState <#mj_getState>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_getState
Copy concatenated state components specified by ``sig`` from ``d`` into ``state``. The bits of the integer
``sig`` correspond to element fields of :ref:`mjtState`. Fails with :ref:`mju_error` if ``sig`` is invalid.
.. _mj_extractState:
`mj_extractState <#mj_extractState>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_extractState
Extract into ``dst`` the subset of components specified by ``dstsig`` from a state ``src`` previously obtained via
:ref:`mj_getState` with components specified by ``srcsig``. Fails with :ref:`mju_error` if the bits set in ``dstsig``
is not a subset of the bits set in ``srcsig``.
.. _mj_setState:
`mj_setState <#mj_setState>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_setState
Copy concatenated state components specified by ``sig`` from ``state`` into ``d``. The bits of the integer
``sig`` correspond to element fields of :ref:`mjtState`. Fails with :ref:`mju_error` if ``sig`` is invalid.
.. _mj_copyState:
`mj_copyState <#mj_copyState>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_copyState
Copy state from src to dst.
.. _mj_readCtrl:
`mj_readCtrl <#mj_readCtrl>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_readCtrl
Read the control value for an actuator at a given time, taking delays into account. If no history buffer exists, return
``mjData.ctrl[id]``. If a history buffer exists (:ref:`nsample<actuator-general-nsample>` > 0), read from the delay
buffer at ``time - actuator_delay[id]`` using the requested interpolation order:
- ``interp = 0``: Zero-order hold (piecewise constant)
- ``interp = 1``: Piecewise Linear
- ``interp = 2``: Cubic Spline (Catmull-Rom)
- ``interp = -1``: Use the actuator's :ref:`interp<actuator-general-interp>` value.
Constant extrapolation is used outside of buffer bounds.
Note that the subtraction of the delay changes the semantic of the ``time`` argument from "time at which values were
pushed into the delay buffer" to "time at which values come out of the delay buffer". See :ref:`Delays<CDelay>` for
details.
.. _mj_readSensor:
`mj_readSensor <#mj_readSensor>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_readSensor
Read a sensor value at a given time, taking delays into account. If no history buffer exists, return a pointer to the
sensor's slice of ``mjData.sensordata``. If a history buffer exists (:ref:`nsample<sensor-nsample>` > 0), read from the
history buffer at ``time - sensor_delay[id]``. Note that the subtraction of the delay changes the semantic of the
``time`` argument from "time at which values were pushed into the delay buffer" to "time at which values come out of the
delay buffer". See :ref:`Delays<CDelay>` for details.
**Return value semantics:**
- If no history buffer exists (:ref:`nsample<sensor-nsample>` = 0), returns a pointer to the sensor's slice of
``mjData.sensordata``.
- If a history buffer exists (:ref:`nsample<sensor-nsample>` > 0) and the requested time matches a stored sample
(always true for ``interp = 0``), returns a pointer to the data in the history buffer.
- If interpolation is required (``interp = 1 or 2``), returns ``NULL`` and writes the interpolated result to
``result`` (must be of size ``dim``).
**Interpolation:**
- ``interp = 0``: Zero-order hold (piecewise constant)
- ``interp = 1``: Piecewise Linear
- ``interp = 2``: Cubic Spline (Catmull-Rom)
- ``interp = -1``: Use the value in :ref:`interp<sensor-interp>`
Constant extrapolation is used outside of buffer bounds.
**Usage:**
.. code-block:: C
// read sensor 0 of data size `dim` at time t
mjtNum result[dim];
const mjtNum* ptr = mj_readSensor(m, d, 0, t, result, /* interp = */ 1);
const mjtNum* data = ptr ? ptr : result;
.. _mj_initCtrlHistory:
`mj_initCtrlHistory <#mj_initCtrlHistory>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_initCtrlHistory
Initialize the history buffer for an actuator with custom values. The ``times`` array specifies the timestamps for each
sample (must be length :ref:`nsample<actuator-general-nsample>`), and ``values`` specifies the control values. If
``times`` is ``NULL``, the existing timestamps in the buffer are used, and only the values are updated.
See :ref:`Delays<CDelay>` for details.
.. _mj_initSensorHistory:
`mj_initSensorHistory <#mj_initSensorHistory>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_initSensorHistory
Initialize the history buffer for a sensor with custom values. The ``times`` array specifies the timestamps for each
sample (must be length :ref:`nsample<sensor-nsample>`), and ``values`` specifies the sensor values (must be of size
``nsample * dim``). If ``times`` is ``NULL``, the existing timestamps in the buffer are used.
The ``phase`` argument sets the user slot, which stores the last computation time for interval sensors.
See :ref:`Delays<CDelay>` for details.
.. _mj_setKeyframe:
`mj_setKeyframe <#mj_setKeyframe>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_setKeyframe
Copy current state to the k-th model keyframe.
.. _mj_addContact:
`mj_addContact <#mj_addContact>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_addContact
Add contact to d->contact list; return 0 if success; 1 if buffer full.
.. _mj_isPyramidal:
`mj_isPyramidal <#mj_isPyramidal>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_isPyramidal
Determine type of friction cone.
.. _mj_isSparse:
`mj_isSparse <#mj_isSparse>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_isSparse
Determine type of constraint Jacobian.
.. _mj_isDual:
`mj_isDual <#mj_isDual>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_isDual
Determine type of solver (PGS is dual, CG and Newton are primal).
.. _mj_mulJacVec:
`mj_mulJacVec <#mj_mulJacVec>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_mulJacVec
This function multiplies the constraint Jacobian mjData.efc_J by a vector. Note that the Jacobian can be either dense or
sparse; the function is aware of this setting. Multiplication by J maps velocities from joint space to constraint space.
.. _mj_mulJacTVec:
`mj_mulJacTVec <#mj_mulJacTVec>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_mulJacTVec
Same as mj_mulJacVec but multiplies by the transpose of the Jacobian. This maps forces from constraint space to joint
space.
.. _mj_jac:
`mj_jac <#mj_jac>`__
~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_jac
This function computes an end-effector kinematic Jacobian, describing the local linear relationship between the
degrees-of-freedom and a given point. Given a body specified by its integer id (``body``) and a 3D point in the world
frame (``point``) treated as attached to the body, the Jacobian has both translational (``jacp``) and rotational
(``jacr``) components. Passing ``NULL`` for either pointer will skip that part of the computation. Each component is a
3-by-nv matrix. Each row of this matrix is the gradient of the corresponding coordinate of the specified point with
respect to the degrees-of-freedom. The frame with respect to which the Jacobian is computed is centered at the body
center-of-mass but aligned with the world frame. The minimal :ref:`pipeline stages<piForward>` required for Jacobian
computations to be consistent with the current generalized positions ``mjData.qpos`` are :ref:`mj_kinematics` followed
by :ref:`mj_comPos`.
*Nullable:* ``jacp``, ``jacr``
.. _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.
*Nullable:* ``jacp``, ``jacr``
.. _mj_jacBodyCom:
`mj_jacBodyCom <#mj_jacBodyCom>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_jacBodyCom
Compute body center-of-mass end-effector Jacobian.
*Nullable:* ``jacp``, ``jacr``
.. _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.
*Nullable:* ``jacp``, ``jacr``
.. _mj_jacSite:
`mj_jacSite <#mj_jacSite>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_jacSite
Compute site end-effector Jacobian.
*Nullable:* ``jacp``, ``jacr``
.. _mj_jacPointAxis:
`mj_jacPointAxis <#mj_jacPointAxis>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_jacPointAxis
Compute translation end-effector Jacobian of point, and rotation Jacobian of axis.
*Nullable:* ``jacPoint``, ``jacAxis``
.. _mj_jacDot:
`mj_jacDot <#mj_jacDot>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_jacDot
This function computes the time-derivative of an end-effector kinematic Jacobian computed by :ref:`mj_jac`.
The minimal :ref:`pipeline stages<piStages>` required for computation to be
consistent with the current generalized positions and velocities ``mjData.{qpos, qvel}`` are
:ref:`mj_kinematics`, :ref:`mj_comPos`, :ref:`mj_comVel` (in that order).
*Nullable:* ``jacp``, ``jacr``
.. _mj_angmomMat:
`mj_angmomMat <#mj_angmomMat>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_angmomMat
This function computes the ``3 x nv`` angular momentum matrix :math:`H(q)`, providing the linear mapping from
generalized velocities to subtree angular momentum. More precisely if :math:`h` is the subtree angular momentum of
body index ``body`` in ``mjData.subtree_angmom`` (reported by the :ref:`subtreeangmom<sensor-subtreeangmom>` sensor)
and :math:`\dot q` is the generalized velocity ``mjData.qvel``, then :math:`h = H \dot q`.
.. _mj_name2id:
`mj_name2id <#mj_name2id>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_name2id
Get id of object with the specified :ref:`mjtObj` type and name, returns -1 if id not found.
.. _mj_id2name:
`mj_id2name <#mj_id2name>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_id2name
Get name of object with the specified :ref:`mjtObj` type and id, returns ``NULL`` if name not found.
.. _mj_actuatorInputName:
`mj_actuatorInputName <#mj_actuatorInputName>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_actuatorInputName
Get name of actuator input, determined by the actuator type and input signature;
return NULL if the actuator type defines no input names.
.. _mj_fullM:
`mj_fullM <#mj_fullM>`__
~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_fullM
Convert sparse inertia matrix into full (i.e. dense) matrix.
.. _mj_mulM:
`mj_mulM <#mj_mulM>`__
~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_mulM
This function multiplies the joint-space inertia matrix stored in ``mjData.M`` by a vector.
.. _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 (lower triangle only).
Destination can be sparse or dense when all int* are NULL.
*Nullable:* ``rownnz``, ``rowadr``, ``colind``
.. _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).
*Nullable:* ``fromto``
.. admonition:: different (correct) behavior under `nativeccd`
:class: note
As explained in :ref:`Collision Detection<coDistance>`, distances are inaccurate when using the
:ref:`legacy CCD pipeline<coCCD>`, and its use is discouraged.
.. _mj_contactForce:
`mj_contactForce <#mj_contactForce>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_contactForce
Extract 6D force:torque given contact id, in the contact frame.
.. _mj_differentiatePos:
`mj_differentiatePos <#mj_differentiatePos>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_differentiatePos
This function subtracts two vectors in the format of qpos (and divides the result by dt), while respecting the
properties of quaternions. Recall that unit quaternions represent spatial orientations. They are points on the unit
sphere in 4D. The tangent to that sphere is a 3D plane of rotational velocities. Thus when we subtract two quaternions
in the right way, the result is a 3D vector and not a 4D vector. Thus the output qvel has dimensionality nv while the
inputs have dimensionality nq.
.. _mj_integratePos:
`mj_integratePos <#mj_integratePos>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_integratePos
This is the opposite of mj_differentiatePos. It adds a vector in the format of qvel (scaled by dt) to a vector in the
format of qpos.
.. _mj_normalizeQuat:
`mj_normalizeQuat <#mj_normalizeQuat>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_normalizeQuat
Normalize all quaternions in qpos-type vector.
.. _mj_local2Global:
`mj_local2Global <#mj_local2Global>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_local2Global
Map from body local to global Cartesian coordinates, sameframe takes values from mjtSameFrame.
.. _mj_getTotalmass:
`mj_getTotalmass <#mj_getTotalmass>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_getTotalmass
Sum all body masses.
.. _mj_setTotalmass:
`mj_setTotalmass <#mj_setTotalmass>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_setTotalmass
Scale body masses and inertias to achieve specified total mass.
.. _mj_getPluginConfig:
`mj_getPluginConfig <#mj_getPluginConfig>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_getPluginConfig
Return a config attribute value of a plugin instance;
NULL: invalid plugin instance ID or attribute name
.. _mj_loadPluginLibrary:
`mj_loadPluginLibrary <#mj_loadPluginLibrary>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_loadPluginLibrary
Load a dynamic library. The dynamic library is assumed to register one or more plugins.
.. _mj_loadAllPluginLibraries:
`mj_loadAllPluginLibraries <#mj_loadAllPluginLibraries>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_loadAllPluginLibraries
Scan a directory and load all dynamic libraries. Dynamic libraries in the specified directory
are assumed to register one or more plugins. Optionally, if a callback is specified, it is called
for each dynamic library encountered that registers plugins.
.. _mj_version:
`mj_version <#mj_version>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_version
Return version number: 1.0.2 is encoded as 102.
.. _mj_versionString:
`mj_versionString <#mj_versionString>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_versionString
Return the current version of MuJoCo as a null-terminated string.
.. _Components:
Components
^^^^^^^^^^
These are components of the simulation pipeline, called internally from :ref:`mj_step`, :ref:`mj_forward` and
:ref:`mj_inverse`. It is unlikely that the user will need to call them.
.. _mj_fwdKinematics:
`mj_fwdKinematics <#mj_fwdKinematics>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_fwdKinematics
Run all kinematics-like computations (kinematics, comPos, camlight, flex, tendon).
.. _mj_fwdPosition:
`mj_fwdPosition <#mj_fwdPosition>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_fwdPosition
Run position-dependent computations.
.. _mj_fwdVelocity:
`mj_fwdVelocity <#mj_fwdVelocity>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_fwdVelocity
Run velocity-dependent computations.
.. _mj_fwdActuation:
`mj_fwdActuation <#mj_fwdActuation>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_fwdActuation
Compute actuator force qfrc_actuator.
.. _mj_fwdAcceleration:
`mj_fwdAcceleration <#mj_fwdAcceleration>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_fwdAcceleration
Add up all non-constraint forces, compute qacc_smooth.
.. _mj_fwdConstraint:
`mj_fwdConstraint <#mj_fwdConstraint>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_fwdConstraint
Run selected constraint solver.
.. _mj_Euler:
`mj_Euler <#mj_Euler>`__
~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_Euler
Euler integrator, semi-implicit in velocity.
.. _mj_RungeKutta:
`mj_RungeKutta <#mj_RungeKutta>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_RungeKutta
Runge-Kutta explicit order-N integrator.
.. _mj_implicit:
`mj_implicit <#mj_implicit>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_implicit
Integrates the simulation state using an implicit-in-velocity integrator (either "implicit" or "implicitfast", see
:ref:`Numerical Integration<geIntegration>`), and advances simulation time. See `mjdata.h
<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjdata.h>`__ for fields computed by this function.
.. _mj_invPosition:
`mj_invPosition <#mj_invPosition>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_invPosition
Run position-dependent computations in inverse dynamics.
.. _mj_invVelocity:
`mj_invVelocity <#mj_invVelocity>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_invVelocity
Run velocity-dependent computations in inverse dynamics.
.. _mj_invConstraint:
`mj_invConstraint <#mj_invConstraint>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_invConstraint
Apply the analytical formula for inverse constraint dynamics.
.. _mj_compareFwdInv:
`mj_compareFwdInv <#mj_compareFwdInv>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_compareFwdInv
Compare forward and inverse dynamics, save results in fwdinv.
.. _Subcomponents:
Sub components
^^^^^^^^^^^^^^
These are sub-components of the simulation pipeline, called internally from the components above.
.. _mj_sensorPos:
`mj_sensorPos <#mj_sensorPos>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_sensorPos
Evaluate position-dependent sensors.
.. _mj_sensorVel:
`mj_sensorVel <#mj_sensorVel>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_sensorVel
Evaluate velocity-dependent sensors.
.. _mj_sensorAcc:
`mj_sensorAcc <#mj_sensorAcc>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_sensorAcc
Evaluate acceleration and force-dependent sensors.
.. _mj_energyPos:
`mj_energyPos <#mj_energyPos>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_energyPos
Evaluate position-dependent energy (potential).
.. _mj_energyVel:
`mj_energyVel <#mj_energyVel>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_energyVel
Evaluate velocity-dependent energy (kinetic).
.. _mj_checkPos:
`mj_checkPos <#mj_checkPos>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_checkPos
Check qpos, reset if any element is too big or nan.
.. _mj_checkVel:
`mj_checkVel <#mj_checkVel>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_checkVel
Check qvel, reset if any element is too big or nan.
.. _mj_checkAcc:
`mj_checkAcc <#mj_checkAcc>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_checkAcc
Check qacc, reset if any element is too big or nan.
.. _mj_kinematics:
`mj_kinematics <#mj_kinematics>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_kinematics
Run forward kinematics.
.. _mj_comPos:
`mj_comPos <#mj_comPos>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_comPos
Map inertias and motion dofs to global frame centered at CoM.
.. _mj_camlight:
`mj_camlight <#mj_camlight>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_camlight
Compute camera and light positions and orientations.
.. _mj_flex:
`mj_flex <#mj_flex>`__
~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_flex
Compute flex-related quantities.
.. _mj_tendon:
`mj_tendon <#mj_tendon>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_tendon
Compute tendon lengths, velocities and moment arms.
.. _mj_transmission:
`mj_transmission <#mj_transmission>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_transmission
Compute actuator transmission lengths and moments.
.. _mj_crb:
`mj_crb <#mj_crb>`__
~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_crb
Run composite rigid body inertia algorithm (CRB).
.. _mj_makeM:
`mj_makeM <#mj_makeM>`__
~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_makeM
Compute the composite rigid body inertia with :ref:`mj_crb`, add terms due
to :ref:`tendon armature<tendon-spatial-armature>`. The joint-space inertia matrix is stored in both ``mjData.qM`` and
``mjData.M``. These arrays represent the same quantity using different layouts (parent-based and compressed sparse row,
respectively).
.. _mj_factorM:
`mj_factorM <#mj_factorM>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_factorM
Compute sparse :math:`L^T D L` factorizaton of inertia matrix.
.. _mj_solveM:
`mj_solveM <#mj_solveM>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_solveM
Solve linear system :math:`M x = y` using factorization: :math:`x = (L^T D L)^{-1} y`
.. _mj_solveM2:
`mj_solveM2 <#mj_solveM2>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_solveM2
Half of linear solve: :math:`x = \sqrt{D^{-1}} (L^T)^{-1} y`
.. _mj_comVel:
`mj_comVel <#mj_comVel>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_comVel
Compute cvel, cdof_dot.
.. _mj_passive:
`mj_passive <#mj_passive>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_passive
Compute qfrc_passive from spring-dampers, gravity compensation and fluid forces.
.. _mj_subtreeVel:
`mj_subtreeVel <#mj_subtreeVel>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_subtreeVel
Sub-tree linear velocity and angular momentum: compute ``subtree_linvel``, ``subtree_angmom``.
This function is triggered automatically if the subtree :ref:`velocity<sensor-subtreelinvel>` or
:ref:`momentum<sensor-subtreeangmom>` sensors are present in the model.
It is also triggered for :ref:`user sensors<sensor-user>` of :ref:`stage<sensor-user-needstage>` "vel".
.. _mj_rne:
`mj_rne <#mj_rne>`__
~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_rne
Recursive Newton Euler: compute :math:`M(q) \ddot q + C(q,\dot q)`. ``flg_acc=0`` removes the inertial term (i.e.
assumes :math:`\ddot q = 0`).
.. _mj_rnePostConstraint:
`mj_rnePostConstraint <#mj_rnePostConstraint>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_rnePostConstraint
Recursive Newton Euler with final computed forces and accelerations.
Computes three body-level ``nv x 6`` arrays, all defined in the subtreecom-based
:ref:`c-frame<tyNotesCom>` and arranged in ``[rotation(3), translation(3)]`` order.
- ``cacc``: Body acceleration, required for :ref:`mj_objectAcceleration`.
- ``cfrc_int``: Interaction force with the parent body.
- ``cfrc_ext``: External force acting on the body.
This function is triggered automatically if the following sensors are present in the model:
:ref:`accelerometer<sensor-accelerometer>`, :ref:`force<sensor-force>`, :ref:`torque<sensor-torque>`,
:ref:`framelinacc<sensor-framelinacc>`, :ref:`frameangacc<sensor-frameangacc>`.
It is also triggered for :ref:`user sensors<sensor-user>` of :ref:`stage<sensor-user-needstage>` "acc".
The computed force arrays ``cfrc_int`` and ``cfrc_ext`` currently suffer from a know bug, they do not take into account
the effect of spatial tendons, see :issue:`832`.
.. _mj_maxContact:
`mj_maxContact <#mj_maxContact>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_maxContact
Return the maximum number of contacts that can be generated between two geoms.
If has_margin is -1, then the margin is pulled from the model, otherwise if has_margin > 0
indicates that the geoms have a positive margin.
.. _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``.
*Nullable:* ``cost``
.. _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_ray:
`mj_ray <#mj_ray>`__
~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_ray
Intersect ray ``pnt+x*vec, x >= 0`` with geoms.
- Return distance ``x`` to nearest surface, or -1 if no intersection.
- If ``geomid`` is not NULL, write the id of the intersected geom or -1 if not intersection.
- If ``normal`` is not NULL, write the surface normal at the intersection point. The normal always points **out of the
geometry**, regardless of the ray's direction (i.e., including rays hitting the surface from the inside).
- Exclude geoms in body with id ``bodyexclude``, use -1 to include all bodies.
- ``geomgroup`` is an array of length :ref:`mjNGROUP<glNumericVisualization>`, where 1 means the group should be included. Pass
NULL to skip geom group exclusion.
- If ``flg_static`` is 0, static geoms will be excluded.
*Nullable:* ``geomgroup``, ``geomid``, ``normal``
.. _mj_multiRay:
`mj_multiRay <#mj_multiRay>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_multiRay
Intersect multiple rays emanating from a single point, compute normals if given.
Similar semantics to mj_ray, but vec, normal and dist are arrays.
Geoms further than cutoff are ignored.
*Nullable:* ``geomgroup``, ``geomid``, ``normal``
.. _mj_rayHfield:
`mj_rayHfield <#mj_rayHfield>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_rayHfield
Intersect ray with hfield; return nearest distance or -1 if no intersection.
*Nullable:* ``normal``
.. _mj_rayMesh:
`mj_rayMesh <#mj_rayMesh>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_rayMesh
Intersect ray with mesh; return nearest distance or -1 if no intersection.
*Nullable:* ``normal``
.. _mju_rayGeom:
`mju_rayGeom <#mju_rayGeom>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_rayGeom
Intersect ray with pure geom; return nearest distance or -1 if no intersection.
*Nullable:* ``normal``
.. _mj_rayFlex:
`mj_rayFlex <#mj_rayFlex>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_rayFlex
Intersect ray with flex; return nearest distance or -1 if no intersection,
and also output nearest vertex id and surface normal.
*Nullable:* ``vertid``, ``normal``
.. _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.
*Nullable:* ``vertid``
.. _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 `` ``.
.. _mj_printScene:
`mj_printScene <#mj_printScene>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_printScene
Print scene to text file.
.. _mj_printFormattedScene:
`mj_printFormattedScene <#mj_printFormattedScene>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_printFormattedScene
Print scene to text file, specifying format.
float_format must be a valid printf-style format string for a single float value.
.. _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_mountVFS:
`mj_mountVFS <#mj_mountVFS>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_mountVFS
Mount a ResourceProvider to handle file operations under the given path; return 0: success,
2: repeated name, -1: invalid resource provider.
.. _mj_unmountVFS:
`mj_unmountVFS <#mj_unmountVFS>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_unmountVFS
Unmount a previously mounted ResourceProvider; return 0: success, -1: not found in 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.
*Nullable:* ``directory``
.. _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_containsBufferVFS:
`mj_containsBufferVFS <#mj_containsBufferVFS>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_containsBufferVFS
Check if buffer exists in VFS; return 1: exists, 0: not found.
.. _mj_containsFileVFS:
`mj_containsFileVFS <#mj_containsFileVFS>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_containsFileVFS
Check if file exists in VFS; return 1: exists, 0: not found.
.. _mj_deleteVFS:
`mj_deleteVFS <#mj_deleteVFS>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_deleteVFS
Delete all files from VFS and deallocates VFS internal memory.
.. _Assetcache:
Asset cache
^^^^^^^^^^^
The asset cache is a mechanism for caching assets (e.g. textures, meshes, etc.) to avoid repeated slow recompilation.
The following methods provide way to control the capacity of the cache or to disable it altogether.
.. _mj_getCacheSize:
`mj_getCacheSize <#mj_getCacheSize>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_getCacheSize
Get the current size of the asset cache in bytes.
.. _mj_getCacheCapacity:
`mj_getCacheCapacity <#mj_getCacheCapacity>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_getCacheCapacity
Get the capacity of the asset cache in bytes.
.. _mj_setCacheCapacity:
`mj_setCacheCapacity <#mj_setCacheCapacity>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_setCacheCapacity
Set the capacity of the asset cache in bytes (0 to disable); return the new capacity.
.. _mj_getCache:
`mj_getCache <#mj_getCache>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_getCache
Get the internal asset cache used by the compiler.
.. _mj_clearCache:
`mj_clearCache <#mj_clearCache>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_clearCache
Clear the asset cache.
.. _Resources:
Resources
^^^^^^^^^
Resources are the interface between :ref:`resource providers <exProvider>` and MuJoCo model compilation code.
These functions provide the means to query the resource provider and obtain resources.
.. _mju_openResource:
`mju_openResource <#mju_openResource>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_openResource
Open a resource; if the name doesn't have a prefix matching a registered resource provider,
then the OS filesystem is used.
*Nullable:* ``dir``, ``vfs``, ``error``
.. _mju_closeResource:
`mju_closeResource <#mju_closeResource>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_closeResource
Close a resource; no-op if resource is NULL.
.. _mju_readResource:
`mju_readResource <#mju_readResource>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_readResource
Set buffer to bytes read from the resource and return number of bytes in buffer;
return negative value if error.
.. _mju_writeResource:
`mju_writeResource <#mju_writeResource>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_writeResource
Write resource data via its resource provider, return bytes written or -1 on error.
*Nullable:* ``vfs``, ``error``
.. _mju_getResourceDir:
`mju_getResourceDir <#mju_getResourceDir>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_getResourceDir
For a resource with a name partitioned as {dir}{filename}, get the dir and ndir pointers.
.. _mju_isModifiedResource:
`mju_isModifiedResource <#mju_isModifiedResource>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_isModifiedResource
Compare resource timestamp to provided timestamp.
Return 0 if timestamps match, >0 if resource is newer, <0 if resource is older.
.. _mju_decodeResource:
`mju_decodeResource <#mju_decodeResource>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_decodeResource
Find the decoder for a resource and return the decoded spec.
The caller takes ownership of the spec and is responsible for cleaning it up.
*Nullable:* ``vfs``
.. _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.
*Nullable:* ``solref``, ``solimp``
.. _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.
*Nullable:* ``dest``
.. _mj_saveModel:
`mj_saveModel <#mj_saveModel>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_saveModel
Save model to binary MJB file or memory buffer; buffer has precedence when given.
*Nullable:* ``filename``, ``buffer``
.. _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.
*Nullable:* ``vfs``
.. _mj_loadModelBuffer:
`mj_loadModelBuffer <#mj_loadModelBuffer>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_loadModelBuffer
Load model from memory buffer.
.. _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_resetCtrl:
`mj_resetCtrl <#mj_resetCtrl>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mj_resetCtrl
Reset ctrl to neutral values: zero, except quaternion inputs which reset to the identity.
.. _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.
*Nullable:* ``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; return 0 on success.
.. _mjs_setDeepCopy:
`mjs_setDeepCopy <#mjs_setDeepCopy>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_setDeepCopy
Turn deep copy on or off attach; return 0 on success.
.. _Errorandmemory:
Error and memory
^^^^^^^^^^^^^^^^
.. _mju_error:
`mju_error <#mju_error>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_error
Main error function. The error message is dispatched to the active log handler (see :ref:`mju_setLogHandler`).
Errors are always fatal: if the handler returns, the process is terminated with ``exit(EXIT_FAILURE)``. Handlers
wishing to recover must ``longjmp`` or otherwise transfer control before returning.
.. _mju_warning:
`mju_warning <#mju_warning>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_warning
Main warning function; returns to caller. The warning message is dispatched to the active log handler.
.. _mju_clearHandlers:
`mju_clearHandlers <#mju_clearHandlers>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_clearHandlers
Clear all user handlers and restore defaults. Resets the legacy error/warning/memory callbacks to ``NULL``, restores
the default log handler, and resets the log configuration to its defaults (console and file output enabled, all info
topics disabled).
.. _mju_setLogHandler:
`mju_setLogHandler <#mju_setLogHandler>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_setLogHandler
Set the active global log handler. Returns the previous handler (which is never ``NULL``), intended for save/restore
or callback chaining. If ``handler`` is ``NULL``, the default handler is restored. The handler receives all errors,
warnings and informational messages as a structured :ref:`mjLogMessage`. See :ref:`siLogHandler` for usage examples.
.. _mju_getLogConfig:
`mju_getLogConfig <#mju_getLogConfig>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_getLogConfig
Get the current default handler configuration. See :ref:`mjLogConfig`.
.. _mju_setLogConfig:
`mju_setLogConfig <#mju_setLogConfig>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_setLogConfig
Set the default handler configuration. Controls console output, file output, and info topic filtering.
See :ref:`mjLogConfig`.
Example usage (disabling file output):
.. code-block:: C
mjLogConfig config = mju_getLogConfig();
config.logto_file = false;
mju_setLogConfig(config);
.. _mju_info:
`mju_info <#mju_info>`__
~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_info
Log an informational message with optional topic filtering. The ``topic`` argument is a :ref:`mjtLogTopic` value.
Topic 0 (``mjTOPIC_NONE``) always passes through. Other topics must be enabled in the default handler configuration
via :ref:`mju_setLogConfig`. Note that topic filtering is implemented in the default handler; custom handlers
receive all info messages regardless.
.. _mju_message:
`mju_message <#mju_message>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_message
Dispatch a structured :ref:`mjLogMessage` to the active log handler. This is the primary entry point for emitting
log messages with full control over all fields. The convenience functions :ref:`mju_error`, :ref:`mju_warning`, and
:ref:`mju_info` are thin wrappers that populate an ``mjLogMessage`` and call this function.
The ``subject`` field is a one-line summary (up to 1024 bytes, inline in the struct). The ``body`` field is an
optional ``const char*`` pointer to multi-line detail text, owned by the caller. When ``body`` is ``NULL``, only the
subject line is printed.
The default handler formats the output as follows:
.. code-block:: text
LEVEL FUNC (FILE:LINE) TIME: SUBJECT
BODY
where:
- ``LEVEL`` is ``ERROR``, ``WARNING``, ``INFO``, or ``DEBUG``.
- ``FUNC`` is present when the ``func`` field is set.
- ``(FILE:LINE)`` is present when the ``file`` and ``line`` fields are set.
- ``TIME`` is present when the ``timestamp`` field is set or file logging is active.
- ``SUBJECT`` is the contents of the ``subject`` field.
- ``BODY`` follows on the next line(s), printed raw without indentation or separators, only if non-NULL.
The default handler appends a trailing blank line after ``ERROR``, ``WARNING``, and ``INFO`` messages for visual
separation. ``DEBUG`` messages are printed compactly without a trailing blank line.
Example usage:
.. code-block:: C
mjLogMessage msg = {
.level = mjLOG_INFO,
.timestamp = true,
.body = " height: 0.001 m\n velocity: 0.000 m/s\n bounces: 47",
};
snprintf(msg.subject, sizeof(msg.subject), "The ball has come to rest");
mju_message(&msg);
This produces:
.. code-block:: text
INFO Mon Jun 9 15:04:05 2026: The ball has come to rest
height: 0.001 m
velocity: 0.000 m/s
bounces: 47
.. _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_getTimer:
`mjs_getTimer <#mjs_getTimer>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_getTimer
Get compiler timing diagnostics from spec, returns pointer to array of size mjNCTIMER.
.. _mjs_isWarning:
`mjs_isWarning <#mjs_isWarning>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_isWarning
Return 1 if compiler error is a warning. Deprecated: use mjs_numWarnings(s) > 0.
.. _mjs_numWarnings:
`mjs_numWarnings <#mjs_numWarnings>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_numWarnings
Get number of warnings accumulated in the spec.
.. _mjs_getWarning:
`mjs_getWarning <#mjs_getWarning>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_getWarning
Get the i-th warning message (returns nullptr if index out of bounds).
.. _Miscellaneous:
Miscellaneous
^^^^^^^^^^^^^
.. _mju_muscleGain:
`mju_muscleGain <#mju_muscleGain>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_muscleGain
Muscle active force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).
.. _mju_muscleBias:
`mju_muscleBias <#mju_muscleBias>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_muscleBias
Muscle passive force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).
.. _mju_muscleDynamics:
`mju_muscleDynamics <#mju_muscleDynamics>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_muscleDynamics
Muscle activation dynamics, prm = (tau_act, tau_deact, smoothing_width).
.. _mju_encodePyramid:
`mju_encodePyramid <#mju_encodePyramid>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_encodePyramid
Convert contact force to pyramid representation.
.. _mju_decodePyramid:
`mju_decodePyramid <#mju_decodePyramid>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_decodePyramid
Convert pyramid representation to contact force.
.. _mju_springDamper:
`mju_springDamper <#mju_springDamper>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_springDamper
Integrate spring-damper analytically; return pos(dt).
.. _mju_min:
`mju_min <#mju_min>`__
~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_min
Return min(a,b) with single evaluation of a and b.
.. _mju_max:
`mju_max <#mju_max>`__
~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_max
Return max(a,b) with single evaluation of a and b.
.. _mju_clip:
`mju_clip <#mju_clip>`__
~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_clip
Clip x to the range [min, max].
.. _mju_sign:
`mju_sign <#mju_sign>`__
~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_sign
Return sign of x: +1, -1 or 0.
.. _mju_round:
`mju_round <#mju_round>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_round
Round x to nearest integer.
.. _mju_type2Str:
`mju_type2Str <#mju_type2Str>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_type2Str
Convert type id (mjtObj) to type name.
.. _mju_str2Type:
`mju_str2Type <#mju_str2Type>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_str2Type
Convert type name to type id (mjtObj).
.. _mju_writeNumBytes:
`mju_writeNumBytes <#mju_writeNumBytes>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_writeNumBytes
Return human readable number of bytes using standard letter suffix.
.. _mju_warningText:
`mju_warningText <#mju_warningText>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_warningText
Construct a warning message given the warning type and info.
.. _mju_isBad:
`mju_isBad <#mju_isBad>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_isBad
Return 1 if nan or abs(x)>mjMAXVAL, 0 otherwise. Used by check functions.
.. _mju_isZero:
`mju_isZero <#mju_isZero>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_isZero
Return 1 if all elements are 0.
.. _mju_standardNormal:
`mju_standardNormal <#mju_standardNormal>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_standardNormal
Standard normal random number generator (optional second number).
.. _mju_f2n:
`mju_f2n <#mju_f2n>`__
~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_f2n
Convert from float to mjtNum.
.. _mju_n2f:
`mju_n2f <#mju_n2f>`__
~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_n2f
Convert from mjtNum to float.
.. _mju_d2n:
`mju_d2n <#mju_d2n>`__
~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_d2n
Convert from double to mjtNum.
.. _mju_n2d:
`mju_n2d <#mju_n2d>`__
~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_n2d
Convert from mjtNum to double.
.. _mju_insertionSort:
`mju_insertionSort <#mju_insertionSort>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_insertionSort
Insertion sort, resulting list is in increasing order.
.. _mju_insertionSortInt:
`mju_insertionSortInt <#mju_insertionSortInt>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_insertionSortInt
Integer insertion sort, resulting list is in increasing order.
.. _mju_Halton:
`mju_Halton <#mju_Halton>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_Halton
Generate Halton sequence.
.. _mju_strncpy:
`mju_strncpy <#mju_strncpy>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_strncpy
Call strncpy, then set dst[n-1] = 0.
.. _mju_sigmoid:
`mju_sigmoid <#mju_sigmoid>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_sigmoid
Twice continuously differentiable sigmoid function using a quintic polynomial:
.. math::
s(x) =
\begin{cases}
0, & & x \le 0 \\
6x^5 - 15x^4 + 10x^3, & 0 \lt & x \lt 1 \\
1, & 1 \le & x \qquad
\end{cases}
.. _Interaction:
Interaction
^^^^^^^^^^^
These functions implement abstract mouse interactions, allowing control over cameras and perturbations. Their use is well
illustrated in :ref:`simulate<saSimulate>`.
.. _mjv_defaultCamera:
`mjv_defaultCamera <#mjv_defaultCamera>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_defaultCamera
Set default camera.
.. _mjv_defaultFreeCamera:
`mjv_defaultFreeCamera <#mjv_defaultFreeCamera>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_defaultFreeCamera
Set default free camera.
.. _mjv_defaultPerturb:
`mjv_defaultPerturb <#mjv_defaultPerturb>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_defaultPerturb
Set default perturbation.
.. _mjv_room2model:
`mjv_room2model <#mjv_room2model>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_room2model
Transform pose from room to model space.
.. _mjv_model2room:
`mjv_model2room <#mjv_model2room>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_model2room
Transform pose from model to room space.
.. _mjv_cameraInModel:
`mjv_cameraInModel <#mjv_cameraInModel>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_cameraInModel
Get camera info in model space; average left and right OpenGL cameras.
.. _mjv_cameraInRoom:
`mjv_cameraInRoom <#mjv_cameraInRoom>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_cameraInRoom
Get camera info in room space; average left and right OpenGL cameras.
.. _mjv_frustumHeight:
`mjv_frustumHeight <#mjv_frustumHeight>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_frustumHeight
Get frustum height at unit distance from camera; average left and right OpenGL cameras.
.. _mjv_alignToCamera:
`mjv_alignToCamera <#mjv_alignToCamera>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_alignToCamera
Rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y).
.. _mjv_moveCamera:
`mjv_moveCamera <#mjv_moveCamera>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_moveCamera
Move camera with mouse; action is mjtMouse.
.. _mjv_movePerturb:
`mjv_movePerturb <#mjv_movePerturb>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_movePerturb
Move perturb object with mouse; action is mjtMouse.
.. _mjv_moveModel:
`mjv_moveModel <#mjv_moveModel>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_moveModel
Move model with mouse; action is mjtMouse.
.. _mjv_initPerturb:
`mjv_initPerturb <#mjv_initPerturb>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_initPerturb
Copy perturb pos,quat from selected body; set scale for perturbation.
.. _mjv_applyPerturbPose:
`mjv_applyPerturbPose <#mjv_applyPerturbPose>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_applyPerturbPose
Set perturb pos,quat in d->mocap when selected body is mocap, and in d->qpos otherwise.
Write d->qpos only if flg_paused and subtree root for selected body has free joint.
.. _mjv_applyPerturbForce:
`mjv_applyPerturbForce <#mjv_applyPerturbForce>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_applyPerturbForce
Set perturb force,torque in d->xfrc_applied, if selected body is dynamic.
.. _mjv_averageCamera:
`mjv_averageCamera <#mjv_averageCamera>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_averageCamera
Return the average of two OpenGL cameras.
.. _mjv_camera2GLCamera:
`mjv_camera2GLCamera <#mjv_camera2GLCamera>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_camera2GLCamera
Converts a mjvCamera to a mjvGLCamera.
.. _mjv_select:
`mjv_select <#mjv_select>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_select
This function is used for mouse selection, relying on ray intersections. aspectratio is the viewport width/height. relx
and rely are the relative coordinates of the 2D point of interest in the viewport (usually mouse cursor). The function
returns the id of the geom under the specified 2D point, or -1 if there is no geom (note that they skybox if present is
not a model geom). The 3D coordinates of the clicked point are returned in selpnt. See :ref:`simulate<saSimulate>` for
an illustration.
.. _Visualization-api:
Visualization
^^^^^^^^^^^^^
The functions in this section implement abstract visualization. The results are used by the OpenGL renderer, and can
also be used by users wishing to implement their own renderer, or hook up MuJoCo to advanced rendering tools such as
Unity or Unreal Engine. See :ref:`simulate<saSimulate>` for illustration of how to use these functions.
.. _mjv_defaultOption:
`mjv_defaultOption <#mjv_defaultOption>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_defaultOption
Set default visualization options.
.. _mjv_defaultFigure:
`mjv_defaultFigure <#mjv_defaultFigure>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_defaultFigure
Set default figure.
.. _mjv_initGeom:
`mjv_initGeom <#mjv_initGeom>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_initGeom
Initialize given geom fields when not NULL, set the rest to their default values.
*Nullable:* ``size``, ``pos``, ``mat``, ``rgba``
.. _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.
*Nullable:* ``dest``
.. _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.
.. _mjv_cameraFrame:
`mjv_cameraFrame <#mjv_cameraFrame>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_cameraFrame
Compute camera position and forward, up, and right vectors.
*Nullable:* ``headpos``, ``forward``, ``up``, ``right``
.. _mjv_cameraFrustum:
`mjv_cameraFrustum <#mjv_cameraFrustum>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjv_cameraFrustum
Compute camera frustum: vertical, horizontal, and clip planes.
*Nullable:* ``zver``, ``zhor``, ``zclip``
.. _OpenGLrendering:
OpenGL rendering
^^^^^^^^^^^^^^^^
These functions expose the OpenGL renderer. See :ref:`simulate<saSimulate>` for an illustration
of how to use these functions.
.. _mjr_defaultContext:
`mjr_defaultContext <#mjr_defaultContext>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjr_defaultContext
Set default mjrContext.
.. _mjr_defaultRendererInfo:
`mjr_defaultRendererInfo <#mjr_defaultRendererInfo>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjr_defaultRendererInfo
Set default mjrRendererInfo.
.. _mjr_getRendererInfo:
`mjr_getRendererInfo <#mjr_getRendererInfo>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjr_getRendererInfo
Get active renderer information.
.. _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.
.. _FilamentRenderingApi:
Filament rendering
^^^^^^^^^^^^^^^^^^
Rendering functions using the Filament rendering engine. These functions are prefixed with ``mjrf``. See
:ref:`Filament Rendering<tyFilamentRenderStructure>` for an overview of the core types and their uses.
.. _mjrf_defaultContextConfig:
`mjrf_defaultContextConfig <#mjrf_defaultContextConfig>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_defaultContextConfig
Initializes the mjrfContextConfig to default values.
.. _mjrf_createContext:
`mjrf_createContext <#mjrf_createContext>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_createContext
Creates a filament rendering context.
.. _mjrf_destroyContext:
`mjrf_destroyContext <#mjrf_destroyContext>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_destroyContext
Destroys the filament rendering context.
.. _mjrf_getRendererInfo:
`mjrf_getRendererInfo <#mjrf_getRendererInfo>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_getRendererInfo
Gets active renderer information for the given filament context.
.. _mjrf_defaultRenderRequest:
`mjrf_defaultRenderRequest <#mjrf_defaultRenderRequest>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_defaultRenderRequest
Initializes the mjrfRenderRequest to default values.
.. _mjrf_defaultReadPixelsRequest:
`mjrf_defaultReadPixelsRequest <#mjrf_defaultReadPixelsRequest>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_defaultReadPixelsRequest
Initializes the mjrfReadPixelsRequest to default values.
.. _mjrf_render:
`mjrf_render <#mjrf_render>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_render
Submits the given requests for rendering. Because rendering happens asynchronously, callers have
to submit both the render and read requests in the same call. Multiple requests and reads can be
submitted in a single call. These requests will be processed in order, so some care must be
taken. Firstly, requests should be grouped by target. Next, the combined area of the viewports
for all requests for a given target must be contained within the dimensions of the target itself.
Callbacks will be invoked from within this function, though there is no guarantee on which
invocation of this function it will be done.
.. _mjrf_waitForFrame:
`mjrf_waitForFrame <#mjrf_waitForFrame>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_waitForFrame
Waits for all rendering operations to complete for the given frame handle, triggering any
callbacks as needed.
.. _mjrf_setClearColor:
`mjrf_setClearColor <#mjrf_setClearColor>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_setClearColor
Sets the clear color for the renderer.
.. _mjrf_defaultFrameStats:
`mjrf_defaultFrameStats <#mjrf_defaultFrameStats>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_defaultFrameStats
Initializes the mjrFrameStats to default values.
.. _mjrf_getFrameStats:
`mjrf_getFrameStats <#mjrf_getFrameStats>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_getFrameStats
Returns the stats for the given frame but updating the given `stats_out`.
.. _mjrf_defaultTextureConfig:
`mjrf_defaultTextureConfig <#mjrf_defaultTextureConfig>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_defaultTextureConfig
Initializes the mjrfTextureConfig to default values.
.. _mjrf_createTexture:
`mjrf_createTexture <#mjrf_createTexture>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_createTexture
Creates a filament texture. Note that the texture will not be created on the GPU until
`mjrf_setTextureData()` is called.
.. _mjrf_destroyTexture:
`mjrf_destroyTexture <#mjrf_destroyTexture>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_destroyTexture
Destroys the texture.
.. _mjrf_defaultTextureData:
`mjrf_defaultTextureData <#mjrf_defaultTextureData>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_defaultTextureData
Initializes the mjrfTextureData to default values.
.. _mjrf_setTextureData:
`mjrf_setTextureData <#mjrf_setTextureData>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_setTextureData
Uploads the given texture data to the texture.
.. _mjrf_getTextureWidth:
`mjrf_getTextureWidth <#mjrf_getTextureWidth>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_getTextureWidth
Returns the width of the texture.
.. _mjrf_getTextureHeight:
`mjrf_getTextureHeight <#mjrf_getTextureHeight>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_getTextureHeight
Returns the height of the texture.
.. _mjrf_getTextureSamplerType:
`mjrf_getTextureSamplerType <#mjrf_getTextureSamplerType>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_getTextureSamplerType
Returns the sampler type (mjrSamplerType) used by the texture.
[returns: mjrSamplerType]
.. _mjrf_defaultMeshConfig:
`mjrf_defaultMeshConfig <#mjrf_defaultMeshConfig>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_defaultMeshConfig
Initializes the mjrfMeshConfig to default values.
.. _mjrf_createMesh:
`mjrf_createMesh <#mjrf_createMesh>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_createMesh
Creates an empty mesh with the given config.
.. _mjrf_destroyMesh:
`mjrf_destroyMesh <#mjrf_destroyMesh>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_destroyMesh
Destroys the mesh.
.. _mjrf_defaultMeshData:
`mjrf_defaultMeshData <#mjrf_defaultMeshData>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_defaultMeshData
Initializes the mjrfMeshData to default values.
.. _mjrf_setMeshData:
`mjrf_setMeshData <#mjrf_setMeshData>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_setMeshData
Uploads the given mesh data to the mesh.
.. _mjrf_defaultSceneParams:
`mjrf_defaultSceneParams <#mjrf_defaultSceneParams>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_defaultSceneParams
Initializes the mjrfSceneParams to default values.
.. _mjrf_createScene:
`mjrf_createScene <#mjrf_createScene>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_createScene
Creates a scene with the given parameters.
.. _mjrf_destroyScene:
`mjrf_destroyScene <#mjrf_destroyScene>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_destroyScene
Destroys the scene.
.. _mjrf_addLightToScene:
`mjrf_addLightToScene <#mjrf_addLightToScene>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_addLightToScene
Adds a light to the scene.
.. _mjrf_removeLightFromScene:
`mjrf_removeLightFromScene <#mjrf_removeLightFromScene>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_removeLightFromScene
Removes the light from the scene.
.. _mjrf_addRenderableToScene:
`mjrf_addRenderableToScene <#mjrf_addRenderableToScene>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_addRenderableToScene
Adds a renderable to the scene.
.. _mjrf_removeRenderableFromScene:
`mjrf_removeRenderableFromScene <#mjrf_removeRenderableFromScene>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_removeRenderableFromScene
Removes the renderable from the scene.
.. _mjrf_setSceneSkybox:
`mjrf_setSceneSkybox <#mjrf_setSceneSkybox>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_setSceneSkybox
Sets the skybox (cube texture) for the scene.
.. _mjrf_configureSceneFromModel:
`mjrf_configureSceneFromModel <#mjrf_configureSceneFromModel>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_configureSceneFromModel
Configures the scene based on the parameters in an mjModel.
.. _mjrf_defaultLightParams:
`mjrf_defaultLightParams <#mjrf_defaultLightParams>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_defaultLightParams
Initializes the mjrfLightParams to default values.
.. _mjrf_createLight:
`mjrf_createLight <#mjrf_createLight>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_createLight
Creates a light for the filament renderer.
.. _mjrf_destroyLight:
`mjrf_destroyLight <#mjrf_destroyLight>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_destroyLight
Destroys the light.
.. _mjrf_setLightEnabled:
`mjrf_setLightEnabled <#mjrf_setLightEnabled>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_setLightEnabled
Enables or disables the light.
.. _mjrf_setLightIntensity:
`mjrf_setLightIntensity <#mjrf_setLightIntensity>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_setLightIntensity
Sets the intensity of the light, in candela.
.. _mjrf_setLightShadowMapSize:
`mjrf_setLightShadowMapSize <#mjrf_setLightShadowMapSize>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_setLightShadowMapSize
Sets the resolution of the light's shadow map, in texels.
.. _mjrf_setLightColor:
`mjrf_setLightColor <#mjrf_setLightColor>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_setLightColor
Sets the RGB color of the light.
.. _mjrf_setLightTransform:
`mjrf_setLightTransform <#mjrf_setLightTransform>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_setLightTransform
Sets the position and direction of the light.
.. _mjrf_getLightType:
`mjrf_getLightType <#mjrf_getLightType>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_getLightType
Returns the type of the light (mjrLightType).
.. _mjrf_defaultMaterial:
`mjrf_defaultMaterial <#mjrf_defaultMaterial>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_defaultMaterial
Initializes the mjrfMaterial to default values.
.. _mjrf_defaultRenderableParams:
`mjrf_defaultRenderableParams <#mjrf_defaultRenderableParams>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_defaultRenderableParams
Initializes the mjrfRenderableParams to default values.
.. _mjrf_createRenderable:
`mjrf_createRenderable <#mjrf_createRenderable>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_createRenderable
Creates a renderable with the given parameters.
.. _mjrf_destroyRenderable:
`mjrf_destroyRenderable <#mjrf_destroyRenderable>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_destroyRenderable
Destroys the renderable.
.. _mjrf_setRenderableMesh:
`mjrf_setRenderableMesh <#mjrf_setRenderableMesh>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_setRenderableMesh
Sets the mesh of the renderable.
.. _mjrf_setRenderableGeomMesh:
`mjrf_setRenderableGeomMesh <#mjrf_setRenderableGeomMesh>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_setRenderableGeomMesh
Sets the mesh of the renderable to a built-in mesh based on the geom type. Note: using the same
parameters (nstack, nslice, nquad) will have better performance as the internal mesh data can be
shared across renderables.
[type: mjtGeom]
.. _mjrf_setRenderableMaterial:
`mjrf_setRenderableMaterial <#mjrf_setRenderableMaterial>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_setRenderableMaterial
Sets the material properties and textures of the renderable.
.. _mjrf_getRenderableMaterial:
`mjrf_getRenderableMaterial <#mjrf_getRenderableMaterial>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_getRenderableMaterial
Copies the material properties of the renderable into the given mjrfMaterial.
.. _mjrf_setRenderableTransform:
`mjrf_setRenderableTransform <#mjrf_setRenderableTransform>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_setRenderableTransform
Sets the transform position and rotation of the renderable.
.. _mjrf_setRenderableSize:
`mjrf_setRenderableSize <#mjrf_setRenderableSize>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_setRenderableSize
Sets the size of the renderable. Note that, for most renderables, this is equivalent to setting
the scale. However, for some geom-based renderables, the size scale is not applied uniformly
(e.g. the spherical ends of a capsule are scaled such that they always remain spherical).
.. _mjrf_defaultRenderTargetConfig:
`mjrf_defaultRenderTargetConfig <#mjrf_defaultRenderTargetConfig>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_defaultRenderTargetConfig
Initializes the RenderTargetConfig to default values.
.. _mjrf_createRenderTarget:
`mjrf_createRenderTarget <#mjrf_createRenderTarget>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_createRenderTarget
Creates a render target for the filament renderer.
.. _mjrf_destroyRenderTarget:
`mjrf_destroyRenderTarget <#mjrf_destroyRenderTarget>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_destroyRenderTarget
Destroys the render target.
.. _mjrf_resizeRenderTarget:
`mjrf_resizeRenderTarget <#mjrf_resizeRenderTarget>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjrf_resizeRenderTarget
Resizes the render target to the given width and height.
.. _UIframework:
UI framework
^^^^^^^^^^^^
For a high-level description of the UI framework, see :ref:`UI`.
.. _mjui_themeSpacing:
`mjui_themeSpacing <#mjui_themeSpacing>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjui_themeSpacing
Get builtin UI theme spacing (ind: 0-1).
.. _mjui_themeColor:
`mjui_themeColor <#mjui_themeColor>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjui_themeColor
Get builtin UI theme color (ind: 0-3).
.. _mjui_add:
`mjui_add <#mjui_add>`__
~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjui_add
This is the helper function used to construct a UI. The second argument points to an array of :ref:`mjuiDef` structs,
each corresponding to one item. The last (unused) item has its type set to -1, to mark termination. The items are added
after the end of the last used section. There is also another version of this function
(:ref:`mjui_addToSection<mjui_addToSection>`) which adds items to a specified section instead of adding them at the end
of the UI. Keep in mind that there is a maximum preallocated number of sections and items per section, given by
:ref:`mjMAXUISECT<glNumericUI>` and :ref:`mjMAXUIITEM<glNumericUI>`. Exceeding these maxima results in low-level errors.
.. _mjui_addToSection:
`mjui_addToSection <#mjui_addToSection>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjui_addToSection
Add definitions to UI section.
.. _mjui_resize:
`mjui_resize <#mjui_resize>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjui_resize
Compute UI sizes.
.. _mjui_update:
`mjui_update <#mjui_update>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjui_update
This is the main UI update function. It needs to be called whenever the user data (pointed to by the item data pointers)
changes, or when the UI state itself changes. It is normally called by a higher-level function implemented by the user
(``UiModify`` in :ref:`simulate.cc <saSimulate>`) which also recomputes the layout of all rectangles and associated
auxiliary buffers. The function updates the pixels in the offscreen OpenGL buffer. To perform minimal updates, the user
specifies the section and the item that was modified. A value of -1 means all items and/or sections need to be updated
(which is needed following major changes.)
.. _mjui_event:
`mjui_event <#mjui_event>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjui_event
This function is the low-level event handler. It makes the necessary changes in the UI and returns a pointer to the item
that received the event (or ``NULL`` if no valid event was recorded). This is normally called within the event handler
implemented by the user (``UiEvent`` in :ref:`simulate.cc <saSimulate>`), and then some action is taken by user code
depending on which UI item was modified and what the state of that item is after the event is handled.
.. _mjui_render:
`mjui_render <#mjui_render>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjui_render
This function is called in the screen refresh loop. It copies the offscreen OpenGL buffer to the window framebuffer. If
there are multiple UIs in the application, it should be called once for each UI. Thus ``mjui_render`` is called all the
time, while :ref:`mjui_update` is called only when changes in the UI take place. dsffsdg
.. _Derivatives-api:
Derivatives
^^^^^^^^^^^
The functions below provide useful derivatives of various functions, both analytic and
finite-differenced. The latter have names with the suffix ``FD``. Note that unlike much of the API,
outputs of derivative functions are the trailing rather than leading arguments.
.. _mjd_transitionFD:
`mjd_transitionFD <#mjd_transitionFD>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjd_transitionFD
Compute finite-differenced discrete-time transition matrices.
Letting :math:`x, u` denote the current :ref:`state<siPhysicsState>` and :ref:`control<siInput>`
vector in an mjData instance, and letting :math:`y, s` denote the next state and sensor
values, the top-level :ref:`mj_step` function computes :math:`(x,u) \rightarrow (y,s)`
:ref:`mjd_transitionFD` computes the four associated Jacobians using finite-differencing.
These matrices and their dimensions are:
.. csv-table::
:header: "matrix", "Jacobian", "dimension"
:widths: auto
:align: left
``A``, :math:`\partial y / \partial x`, ``2*nv+na x 2*nv+na``
``B``, :math:`\partial y / \partial u`, ``2*nv+na x nu``
``C``, :math:`\partial s / \partial x`, ``nsensordata x 2*nv+na``
``D``, :math:`\partial s / \partial u`, ``nsensordata x nu``
- All outputs are optional (can be NULL).
- ``eps`` is the finite-differencing epsilon.
- ``flg_centered`` denotes whether to use forward (0) or centered (1) differences.
- The Runge-Kutta integrator (:ref:`mjINT_RK4<mjtIntegrator>`) is not supported.
.. admonition:: Improving speed and accuracy
:class: tip
warmstart
If warm-starts are not :ref:`disabled<option-flag-warmstart>`, the warm-start accelerations
``mjData.qacc_warmstart`` which are present at call-time are loaded at the start of every relevant pipeline call,
to preserve determinism. If solver computations are an expensive part of the simulation, the following trick can
lead to significant speed-ups: First call :ref:`mj_forward` to let the solver converge, then reduce :ref:`solver
iterations<option-iterations>` significantly, then call :ref:`mjd_transitionFD`, finally, restore the original
value of :ref:`iterations<option-iterations>`. Because we are already near the solution, few iteration are required
to find the new minimum. This is especially true for the :ref:`Newton<option-solver>` solver, where the required
number of iteration for convergence near the minimum can be as low as 1.
tolerance
Accuracy can be improved if solver :ref:`tolerance<option-tolerance>` is set to 0. This means that all calls to
the solver will perform exactly the same number of iterations, preventing numerical errors due to early
termination. Of course, this means that :ref:`solver iterations<option-iterations>` should be small, to not tread
water at the minimum. This method and the one described above can and should be combined.
*Nullable:* ``A``, ``B``, ``D``, ``C``
.. _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<siPhysicsState>` 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 nC``
- 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.
*Nullable:* ``DfDq``, ``DfDv``, ``DfDa``, ``DsDq``, ``DsDv``, ``DsDa``, ``DmDq``
.. _mjd_subQuat:
`mjd_subQuat <#mjd_subQuat>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjd_subQuat
Derivatives of :ref:`mju_subQuat` (quaternion difference).
*Nullable:* ``Da``, ``Db``
.. _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.
*Nullable:* ``Dquat``, ``Dvel``, ``Dscale``
.. _Signeddistancefunction:
Signed Distance Functions
^^^^^^^^^^^^^^^^^^^^^^^^^
.. _mjc_getSDF:
`mjc_getSDF <#mjc_getSDF>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjc_getSDF
get sdf from geom id
.. _mjc_distance:
`mjc_distance <#mjc_distance>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjc_distance
signed distance function
.. _mjc_gradient:
`mjc_gradient <#mjc_gradient>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjc_gradient
gradient of sdf
.. _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.
Return a slot number >= 0 on success, -1 on failure.
.. _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.
.. _mjp_registerDecoder:
`mjp_registerDecoder <#mjp_registerDecoder>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjp_registerDecoder
Globally register a decoder. This function is thread-safe.
If an identical mjpDecoder is already registered, this function does nothing.
If a non-identical mjpDecoder with the same name is already registered, an mju_error is raised.
.. _mjp_defaultDecoder:
`mjp_defaultDecoder <#mjp_defaultDecoder>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjp_defaultDecoder
Set default resource decoder definition.
.. _mjp_findDecoder:
`mjp_findDecoder <#mjp_findDecoder>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjp_findDecoder
Return the resource provider with the prefix that matches against the resource name.
If no match, return NULL.
.. _mjp_registerEncoder:
`mjp_registerEncoder <#mjp_registerEncoder>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjp_registerEncoder
Globally register an encoder. This function is thread-safe.
If an identical mjpEncoder is already registered, this function does nothing.
If a non-identical mjpEncoder with the same name is already registered, an mju_error is raised.
.. _mjp_defaultEncoder:
`mjp_defaultEncoder <#mjp_defaultEncoder>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjp_defaultEncoder
Set default resource encoder definition.
.. _mjp_findEncoder:
`mjp_findEncoder <#mjp_findEncoder>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjp_findEncoder
Return the encoder that matches against the content type or filename extension.
If no match, return NULL.
.. _Thread:
Threads
^^^^^^^
.. _mju_threadpool:
`mju_threadpool <#mju_threadpool>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_threadpool
Create a thread pool with nthread worker threads.
.. _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: return 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.
*Nullable:* ``rotnew2old``
.. _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.
.. _mju_sym2dense:
`mju_sym2dense <#mju_sym2dense>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_sym2dense
Convert lower-triangular symmetric CSR matrix to full dense matrix.
.. _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.
Return the number of iterations required to converge.
.. _mju_euler2Quat:
`mju_euler2Quat <#mju_euler2Quat>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_euler2Quat
Convert sequence of Euler angles (radians) to quaternion.
seq[0,1,2] must be in 'xyzXYZ', lower/upper-case mean intrinsic/extrinsic rotations.
.. _Poses:
Poses
^^^^^
.. _mju_mulPose:
`mju_mulPose <#mju_mulPose>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_mulPose
Multiply two poses.
.. _mju_negPose:
`mju_negPose <#mju_negPose>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_negPose
Conjugate pose, corresponding to the opposite spatial transformation.
.. _mju_trnVecPose:
`mju_trnVecPose <#mju_trnVecPose>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_trnVecPose
Transform vector by pose.
.. _Decompositions:
Decompositions / Solvers
^^^^^^^^^^^^^^^^^^^^^^^^
.. _mju_cholFactor:
`mju_cholFactor <#mju_cholFactor>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_cholFactor
Cholesky decomposition: mat = L*L'; return rank, decomposition performed in-place into mat.
.. _mju_cholSolve:
`mju_cholSolve <#mju_cholSolve>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_cholSolve
Solve (mat*mat') * res = vec, where mat is a Cholesky factor.
.. _mju_cholUpdate:
`mju_cholUpdate <#mju_cholUpdate>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_cholUpdate
Cholesky rank-one update: L*L' +/- x*x'; return rank.
.. _mju_cholFactorBand:
`mju_cholFactorBand <#mju_cholFactorBand>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_cholFactorBand
Band-dense Cholesky decomposition.
|br| Add ``diagadd + diagmul*mat_ii`` to diagonal before decomposition.
|br| Returns the minimum value of the factorized diagonal or 0 if rank-deficient.
**Symmetric band-dense matrices**
:ref:`mju_cholFactorBand` and subsequent functions containing the substring "band" operate on matrices which are a
generalization of symmetric `band matrices <https://en.wikipedia.org/wiki/Band_matrix>`_. *Symmetric band-dense* or
"arrowhead" matrices have non-zeros along proximal diagonal bands and dense blocks on the bottom rows and right
columns. These matrices have the property that Cholesky factorization creates no fill-in and can therefore be
performed efficiently in-place. Matrix structure is defined by three integers:
- ``ntotal``: the number of rows (columns) of the symmetric matrix.
- ``nband``: the number of bands under (over) the diagonal, inclusive of the diagonal.
- ``ndense``: the number of dense rows (columns) at the bottom (right).
The non-zeros are stored in memory as two contiguous row-major blocks, colored green and blue in the illustration
below. The first block has size ``nband x (ntotal-ndense)`` and contains the diagonal and the bands below it. The
second block has size ``ndense x ntotal`` and contains the dense part. Total required memory is the sum of the block
sizes.
.. figure:: /images/APIreference/arrowhead.svg
:width: 750px
:align: left
For example, consider an arrowhead matrix with ``nband = 3``, ``ndense = 2`` and ``ntotal = 8``. In this example, the
total memory required is ``3*(8-2) + 2*8 = 34`` mjtNum's, laid out as follows:
.. code-block::
0 1 2
3 4 5
6 7 8
9 10 11
12 13 14
15 16 17
18 19 20 21 22 23 24 25
26 27 28 29 30 31 32 33
The diagonal elements are ``2, 5, 8, 11, 14, 17, 24, 33``.
|br| Elements ``0, 1, 3, 25`` are present in memory but never touched.
.. _mju_cholSolveBand:
`mju_cholSolveBand <#mju_cholSolveBand>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_cholSolveBand
Solve (mat*mat')*res = vec where mat is a band-dense Cholesky factor.
.. _mju_band2Dense:
`mju_band2Dense <#mju_band2Dense>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_band2Dense
Convert banded matrix to dense matrix, fill upper triangle if flg_sym>0.
.. _mju_dense2Band:
`mju_dense2Band <#mju_dense2Band>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_dense2Band
Convert dense matrix to banded matrix.
.. _mju_bandMulMatVec:
`mju_bandMulMatVec <#mju_bandMulMatVec>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_bandMulMatVec
Multiply band-diagonal matrix with nvec vectors, include upper triangle if flg_sym>0.
.. _mju_bandDiag:
`mju_bandDiag <#mju_bandDiag>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_bandDiag
Address of diagonal element i in band-dense matrix representation.
.. _mju_eig3:
`mju_eig3 <#mju_eig3>`__
~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_eig3
Eigenvalue decomposition of symmetric 3x3 matrix, mat = eigvec * diag(eigval) * eigvec'.
.. _mju_boxQP:
`mju_boxQP <#mju_boxQP>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_boxQP
Minimize :math:`\tfrac{1}{2} x^T H x + x^T g \quad \text{s.t.} \quad l \le x \le u`, return rank or -1 if failed.
inputs:
``n`` - problem dimension
``H`` - SPD matrix ``n*n``
``g`` - bias vector ``n``
``lower`` - lower bounds ``n``
``upper`` - upper bounds ``n``
``res`` - solution warmstart ``n``
return value:
``nfree <= n`` - rank of unconstrained subspace, -1 if failure
outputs (required):
``res`` - solution ``n``
``R`` - subspace Cholesky factor ``nfree*nfree``, allocated: ``n*(n+7)``
outputs (optional):
``index`` - set of free dimensions ``nfree``, allocated: ``n``
notes:
The initial value of ``res`` is used to warmstart the solver.
``R`` must have allocated size ``n*(n+7)``, but only ``nfree*nfree`` values are used as output.
``index`` (if given) must have allocated size ``n``, but only ``nfree`` values are used as output.
The convenience function :ref:`mju_boxQPmalloc` allocates the required data structures.
Only the lower triangles of H and R are read from and written to, respectively.
.. _mju_boxQPmalloc:
`mju_boxQPmalloc <#mju_boxQPmalloc>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mju_boxQPmalloc
Allocate heap memory for box-constrained Quadratic Program.
As in :ref:`mju_boxQP`, ``index``, ``lower``, and ``upper`` are optional.
Free all pointers with ``mju_free()``.
.. _Attachment:
Attachment
^^^^^^^^^^
.. _mjs_attach:
`mjs_attach <#mjs_attach>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_attach
Attach child to a parent; return the attached element if success or NULL otherwise.
.. _AddTreeElements:
Tree elements
^^^^^^^^^^^^^
.. _mjs_addBody:
`mjs_addBody <#mjs_addBody>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_addBody
Add child body to body; return child.
*Nullable:* ``def``
.. _mjs_addSite:
`mjs_addSite <#mjs_addSite>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_addSite
Add site to body; return site spec.
*Nullable:* ``def``
.. _mjs_addJoint:
`mjs_addJoint <#mjs_addJoint>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_addJoint
Add joint to body.
*Nullable:* ``def``
.. _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.
*Nullable:* ``def``
.. _mjs_addCamera:
`mjs_addCamera <#mjs_addCamera>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_addCamera
Add camera to body.
*Nullable:* ``def``
.. _mjs_addLight:
`mjs_addLight <#mjs_addLight>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_addLight
Add light to body.
*Nullable:* ``def``
.. _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.
*Nullable:* ``def``
.. _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_makeFlex:
`mjs_makeFlex <#mjs_makeFlex>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_makeFlex
Add flexcomp: create flex with auto-generated bodies/joints, return flex spec.
*Nullable:* ``type``, ``dof``, ``count``, ``cellcount``, ``spacing``, ``scale``, ``pos``, ``quat``, ``origin``, ``file``, ``vfs``
.. _mjs_addPair:
`mjs_addPair <#mjs_addPair>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_addPair
Add contact pair.
*Nullable:* ``def``
.. _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.
*Nullable:* ``def``
.. _mjs_addTendon:
`mjs_addTendon <#mjs_addTendon>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_addTendon
Add tendon.
*Nullable:* ``def``
.. _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.
*Nullable:* ``parent``
.. _Setactuatorparameters:
Set actuator parameters
^^^^^^^^^^^^^^^^^^^^^^^
.. _mjs_setToMotor:
`mjs_setToMotor <#mjs_setToMotor>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_setToMotor
Set actuator to motor; return error if any.
.. _mjs_setToPosition:
`mjs_setToPosition <#mjs_setToPosition>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_setToPosition
Set actuator to position; return error if any.
.. _mjs_setToIntVelocity:
`mjs_setToIntVelocity <#mjs_setToIntVelocity>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_setToIntVelocity
Set actuator to integrated velocity; return error if any.
.. _mjs_setToVelocity:
`mjs_setToVelocity <#mjs_setToVelocity>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_setToVelocity
Set actuator to velocity servo; return error if any.
.. _mjs_setToOrientation:
`mjs_setToOrientation <#mjs_setToOrientation>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_setToOrientation
Set actuator to orientation servo.
.. _mjs_setToPID:
`mjs_setToPID <#mjs_setToPID>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_setToPID
Set actuator to PID controller.
.. _mjs_setToDamper:
`mjs_setToDamper <#mjs_setToDamper>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_setToDamper
Set actuator to activate damper; return error if any.
.. _mjs_setToCylinder:
`mjs_setToCylinder <#mjs_setToCylinder>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_setToCylinder
Set actuator to hydraulic or pneumatic cylinder; return error if any.
.. _mjs_setToMuscle:
`mjs_setToMuscle <#mjs_setToMuscle>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_setToMuscle
Set actuator to muscle; return error if any.a
.. _mjs_setToAdhesion:
`mjs_setToAdhesion <#mjs_setToAdhesion>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_setToAdhesion
Set actuator to active adhesion; return error if any.
.. _mjs_setToDCMotor:
`mjs_setToDCMotor <#mjs_setToDCMotor>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_setToDCMotor
Set actuator to DC motor; return error if any.
*Nullable:* ``motorconst``, ``nominal``, ``saturation``, ``inductance``, ``cogging``, ``controller``, ``thermal``, ``lugre``
.. _AddAssets:
Assets
^^^^^^
.. _mjs_addMesh:
`mjs_addMesh <#mjs_addMesh>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_addMesh
Add mesh.
*Nullable:* ``def``
.. _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.
*Nullable:* ``def``
.. _mjs_makeMesh:
`mjs_makeMesh <#mjs_makeMesh>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_makeMesh
Sets the vertices and normals of a mesh.
.. _FindAndGetUtilities:
Find and get utilities
^^^^^^^^^^^^^^^^^^^^^^
.. _mjs_getSpec:
`mjs_getSpec <#mjs_getSpec>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_getSpec
Get spec from body.
.. _mjs_getOriginSpec:
`mjs_getOriginSpec <#mjs_getOriginSpec>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_getOriginSpec
get spec that originally defined an element
contrary to mjs_getSpec, this does not change after attachment
.. _mjs_getCompiler:
`mjs_getCompiler <#mjs_getCompiler>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_getCompiler
Get compiler associated with element's origin spec.
.. _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.
.. _mjs_getWrapTarget:
`mjs_getWrapTarget <#mjs_getWrapTarget>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_getWrapTarget
Get wrapped element in tendon path.
.. _mjs_getWrapSideSite:
`mjs_getWrapSideSite <#mjs_getWrapSideSite>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_getWrapSideSite
Get wrapped element side site in tendon path if it has one, nullptr otherwise.
.. _mjs_getWrapDivisor:
`mjs_getWrapDivisor <#mjs_getWrapDivisor>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_getWrapDivisor
Get divisor of mjsWrap wrapping a puller.
.. _mjs_getWrapCoef:
`mjs_getWrapCoef <#mjs_getWrapCoef>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_getWrapCoef
Get coefficient of mjsWrap wrapping a joint.
.. _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.
*Nullable:* ``size``
.. _mjs_getWrapNum:
`mjs_getWrapNum <#mjs_getWrapNum>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_getWrapNum
Get number of elements a tendon wraps.
.. _mjs_getWrap:
`mjs_getWrap <#mjs_getWrap>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_getWrap
Get mjsWrap element at position i in the tendon path.
.. _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.
.. _mjs_sensorDim:
`mjs_sensorDim <#mjs_sensorDim>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_sensorDim
Return sensor dimension.
.. _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.