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// Copyright 2022 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MUJOCO_PYTHON_INDEXER_XMACRO_H_
#define MUJOCO_PYTHON_INDEXER_XMACRO_H_
#include <mujoco/mjxmacro.h>
#define MJMODEL_ACTUATOR \
X( int, actuator_, trntype, nu, 1 ) \
X( int, actuator_, dyntype, nu, 1 ) \
X( int, actuator_, gaintype, nu, 1 ) \
X( int, actuator_, biastype, nu, 1 ) \
X( int, actuator_, trnid, nu, 2 ) \
X( int, actuator_, actadr, nu, 1 ) \
X( int, actuator_, actnum, nu, 1 ) \
X( int, actuator_, group, nu, 1 ) \
X( mjtByte, actuator_, ctrllimited, nu, 1 ) \
X( mjtByte, actuator_, forcelimited, nu, 1 ) \
X( mjtByte, actuator_, actlimited, nu, 1 ) \
X( mjtNum, actuator_, dynprm, nu, mjNDYN ) \
X( mjtNum, actuator_, gainprm, nu, mjNGAIN ) \
X( mjtNum, actuator_, biasprm, nu, mjNBIAS ) \
X( mjtNum, actuator_, ctrlrange, nu, 2 ) \
X( mjtNum, actuator_, forcerange, nu, 2 ) \
X( mjtNum, actuator_, actrange, nu, 2 ) \
X( mjtNum, actuator_, gear, nu, 6 ) \
X( mjtNum, actuator_, cranklength, nu, 1 ) \
X( mjtNum, actuator_, acc0, nu, 1 ) \
X( mjtNum, actuator_, length0, nu, 1 ) \
X( mjtNum, actuator_, lengthrange, nu, 2 ) \
X( mjtNum, actuator_, user, nu, MJ_M(nuser_actuator) )
#define MJMODEL_BODY \
X( int, body_, parentid, nbody, 1 ) \
X( int, body_, rootid, nbody, 1 ) \
X( int, body_, weldid, nbody, 1 ) \
X( int, body_, mocapid, nbody, 1 ) \
X( int, body_, jntnum, nbody, 1 ) \
X( int, body_, jntadr, nbody, 1 ) \
X( int, body_, dofnum, nbody, 1 ) \
X( int, body_, dofadr, nbody, 1 ) \
X( int, body_, geomnum, nbody, 1 ) \
X( int, body_, geomadr, nbody, 1 ) \
X( mjtByte, body_, simple, nbody, 1 ) \
X( mjtByte, body_, sameframe, nbody, 1 ) \
X( mjtNum, body_, pos, nbody, 3 ) \
X( mjtNum, body_, quat, nbody, 4 ) \
X( mjtNum, body_, ipos, nbody, 3 ) \
X( mjtNum, body_, iquat, nbody, 4 ) \
X( mjtNum, body_, mass, nbody, 1 ) \
X( mjtNum, body_, subtreemass, nbody, 1 ) \
X( mjtNum, body_, inertia, nbody, 3 ) \
X( mjtNum, body_, invweight0, nbody, 2 ) \
X( mjtNum, body_, user, nbody, MJ_M(nuser_body) )
#define MJMODEL_CAMERA \
X( int, cam_, mode, ncam, 1 ) \
X( int, cam_, bodyid, ncam, 1 ) \
X( int, cam_, targetbodyid, ncam, 1 ) \
X( mjtNum, cam_, pos, ncam, 3 ) \
X( mjtNum, cam_, quat, ncam, 4 ) \
X( mjtNum, cam_, poscom0, ncam, 3 ) \
X( mjtNum, cam_, pos0, ncam, 3 ) \
X( mjtNum, cam_, mat0, ncam, 9 ) \
X( mjtNum, cam_, fovy, ncam, 1 ) \
X( mjtNum, cam_, ipd, ncam, 1 ) \
X( mjtNum, cam_, user, ncam, MJ_M(nuser_cam) )
#define MJMODEL_EQUALITY \
X( int, eq_, type, neq, 1 ) \
X( int, eq_, obj1id, neq, 1 ) \
X( int, eq_, obj2id, neq, 1 ) \
X( mjtByte, eq_, active0, neq, 1 ) \
X( mjtNum, eq_, solref, neq, mjNREF ) \
X( mjtNum, eq_, solimp, neq, mjNIMP ) \
X( mjtNum, eq_, data, neq, mjNEQDATA )
#define MJMODEL_EXCLUDE \
X( int, exclude_, signature, nexclude, 1 )
#define MJMODEL_GEOM \
X( int, geom_, type, ngeom, 1 ) \
X( int, geom_, contype, ngeom, 1 ) \
X( int, geom_, conaffinity, ngeom, 1 ) \
X( int, geom_, condim, ngeom, 1 ) \
X( int, geom_, bodyid, ngeom, 1 ) \
X( int, geom_, dataid, ngeom, 1 ) \
X( int, geom_, matid, ngeom, 1 ) \
X( int, geom_, group, ngeom, 1 ) \
X( int, geom_, priority, ngeom, 1 ) \
X( mjtByte, geom_, sameframe, ngeom, 1 ) \
X( mjtNum, geom_, solmix, ngeom, 1 ) \
X( mjtNum, geom_, solref, ngeom, mjNREF ) \
X( mjtNum, geom_, solimp, ngeom, mjNIMP ) \
X( mjtNum, geom_, size, ngeom, 3 ) \
X( mjtNum, geom_, rbound, ngeom, 1 ) \
X( mjtNum, geom_, pos, ngeom, 3 ) \
X( mjtNum, geom_, quat, ngeom, 4 ) \
X( mjtNum, geom_, friction, ngeom, 3 ) \
X( mjtNum, geom_, margin, ngeom, 1 ) \
X( mjtNum, geom_, gap, ngeom, 1 ) \
X( mjtNum, geom_, user, ngeom, MJ_M(nuser_geom) ) \
X( float, geom_, rgba, ngeom, 4 )
#define MJMODEL_HFIELD \
X( mjtNum, hfield_, size, nhfield, 4 ) \
X( int, hfield_, nrow, nhfield, 1 ) \
X( int, hfield_, ncol, nhfield, 1 ) \
X( int, hfield_, adr, nhfield, 1 ) \
X( float, hfield_, data, nhfielddata, 1 )
#define MJMODEL_JOINT \
X( mjtNum, , qpos0, nq, 1 ) \
X( mjtNum, , qpos_spring, nq, 1 ) \
X( int, jnt_, type, njnt, 1 ) \
X( int, jnt_, qposadr, njnt, 1 ) \
X( int, jnt_, dofadr, njnt, 1 ) \
X( int, jnt_, group, njnt, 1 ) \
X( mjtByte, jnt_, limited, njnt, 1 ) \
X( mjtNum, jnt_, pos, njnt, 3 ) \
X( mjtNum, jnt_, axis, njnt, 3 ) \
X( mjtNum, jnt_, stiffness, njnt, 1 ) \
X( mjtNum, jnt_, range, njnt, 2 ) \
X( mjtNum, jnt_, margin, njnt, 1 ) \
X( mjtNum, jnt_, user, njnt, MJ_M(nuser_jnt) ) \
X( int, dof_, bodyid, nv, 1 ) \
X( int, dof_, jntid, nv, 1 ) \
X( int, dof_, parentid, nv, 1 ) \
X( int, dof_, Madr, nv, 1 ) \
X( int, dof_, simplenum, nv, 1 ) \
X( mjtNum, jnt_, solref, njnt, mjNREF ) \
X( mjtNum, jnt_, solimp, njnt, mjNIMP ) \
X( mjtNum, dof_, frictionloss, nv, 1 ) \
X( mjtNum, dof_, armature, nv, 1 ) \
X( mjtNum, dof_, damping, nv, 1 ) \
X( mjtNum, dof_, invweight0, nv, 1 ) \
X( mjtNum, dof_, M0, nv, 1 )
#define MJMODEL_LIGHT \
X( int, light_, mode, nlight, 1 ) \
X( int, light_, bodyid, nlight, 1 ) \
X( int, light_, targetbodyid, nlight, 1 ) \
X( int, light_, type, nlight, 1 ) \
X( mjtByte, light_, castshadow, nlight, 1 ) \
X( mjtByte, light_, active, nlight, 1 ) \
X( mjtNum, light_, pos, nlight, 3 ) \
X( mjtNum, light_, dir, nlight, 3 ) \
X( mjtNum, light_, poscom0, nlight, 3 ) \
X( mjtNum, light_, pos0, nlight, 3 ) \
X( mjtNum, light_, dir0, nlight, 3 ) \
X( float, light_, attenuation, nlight, 3 ) \
X( float, light_, cutoff, nlight, 1 ) \
X( float, light_, exponent, nlight, 1 ) \
X( float, light_, ambient, nlight, 3 ) \
X( float, light_, diffuse, nlight, 3 ) \
X( float, light_, specular, nlight, 3 )
#define MJMODEL_MATERIAL \
X( int, mat_, texid, nmat, mjNTEXROLE ) \
X( mjtByte, mat_, texuniform, nmat, 1 ) \
X( float, mat_, texrepeat, nmat, 2 ) \
X( float, mat_, emission, nmat, 1 ) \
X( float, mat_, specular, nmat, 1 ) \
X( float, mat_, shininess, nmat, 1 ) \
X( float, mat_, reflectance, nmat, 1 ) \
X( float, mat_, rgba, nmat, 4 )
#define MJMODEL_MESH \
X( int, mesh_, vertadr, nmesh, 1 ) \
X( int, mesh_, vertnum, nmesh, 1 ) \
X( int, mesh_, texcoordadr, nmesh, 1 ) \
X( int, mesh_, faceadr, nmesh, 1 ) \
X( int, mesh_, facenum, nmesh, 1 ) \
X( int, mesh_, graphadr, nmesh, 1 )
#define MJMODEL_NUMERIC \
X( int, numeric_, adr, nnumeric, 1 ) \
X( int, numeric_, size, nnumeric, 1 ) \
X( mjtNum, numeric_, data, nnumericdata, 1 )
#define MJMODEL_PAIR \
X( int, pair_, dim, npair, 1 ) \
X( int, pair_, geom1, npair, 1 ) \
X( int, pair_, geom2, npair, 1 ) \
X( int, pair_, signature, npair, 1 ) \
X( mjtNum, pair_, solref, npair, mjNREF ) \
X( mjtNum, pair_, solimp, npair, mjNIMP ) \
X( mjtNum, pair_, margin, npair, 1 ) \
X( mjtNum, pair_, gap, npair, 1 ) \
X( mjtNum, pair_, friction, npair, 5 )
#define MJMODEL_SENSOR \
X( int, sensor_, type, nsensor, 1 ) \
X( int, sensor_, datatype, nsensor, 1 ) \
X( int, sensor_, needstage, nsensor, 1 ) \
X( int, sensor_, objtype, nsensor, 1 ) \
X( int, sensor_, objid, nsensor, 1 ) \
X( int, sensor_, reftype, nsensor, 1 ) \
X( int, sensor_, refid, nsensor, 1 ) \
X( int, sensor_, dim, nsensor, 1 ) \
X( int, sensor_, adr, nsensor, 1 ) \
X( mjtNum, sensor_, cutoff, nsensor, 1 ) \
X( mjtNum, sensor_, noise, nsensor, 1 ) \
X( mjtNum, sensor_, user, nsensor, MJ_M(nuser_sensor) )
#define MJMODEL_SITE \
X( int, site_, type, nsite, 1 ) \
X( int, site_, bodyid, nsite, 1 ) \
X( int, site_, matid, nsite, 1 ) \
X( int, site_, group, nsite, 1 ) \
X( mjtByte, site_, sameframe, nsite, 1 ) \
X( mjtNum, site_, size, nsite, 3 ) \
X( mjtNum, site_, pos, nsite, 3 ) \
X( mjtNum, site_, quat, nsite, 4 ) \
X( mjtNum, site_, user, nsite, MJ_M(nuser_site) ) \
X( float, site_, rgba, nsite, 4 )
#define MJMODEL_SKIN \
X( int, skin_, matid, nskin, 1 ) \
X( float, skin_, rgba, nskin, 4 ) \
X( float, skin_, inflate, nskin, 1 ) \
X( int, skin_, vertadr, nskin, 1 ) \
X( int, skin_, vertnum, nskin, 1 ) \
X( int, skin_, texcoordadr, nskin, 1 ) \
X( int, skin_, faceadr, nskin, 1 ) \
X( int, skin_, facenum, nskin, 1 ) \
X( int, skin_, boneadr, nskin, 1 ) \
X( int, skin_, bonenum, nskin, 1 )
#define MJMODEL_TENDON \
X( int, tendon, _adr, ntendon, 1 ) \
X( int, tendon, _num, ntendon, 1 ) \
X( int, tendon, _matid, ntendon, 1 ) \
X( int, tendon, _group, ntendon, 1 ) \
X( mjtByte, tendon, _limited, ntendon, 1 ) \
X( mjtNum, tendon, _width, ntendon, 1 ) \
X( mjtNum, tendon, _solref_lim, ntendon, mjNREF ) \
X( mjtNum, tendon, _solimp_lim, ntendon, mjNIMP ) \
X( mjtNum, tendon, _solref_fri, ntendon, mjNREF ) \
X( mjtNum, tendon, _solimp_fri, ntendon, mjNIMP ) \
X( mjtNum, tendon, _range, ntendon, 2 ) \
X( mjtNum, tendon, _margin, ntendon, 1 ) \
X( mjtNum, tendon, _stiffness, ntendon, 1 ) \
X( mjtNum, tendon, _damping, ntendon, 1 ) \
X( mjtNum, tendon, _frictionloss, ntendon, 1 ) \
X( mjtNum, tendon, _lengthspring, ntendon, 1 ) \
X( mjtNum, tendon, _length0, ntendon, 1 ) \
X( mjtNum, tendon, _invweight0, ntendon, 1 ) \
X( mjtNum, tendon, _user, ntendon, MJ_M(nuser_tendon) ) \
X( float, tendon, _rgba, ntendon, 4 )
#define MJMODEL_TEXTURE \
X( int, tex_, type, ntex, 1 ) \
X( int, tex_, height, ntex, 1 ) \
X( int, tex_, width, ntex, 1 ) \
X( int, tex_, nchannel, ntex, 1 ) \
X( int, tex_, adr, ntex, 1 ) \
X( mjtByte, tex_, data, ntexdata, 1 )
#define MJMODEL_TUPLE \
X( int, tuple_, adr, ntuple, 1 ) \
X( int, tuple_, size, ntuple, 1 ) \
X( int, tuple_, objtype, ntupledata, 1 ) \
X( int, tuple_, objid, ntupledata, 1 ) \
X( mjtNum, tuple_, objprm, ntupledata, 1 )
#define MJMODEL_KEYFRAME \
X( mjtNum, key_, time, nkey, 1 ) \
X( mjtNum, key_, qpos, nkey, MJ_M(nq) ) \
X( mjtNum, key_, qvel, nkey, MJ_M(nv) ) \
X( mjtNum, key_, act, nkey, MJ_M(na) ) \
X( mjtNum, key_, mpos, nkey, MJ_M(nmocap)*3 ) \
X( mjtNum, key_, mquat, nkey, MJ_M(nmocap)*4 ) \
X( mjtNum, key_, ctrl, nkey, MJ_M(nu) )
#define MJMODEL_VIEW_GROUPS \
XGROUP( MjModelActuatorViews, actuator, nu, MJMODEL_ACTUATOR ) \
XGROUP( MjModelBodyViews, body, nbody, MJMODEL_BODY ) \
XGROUP( MjModelCameraViews, cam, ncam, MJMODEL_CAMERA ) \
XGROUP( MjModelEqualityViews, eq, neq, MJMODEL_EQUALITY ) \
XGROUP( MjModelExcludeViews, exclude, nexclude, MJMODEL_EXCLUDE ) \
XGROUP( MjModelGeomViews, geom, ngeom, MJMODEL_GEOM ) \
XGROUP( MjModelHfieldViews, hfield, nhfield, MJMODEL_HFIELD ) \
XGROUP( MjModelJointViews, jnt, njnt, MJMODEL_JOINT ) \
XGROUP( MjModelLightViews, light, nlight, MJMODEL_LIGHT ) \
XGROUP( MjModelMaterialViews, mat, nmat, MJMODEL_MATERIAL ) \
XGROUP( MjModelMeshViews, mesh, nmesh, MJMODEL_MESH ) \
XGROUP( MjModelNumericViews, numeric, nnumeric, MJMODEL_NUMERIC ) \
XGROUP( MjModelPairViews, pair, npair, MJMODEL_PAIR ) \
XGROUP( MjModelSensorViews, sensor, nsensor, MJMODEL_SENSOR ) \
XGROUP( MjModelSiteViews, site, nsite, MJMODEL_SITE ) \
XGROUP( MjModelSkinViews, skin, nskin, MJMODEL_SKIN ) \
XGROUP( MjModelTendonViews, tendon, ntendon, MJMODEL_TENDON ) \
XGROUP( MjModelTextureViews, tex, ntex, MJMODEL_TEXTURE ) \
XGROUP( MjModelTupleViews, tuple, ntuple, MJMODEL_TUPLE ) \
XGROUP( MjModelKeyframeViews, key, nkey, MJMODEL_KEYFRAME )
#define MJMODEL_BIND_GROUPS \
XGROUP( mjsActuator, actuator) \
XGROUP( mjsBody, body ) \
XGROUP( mjsCamera, cam ) \
XGROUP( mjsEquality, eq ) \
XGROUP( mjsExclude, exclude ) \
XGROUP( mjsGeom, geom ) \
XGROUP( mjsHField, hfield ) \
XGROUP( mjsJoint, jnt ) \
XGROUP( mjsLight, light ) \
XGROUP( mjsMaterial, mat ) \
XGROUP( mjsMesh, mesh ) \
XGROUP( mjsNumeric, numeric ) \
XGROUP( mjsPair, pair ) \
XGROUP( mjsSensor, sensor ) \
XGROUP( mjsSite, site ) \
XGROUP( mjsSkin, skin ) \
XGROUP( mjsTendon, tendon ) \
XGROUP( mjsTexture, tex ) \
XGROUP( mjsTuple, tuple ) \
XGROUP( mjsKey, key )
#define MJMODEL_VIEW_GROUPS_ALTNAMES \
XGROUP( cam, camera, MJMODEL_CAMERA ) \
XGROUP( eq, equality, MJMODEL_EQUALITY ) \
XGROUP( jnt, joint, MJMODEL_JOINT ) \
XGROUP( mat, material, MJMODEL_MATERIAL ) \
XGROUP( tex, texture, MJMODEL_TEXTURE ) \
XGROUP( key, keyframe, MJMODEL_KEYFRAME )
#define MJDATA_ACTUATOR \
X( mjtNum, , ctrl, nu, 1 ) \
X( mjtNum, actuator_, length, nu, 1 ) \
X( mjtNum, actuator_, moment, nu, MJ_M(nv) ) \
X( mjtNum, actuator_, velocity, nu, 1 ) \
X( mjtNum, actuator_, force, nu, 1 )
#define MJDATA_BODY \
X( mjtNum, , xfrc_applied, nbody, 6 ) \
X( mjtNum, , xpos, nbody, 3 ) \
X( mjtNum, , xquat, nbody, 4 ) \
X( mjtNum, , xmat, nbody, 9 ) \
X( mjtNum, , xipos, nbody, 3 ) \
X( mjtNum, , ximat, nbody, 9 ) \
X( mjtNum, , subtree_com, nbody, 3 ) \
X( mjtNum, , cinert, nbody, 10 ) \
X( mjtNum, , crb, nbody, 10 ) \
X( mjtNum, , cvel, nbody, 6 ) \
X( mjtNum, , subtree_linvel, nbody, 3 ) \
X( mjtNum, , subtree_angmom, nbody, 3 ) \
X( mjtNum, , cacc, nbody, 6 ) \
X( mjtNum, , cfrc_int, nbody, 6 ) \
X( mjtNum, , cfrc_ext, nbody, 6 )
#define MJDATA_CAMERA \
X( mjtNum, cam_, xpos, ncam, 3 ) \
X( mjtNum, cam_, xmat, ncam, 9 )
#define MJDATA_GEOM \
X( mjtNum, geom_, xpos, ngeom, 3 ) \
X( mjtNum, geom_, xmat, ngeom, 9 )
#define MJDATA_JOINT \
X( mjtNum, , qpos, nq, 1 ) \
X( mjtNum, , qvel, nv, 1 ) \
X( mjtNum, , qacc_warmstart, nv, 1 ) \
X( mjtNum, , qfrc_applied, nv, 1 ) \
X( mjtNum, , qacc, nv, 1 ) \
X( mjtNum, , xanchor, njnt, 3 ) \
X( mjtNum, , xaxis, njnt, 3 ) \
X( mjtNum, , cdof, nv, 6 ) \
X( mjtNum, , qLDiagInv, nv, 1 ) \
X( mjtNum, , cdof_dot, nv, 6 ) \
X( mjtNum, , qfrc_bias, nv, 1 ) \
X( mjtNum, , qfrc_passive, nv, 1 ) \
X( mjtNum, , qfrc_actuator, nv, 1 ) \
X( mjtNum, , qfrc_smooth, nv, 1 ) \
X( mjtNum, , qacc_smooth, nv, 1 ) \
X( mjtNum, , qfrc_constraint, nv, 1 ) \
X( mjtNum, , qfrc_inverse, nv, 1 )
#define MJDATA_LIGHT \
X( mjtNum, light_, xpos, nlight, 3 ) \
X( mjtNum, light_, xdir, nlight, 3 )
#define MJDATA_SENSOR \
X( mjtNum, sensor, data, nsensordata, 1 )
#define MJDATA_SITE \
X( mjtNum, site_, xpos, nsite, 3 ) \
X( mjtNum, site_, xmat, nsite, 9 )
#define MJDATA_TENDON \
X( int, ten_, wrapadr , ntendon, 1 ) \
X( int, ten_, wrapnum , ntendon, 1 ) \
X( int, ten_, J_rownnz, ntendon, 1 ) \
X( int, ten_, J_rowadr, ntendon, 1 ) \
X( int, ten_, J_colind, ntendon, MJ_M(nv) ) \
X( mjtNum, ten_, length , ntendon, 1 ) \
X( mjtNum, ten_, J , ntendon, MJ_M(nv) ) \
X( mjtNum, ten_, velocity, ntendon, 1 )
#define MJDATA_VIEW_GROUPS \
XGROUP( MjDataActuatorViews, actuator, nu, MJDATA_ACTUATOR ) \
XGROUP( MjDataBodyViews, body, nbody, MJDATA_BODY ) \
XGROUP( MjDataCameraViews, cam, ncam, MJDATA_CAMERA ) \
XGROUP( MjDataGeomViews, geom, ngeom, MJDATA_GEOM ) \
XGROUP( MjDataJointViews, jnt, njnt, MJDATA_JOINT ) \
XGROUP( MjDataLightViews, light, nlight, MJDATA_LIGHT ) \
XGROUP( MjDataSensorViews, sensor, nsensor, MJDATA_SENSOR ) \
XGROUP( MjDataSiteViews, site, nsite, MJDATA_SITE ) \
XGROUP( MjDataTendonViews, tendon, ntendon, MJDATA_TENDON )
#define MJDATA_BIND_GROUPS \
XGROUP( mjsActuator, actuator) \
XGROUP( mjsBody, body ) \
XGROUP( mjsCamera, cam ) \
XGROUP( mjsGeom, geom ) \
XGROUP( mjsJoint, jnt ) \
XGROUP( mjsLight, light ) \
XGROUP( mjsSensor, sensor ) \
XGROUP( mjsSite, site ) \
XGROUP( mjsTendon, tendon )
#define MJDATA_VIEW_GROUPS_ALTNAMES \
XGROUP( cam, camera, MJDATA_CAMERA ) \
XGROUP( jnt, joint, MJDATA_JOINT ) \
XGROUP( tendon, ten, MJDATA_TENDON )
#endif // MUJOCO_PYTHON_INDEXER_XMACRO_H_