From c5f60322467ec8ecc0db64c3e18a4da762c27e45 Mon Sep 17 00:00:00 2001 From: Jonas Schneider Date: Tue, 27 Jun 2017 22:38:30 -0700 Subject: [PATCH] Import 1.50.x series code --- .appveyor.yml | 39 + .dockerignore | 49 + .gitignore | 105 +- .python-version | 1 + .travis.yml | 29 +- Dockerfile | 81 +- LICENSE => LICENSE.md | 17 +- MANIFEST.in | 5 + Makefile | 36 +- README.md | 91 +- tests/__init__.py => docs/.nojekyll | 0 docs/Makefile | 13 + docs/_static/.gitkeep | 0 docs/_templates/.gitkeep | 0 docs/build/doctrees/environment.pickle | Bin 0 -> 43611 bytes docs/build/doctrees/index.doctree | Bin 0 -> 10103 bytes docs/build/doctrees/internals.doctree | Bin 0 -> 11274 bytes docs/build/doctrees/reference.doctree | Bin 0 -> 180811 bytes docs/build/html/.buildinfo | 4 + docs/build/html/_modules/index.html | 223 + .../html/_modules/mujoco_py/builder.html | 522 + .../html/_modules/mujoco_py/mjviewer.html | 580 + docs/build/html/_sources/index.rst.txt | 20 + 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mujoco_py/gen_binding.sh | 9 - mujoco_py/generated/README.md | 2 + mujoco_py/generated/__init__.py | 0 mujoco_py/generated/const.py | 371 + mujoco_py/generated/wrappers.pxi | 4359 +++++++ mujoco_py/gl/__init__.py | 0 mujoco_py/gl/dummyshim.c | 12 + mujoco_py/gl/egl.h | 303 + mujoco_py/gl/eglext.h | 996 ++ mujoco_py/gl/eglplatform.h | 125 + mujoco_py/gl/eglshim.c | 127 + mujoco_py/gl/glshim.h | 8 + mujoco_py/gl/khrplatform.h | 285 + mujoco_py/gl/osmesashim.c | 49 + mujoco_py/glfw.py | 1643 --- mujoco_py/mjconstants.py | 23 - mujoco_py/mjcore.py | 162 - mujoco_py/mjextra.py | 6 - mujoco_py/mjlib.py | 413 - mujoco_py/mjrendercontext.pyx | 259 + mujoco_py/mjsim.pyx | 278 + mujoco_py/mjsimpool.pyx | 127 + mujoco_py/mjsimstate.pyx | 89 + mujoco_py/mjtypes.py | 6080 ---------- mujoco_py/mjviewer.py | 617 +- mujoco_py/modder.py | 450 + mujoco_py/opengl_context.pyx | 143 + mujoco_py/platname_targdir.py | 9 - mujoco_py/pxd/__init__.py | 0 mujoco_py/pxd/mjdata.pxd | 309 + mujoco_py/pxd/mjmodel.pxd | 765 ++ mujoco_py/pxd/mjrender.pxd | 90 + mujoco_py/pxd/mjvisualize.pxd | 254 + mujoco_py/pxd/mujoco.pxd | 1025 ++ mujoco_py/test_imgs/test_materials.premod.png | Bin 0 -> 7290 bytes mujoco_py/test_imgs/test_materials.props.png | Bin 0 -> 7034 bytes .../test_imgs/test_materials.rand_all.png | Bin 0 -> 6729 bytes .../test_imgs/test_multiple_sims.loop0_0.png | Bin 0 -> 47412 bytes .../test_imgs/test_multiple_sims.loop0_1.png | Bin 0 -> 52936 bytes .../test_imgs/test_multiple_sims.loop1_0.png | Bin 0 -> 77146 bytes .../test_imgs/test_multiple_sims.loop1_1.png | Bin 0 -> 53580 bytes .../test_imgs/test_multiple_sims.loop2_0.png | Bin 0 -> 66710 bytes .../test_imgs/test_multiple_sims.loop2_1.png | Bin 0 -> 66980 bytes .../test_rendering.camera1.narrow.png | Bin 0 -> 1480 bytes .../test_imgs/test_rendering.camera1.png | Bin 0 -> 950 bytes .../test_rendering.freecam.depth.png | Bin 0 -> 838 bytes .../test_imgs/test_rendering.freecam.png | Bin 0 -> 4979 bytes 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mujoco_py/tests/test_examples.py | 20 + mujoco_py/tests/test_gen_wrappers.py | 15 + mujoco_py/tests/test_modder.py | 173 + mujoco_py/tests/test_pymj_sim.py | 16 + mujoco_py/tests/test_vfs.py | 32 + mujoco_py/tests/test_viewer.py | 13 + mujoco_py/tests/utils.py | 51 + mujoco_py/util.py | 231 - mujoco_py/utils.py | 57 + mujoco_py/vendor/osx/mujoco/mujoco.h | 829 -- mujoco_py/version.py | 13 + requirements.dev.txt | 10 + requirements.txt | 7 +- scripts/gen_wrappers.py | 848 ++ setup.py | 60 +- tests/models/ant.xml | 80 - tests/models/cartpole.xml | 44 - tests/test_mjlib.py | 91 - tests/test_mjmodel.py | 15 - tests/test_mjviewer.py | 41 - tox.ini | 25 - vendor/10_nvidia.json | 6 + vendor/Xdummy | 1955 +++ vendor/Xdummy-entrypoint | 20 + vendor/pymj_shim/Makefile | 6 + vendor/pymj_shim/README.md | 2 + vendor/pymj_shim/pymj/__init__.py | 9 + vendor/pymj_shim/setup.py | 13 + xmls/claw.xml | 79 + xmls/door.xml | 32 + xmls/fetch/base_link_collision.stl | Bin 0 -> 236084 bytes 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xmls/fetch/shoulder_pan_link_collision.stl create mode 100644 xmls/fetch/torso_fixed_link.stl create mode 100644 xmls/fetch/torso_lift_link_collision.stl create mode 100644 xmls/fetch/upperarm_roll_link_collision.stl create mode 100644 xmls/fetch/wrist_flex_link_collision.stl create mode 100644 xmls/fetch/wrist_roll_link_collision.stl create mode 100644 xmls/juggler.xml create mode 100644 xmls/key.xml create mode 100644 xmls/shelf.xml create mode 100644 xmls/slider.xml create mode 100644 xmls/tosser.xml diff --git a/.appveyor.yml b/.appveyor.yml new file mode 100644 index 00000000..5e8e0504 --- /dev/null +++ b/.appveyor.yml @@ -0,0 +1,39 @@ +version: 1.0.{build} + +environment: + + global: + # SDK v7.0 MSVC Express 2008's SetEnv.cmd script will fail if the + # /E:ON and /V:ON options are not enabled in the batch script intepreter + # See: http://stackoverflow.com/a/13751649/163740 + CMD_IN_ENV: "cmd /E:ON /V:ON /C .\\continuous-integration\\appveyor\\run_with_env.cmd" + +platform: + - x64 + + +install: + - mkdir %userprofile%\.mujoco + - curl %MUJOCO_FOR_WINDOWS% -o %userprofile%\.mujoco\mjpro.tar.gz + - curl https://github.com/glfw/glfw/releases/download/3.2.1/glfw-3.2.1.bin.WIN64.zip -o %userprofile%\glfw.zip + - cd %userprofile%\.mujoco\ + - tar -zxvf mjpro.tar.gz + - echo "%PYTHON_VERSION% C:\Miniconda35-x64 %userprofile%" + - set PATH=C:\Miniconda35-x64;C:\Miniconda35-x64\Scripts;%PATH% + - conda config --set always_yes yes --set changeps1 no + - conda update -q conda + - conda info -a + - conda create -q -n test-environment python=3.5 numpy scipy + - activate test-environment + - SET PATH=%userprofile%\.mujoco\mjpro150\bin;%PATH%; + - SET RENDERING_OFF=1 + - cd C:\projects\pymj + - pip install -r requirements.txt + - pip install -r requirements.dev.txt + +build: off + +test_script: + - pytest -s --verbose --durations=10 --instafail + + diff --git a/.dockerignore b/.dockerignore new file mode 100755 index 00000000..ac6a3ef5 --- /dev/null +++ b/.dockerignore @@ -0,0 +1,49 @@ +generated_cymj* +_pyxbld* +dist +cache +.idea/* +*~ +.*~ +*#*# +*.o +*.dat +*.prof +*.lprof +*.local +.realsync +.DS_Store +**/*.egg-info +.cache +*.ckpt +*.log +.ipynb_checkpoints +venv/ +.vimrc +*.settings +*.svn +.project +.pydevproject +tags +*sublime-project +*sublime-workspace +# Intermediate outputs +__pycache__ +**/__pycache__ +*.pb.* +*.pyc +*.swp +*.swo +# generated data +*.rdb +*.db +*.avi +# mujoco outputs +MUJOCO_LOG.TXT +model.txt +.window_data +.idea/*.xml +outputfile +tmp* +cymj.c +**/.git diff --git a/.gitignore b/.gitignore old mode 100644 new mode 100755 index 94e78d5b..ac6a3ef5 --- a/.gitignore +++ b/.gitignore @@ -1,64 +1,49 @@ +generated_cymj* +_pyxbld* +dist +cache +.idea/* +*~ +.*~ +*#*# +*.o +*.dat +*.prof +*.lprof +*.local +.realsync .DS_Store - -# Byte-compiled / optimized / DLL files -__pycache__/ -*.py[cod] -*$py.class - -# Distribution / packaging -.Python -env/ -build/ -develop-eggs/ -dist/ -downloads/ -eggs/ -.eggs/ -lib/ -lib64/ -parts/ -sdist/ -var/ -*.egg-info/ -.installed.cfg -*.egg - -# PyInstaller -# Usually these files are written by a python script from a template -# before PyInstaller builds the exe, so as to inject date/other infos into it. -*.manifest -*.spec - -# Installer logs -pip-log.txt -pip-delete-this-directory.txt - -# Unit test / coverage reports -htmlcov/ -.tox/ -.coverage -.coverage.* +**/*.egg-info .cache -nosetests.xml -coverage.xml -*,cover -.hypothesis/ - -# Translations -*.mo -*.pot - -# Django stuff: +*.ckpt *.log - -# Sphinx documentation -docs/_build/ - -# PyBuilder -target/ - - -gcc-dylibs -MANIFEST -/tmp +.ipynb_checkpoints +venv/ +.vimrc +*.settings +*.svn +.project +.pydevproject +tags +*sublime-project +*sublime-workspace +# Intermediate outputs +__pycache__ +**/__pycache__ +*.pb.* +*.pyc +*.swp +*.swo +# generated data +*.rdb +*.db +*.avi +# mujoco outputs MUJOCO_LOG.TXT +model.txt +.window_data +.idea/*.xml +outputfile +tmp* +cymj.c +**/.git diff --git a/.python-version b/.python-version new file mode 100644 index 00000000..082d4334 --- /dev/null +++ b/.python-version @@ -0,0 +1 @@ +3.5.2/envs/pymj diff --git a/.travis.yml b/.travis.yml index 1ffe59b2..3771aa60 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,25 +1,10 @@ -dist: trusty sudo: required -cache: - apt: true -language: python -addons: - apt: - packages: - - python-dev -python: - - "2.7" - - "3.5" -install: pip install tox-travis -script: tox +language: generic +dist: trusty + before_install: - - Xvfb :12 -screen 0 800x600x24 +extension RANDR & - - mkdir -p ~/.mujoco - - curl https://openai-public.s3-us-west-2.amazonaws.com/mujoco/$MUJOCO_KEY_BUNDLE.tar.gz | tar xz -C ~/.mujoco -env: - - DISPLAY=:12 +- curl $MUJOCO_FOR_LINUX | tar -xz ./mjkey.txt +- docker build -t image-under-test . -notifications: - slack: - secure: h/Mxm8K+avH/2W0818zCHmLloRPMFN4NJL01+VShvAkH80/acfjeq/+mMdWXXPL/oOB6kSHDk+GDhwR6+s03ZcPMn5INTFvFYqUc6UWmT+NXtOPxGTN0xda6MdYUkWQUKaMyjFrweZQOMOASFBIzPOq4XeVbM5aB8s4EJhnfAcYZhp/idwKbToVihN4KZgxlvZIFc8iEp1o9uSl5qrsaeYYYXRkb6mauacAwOo4/Chu+cOnoLUOnvhBFE3rV3doDNrbnoalO8XiExtgx5CIAYWrlMni7r2Q+LlzgwdyTH19ZtybPxJTZIIWSBQ2UtcoYdIEDcc36GcUwz1VUGg32mLJJnY2xw80CWR4ixFPpLwwP5Y99WTn8v094B4nmFTWOwNWXp3EkqtTN9XcJoRBqXB5ArucIPqrx57dOCljSKx22gL6WaF2p3stSAxIGFektGyGnisaELrFZG1C63aHoUPicj3gUlijmAoUmYaDRf6P1wnpXqBpKDAWWhAMSatvx1ekmEJgR7OQklQnnfjx9kENDUygNUWS4IQwN2qYieuzHFL3of7/30mTM43+Vt/vWN8GI7j01BXu6FNGGloHxjH1pt3bLP/+uj5BJsT2HWF+Z8XR4VE6cyVuKsQAFgCXwOkoDHALbcwsspONDIt/9ixkesgh1oFt4CzU3UuU5wYs= - on_success: change +script: +- docker run --rm image-under-test diff --git a/Dockerfile b/Dockerfile index 0c793288..1f3e14fa 100644 --- a/Dockerfile +++ b/Dockerfile @@ -1,32 +1,53 @@ -FROM ubuntu:14.04 +# We need the CUDA base dockerfile to enable GPU rendering +# on hosts with GPUs. +FROM nvidia/cuda:8.0-devel-ubuntu16.04 -RUN apt-get update && apt-get install -y \ - python2.7 \ - python2.7-dev \ - python-pip \ - unzip \ - xorg-dev \ +RUN apt-get update -q \ + && DEBIAN_FRONTEND=noninteractive apt-get install -y \ + curl \ + git \ libgl1-mesa-dev \ - xvfb \ - libxinerama1 \ - libxcursor1 \ - libglu1-mesa \ - cmake \ - gfortran \ - libblas-dev \ - libatlas-dev \ - liblapack-dev \ - libjpeg62 \ - libjpeg62-dev \ - && apt-get clean \ - && rm -rf /var/lib/apt/lists/* - -COPY requirements.txt /mujoco-py/requirements.txt -RUN pip install -r /mujoco-py/requirements.txt - -COPY . /mujoco-py - -ENV PYTHONPATH=/mujoco-py -WORKDIR /mujoco-py -ENTRYPOINT ["bin/docker-entrypoint.sh"] -CMD ["nosetests", "tests/"] + libgl1-mesa-glx \ + libosmesa6-dev \ + python3-pip \ + python3-numpy \ + python3-scipy \ + unzip \ + vim \ + wget \ + xpra \ + xserver-xorg-dev \ + && apt-get clean \ + && rm -rf /var/lib/apt/lists/* + +RUN curl -o /usr/local/bin/patchelf https://s3-us-west-2.amazonaws.com/openai-sci-artifacts/manual-builds/patchelf_0.9_amd64.elf \ + && chmod +x /usr/local/bin/patchelf + +ENV LANG C.UTF-8 + +RUN mkdir -p /root/.mujoco \ + && wget https://www.roboti.us/download/mjpro150_linux.zip -O mujoco.zip \ + && unzip mujoco.zip -d /root/.mujoco \ + && rm mujoco.zip +COPY ./mjkey.txt /root/.mujoco/ +ENV LD_LIBRARY_PATH /root/.mujoco/mjpro150/bin:$LD_LIBRARY_PATH + +COPY vendor/Xdummy /usr/local/bin/Xdummy +RUN chmod +x /usr/local/bin/Xdummy + +# Workaround for https://bugs.launchpad.net/ubuntu/+source/nvidia-graphics-drivers-375/+bug/1674677 +COPY ./vendor/10_nvidia.json /usr/share/glvnd/egl_vendor.d/10_nvidia.json + +WORKDIR /mujoco_py +# Copy over just requirements.txt at first. That way, the Docker cache doesn't +# expire until we actually change the requirements. +COPY ./requirements.txt /mujoco_py/ +COPY ./requirements.dev.txt /mujoco_py/ +RUN pip3 install -r requirements.txt +RUN pip3 install -r requirements.dev.txt + +# Delay moving in the entire code until the very end. +ENTRYPOINT ["/mujoco_py/vendor/Xdummy-entrypoint"] +CMD ["pytest"] +COPY . /mujoco_py +RUN python3 setup.py install diff --git a/LICENSE b/LICENSE.md similarity index 70% rename from LICENSE rename to LICENSE.md index 80127810..9214a4a7 100644 --- a/LICENSE +++ b/LICENSE.md @@ -1,6 +1,8 @@ +# mujoco-py + The MIT License -Copyright (c) 2016 OpenAI (http://openai.com) +Copyright (c) 2017 OpenAI (http://openai.com) Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal @@ -19,3 +21,16 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +# Mujoco models +This work is derived from [MuJuCo models](http://www.mujoco.org/forum/index.php?resources/) used under the following license: +``` +This file is part of MuJoCo. +Copyright 2009-2015 Roboti LLC. +Mujoco :: Advanced physics simulation engine +Source : www.roboti.us +Version : 1.31 +Released : 23Apr16 +Author :: Vikash Kumar +Contacts : kumar@roboti.us +``` diff --git a/MANIFEST.in b/MANIFEST.in new file mode 100644 index 00000000..9583199a --- /dev/null +++ b/MANIFEST.in @@ -0,0 +1,5 @@ +include requirements.txt +include requirements.dev.txt +recursive-include mujoco_py *.h *.py *.pyx *.pxd *.pxi *.xml *.c *.so +include mujoco_py/gl/*.c +include setup.py diff --git a/Makefile b/Makefile index 7d944e23..7bc74350 100644 --- a/Makefile +++ b/Makefile @@ -1,7 +1,39 @@ +.PHONY: all clean build test mount_shell shell upload check-env + +MUJOCO_LICENSE_PATH ?= ~/.mujoco/mjkey.txt + +all: test + +clean: + rm -rf mujoco_py.egg-info + rm -rf */__pycache__ + rm -rf */*/__pycache__ + rm -rf mujoco_py/generated/_pyxbld* + rm -rf mujoco_py/generated_cymj* + rm -rf mujoco_py/cythonlock_*.pyc + rm -rf dist + rm -rf build + +build: check-license + cp $(MUJOCO_LICENSE_PATH) mjkey.txt + docker build -t mujoco_py . || rm mjkey.txt && rm mjkey.txt + +test: build + # run it interactive mode so we can abort with CTRL+C + docker run --rm -i mujoco_py pytest + +mount_shell: + docker run --rm -it -v `pwd`:/dev mujoco_py /bin/bash -c "pip uninstall -y mujoco_py; rm -rf /mujoco_py; (cd /dev; /bin/bash)" + +shell: + docker run --rm -it mujoco_py /bin/bash + upload: rm -rf dist python setup.py sdist twine upload dist/* -test: - nose2 +check-license: +ifeq ("","$(wildcard $(MUJOCO_LICENSE_PATH))") + $(error "License key not found at location $(MUJOCO_LICENSE_PATH). Use MUJOCO_LICENSE_PATH to specify its path") +endif diff --git a/README.md b/README.md index 196b52ed..126b30c3 100644 --- a/README.md +++ b/README.md @@ -1,48 +1,77 @@ -# MuJoCo Python Bindings +# mujoco-py [![Documentation](https://img.shields.io/badge/docs-latest-brightgreen.svg?style=flat)](https://openai.github.io/pymj/build/html/index.html) [![Build Status](https://travis-ci.com/openai/pymj.svg?token=aA2GupFxnzsRTN56psRJ&branch=master)](https://travis-ci.com/openai/pymj) [![Build status](https://ci.appveyor.com/api/projects/status/dsg86qpalv9bi568?svg=true)](https://ci.appveyor.com/project/wojzaremba/pymj) -[![Build Status](https://travis-ci.org/openai/mujoco-py.svg?branch=master)](https://travis-ci.org/openai/mujoco-py) +[MuJoCo](http://mujoco.org/) is a physics engine for detailed, efficient rigid body simulations with contacts. `mujoco-py` allows using MuJoCo from Python. -MuJoCo is a physics engine which can do very detailed efficient -simulations with contacts. This library lets you use MuJoCo from -Python. +## Synopsis -Note that MuJoCo tends to change significantly between versions, so -this library is likely to stay pinned to 1.31 for the near future. +### Install MuJoCo -# Installing this library - -You can install this library using: +1. Obtain a 30-day free trial on the [MuJoCo website](https://www.roboti.us/license.html) + or free license if you are a student. + The license key will arrive in an email with your username and password. +2. Download the MuJoCo version 1.50 binaries for + [Linux](https://www.roboti.us/active/mjpro150_linux.zip), + [OSX](https://www.roboti.us/active/mjpro150_osx.zip), or + [Windows](https://www.roboti.us/active/mjpro150_windows.zip). +3. Unzip the downloaded `mjpro150` directory into `~/.mujoco/mjpro150`, + and place your license key (the `mjkey.txt` file from your email) + at `~/.mujoco/mjkey.txt`. +### Install and use `mujoco-py` +To include `mujoco-py` in another package, add it to your requirements like so: +``` +mujoco-py<1.50.2,>=1.50.1 ``` -pip install mujoco-py +To play with it interactively, follow these steps: ``` +$ pip install -U 'mujoco-py<1.50.2,>=1.50.1' +$ python +import mujoco_py +from os.path import dirname +model = mujoco_py.load_model_from_path(dirname(dirname(mujoco_py.__file__)) +"/xmls/claw.xml") +sim = mujoco_py.MjSim(model) -MuJoCo isn't open-source, so you'll also need to set download the -MuJoCo binaries and obtain license key. +print(sim.data.qpos) +# [ 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.] -## Obtaining the binaries and license key +sim.step() +print(sim.data.qpos) +# [ 2.09217903e-06 -1.82329050e-12 -1.16711384e-07 -4.69613872e-11 +# -1.43931860e-05 4.73350204e-10 -3.23749942e-05 -1.19854057e-13 +# -2.39251380e-08 -4.46750545e-07 1.78771599e-09 -1.04232280e-08] +``` -1. Obtain a 30-day free trial on the MuJoCo website: - https://www.roboti.us/license.html. The license key will arrive in - an email with your username and password. -2. Download the MuJoCo version 1.31 binaries for - [Linux](https://www.roboti.us/active/mjpro131_linux.zip), - [OSX](https://www.roboti.us/active/mjpro131_osx.zip), or - [Windows](https://www.roboti.us/active/mjpro131_windows.zip). -3. Download your license key (the `mjkey.txt` file from your email) - and unzip the downloaded mjpro bundle. -4. Place these in `~/.mujoco/mjkey.txt` and `~/.mujoco/mjpro131`. You - can alternatively set the following environment variables: +See the [full documentation](https://openai.github.io/pymj/build/html/index.html) for advanced usage. -``` -export MUJOCO_PY_MJKEY_PATH=/path/to/mjkey.txt -export MUJOCO_PY_MJPRO_PATH=/path/to/mjpro131 -``` +## Usage Examples -## Testing +A number of examples demonstrating some advanced features of `mujoco-py` can be found in [`examples/`](/./examples/). These include: +- [`body_interaction.py`](./examples/body_interaction.py): shows interactions between colliding bodies +- [`disco_fetch.py`](./examples/disco_fetch.py): shows how `TextureModder` can be used to randomize object textures +- [`internal_functions.py`](./examples/internal_functions.py): shows how to call raw mujoco functions like `mjv_room2model` +- [`markers_demo.py`](./examples/markers_demo.py): shows how to add visualization-only geoms to the viewer +- [`serialize_model.py`](./examples/serialize_model.py): shows how to save and restore a model +- [`setting_state.py`](./examples/setting_state.py): shows how to reset the simulation to a given state +- [`simpool.py`](./examples/simpool.py): shows how `MjSimPool` can be used to run a number of simulations in parallel +- [`tosser.py`](./examples/tosser.py): shows a simple actuated object sorting robot application -Run: +See the [full documentation](https://openai.github.io/pymj/build/html/index.html) for advanced usage. + +## Development + +To run the provided unit and integrations tests: ``` make test ``` + +## Credits + +`mujoco-py` is maintained by the OpenAI Robotics team. Contributors include: + +- Alex Ray +- Bob McGrew +- Jonas Schneider +- Jonathan Ho +- Peter Welinder +- Wojciech Zaremba diff --git a/tests/__init__.py b/docs/.nojekyll similarity index 100% rename from tests/__init__.py rename to docs/.nojekyll diff --git a/docs/Makefile b/docs/Makefile new file mode 100644 index 00000000..35ea94ba --- /dev/null +++ b/docs/Makefile @@ -0,0 +1,13 @@ +SPHINXOPTS = +SPHINXBUILD = python -msphinx +SPHINXPROJ = mujoco-py +SOURCEDIR = . +BUILDDIR = build + +.PHONY: all clean + +all: + @$(SPHINXBUILD) -M html "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) + +clean: + @$(SPHINXBUILD) -M clean "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) diff --git a/docs/_static/.gitkeep b/docs/_static/.gitkeep new file mode 100644 index 00000000..e69de29b diff --git a/docs/_templates/.gitkeep b/docs/_templates/.gitkeep new file mode 100644 index 00000000..e69de29b diff --git a/docs/build/doctrees/environment.pickle b/docs/build/doctrees/environment.pickle new file mode 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+ + + + +
+ + + + + + +
+
+ + + + + + + + + + + + + + + + +
+ +
    + +
  • Docs »
    • + +
  • Overview: module code
    • + + +
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    • + +
+ + +
+
+
+
+ +

All modules for which code is available

+ + +
+
+ +
+
+ + +
+
+ +
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/docs/build/html/_modules/mujoco_py/builder.html b/docs/build/html/_modules/mujoco_py/builder.html new file mode 100644 index 00000000..19376398 --- /dev/null +++ b/docs/build/html/_modules/mujoco_py/builder.html @@ -0,0 +1,522 @@ + + + + + + + + + + + mujoco_py.builder — mujoco-py 1.50.0.14 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + + +
+ + + + + + +
+
+ + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +

Source code for mujoco_py.builder

+import distutils
+import imp
+import os
+import shutil
+import subprocess
+import sys
+from distutils.core import Extension
+from distutils.dist import Distribution
+from distutils.sysconfig import customize_compiler
+from os.path import abspath, dirname, exists, join, getmtime
+
+import numpy as np
+from Cython.Build import cythonize
+from Cython.Distutils.old_build_ext import old_build_ext as build_ext
+
+from mujoco_py.utils import discover_mujoco
+
+
+def load_cython_ext(mjpro_path):
+    """
+    Loads the cymj Cython extension. This is safe to be called from
+    multiple processes running on the same machine.
+
+    Cython only gives us back the raw path, regardless of whether
+    it found a cached version or actually compiled. Since we do
+    non-idempotent postprocessing of the DLL, be extra careful
+    to only do that once and then atomically move to the final
+    location.
+    """
+    if ('glfw' in sys.modules and
+            'mujoco' in abspath(sys.modules["glfw"].__file__)):
+        print('''
+WARNING: Existing glfw python module detected!
+
+MuJoCo comes with its own version of GLFW, so it's preferable to use that one.
+
+The easy solution is to `import mujoco_py` _before_ `import glfw`.
+''')
+
+    if sys.platform == 'darwin':
+        Builder = MacExtensionBuilder
+    elif sys.platform == 'linux':
+        if exists('/usr/local/nvidia/lib64'):
+            Builder = LinuxGPUExtensionBuilder
+        else:
+            Builder = LinuxCPUExtensionBuilder
+    elif sys.platform.startswith("win"):
+        Builder = WindowsExtensionBuilder
+    else:
+        raise RuntimeError("Unsupported platform %s" % sys.platform)
+
+    builder = Builder(mjpro_path)
+
+    cext_so_path = builder.build()
+    mod = imp.load_dynamic("cymj", cext_so_path)
+    return mod
+
+
+class custom_build_ext(build_ext):
+    """
+    Custom build_ext to suppress the "-Wstrict-prototypes" warning.
+    It arises from the fact that we're using C++. This seems to be
+    the cleanest way to get rid of the extra flag.
+
+    See http://stackoverflow.com/a/36293331/248400
+    """
+
+    def build_extensions(self):
+        customize_compiler(self.compiler)
+
+        try:
+            self.compiler.compiler_so.remove("-Wstrict-prototypes")
+        except (AttributeError, ValueError):
+            pass
+        build_ext.build_extensions(self)
+
+
+def fix_shared_library(so_file, name, library_path):
+    ldd_output = subprocess.check_output(
+        ['ldd', so_file]).decode('utf-8')
+
+    if name in ldd_output:
+        subprocess.check_call(['patchelf',
+                               '--remove-needed',
+                               name,
+                               so_file])
+    subprocess.check_call(
+        ['patchelf', '--add-needed',
+         library_path,
+         so_file])
+
+
+class MujocoExtensionBuilder():
+
+    CYMJ_DIR_PATH = abspath(dirname(__file__))
+
+    def __init__(self, mjpro_path):
+        self.mjpro_path = mjpro_path
+        self.extension = Extension(
+            'mujoco_py.cymj',
+            sources=[join(self.CYMJ_DIR_PATH, "cymj.pyx")],
+            include_dirs=[
+                self.CYMJ_DIR_PATH,
+                join(mjpro_path, 'include'),
+                np.get_include(),
+            ],
+            libraries=['mujoco150'],
+            library_dirs=[join(mjpro_path, 'bin')],
+            extra_compile_args=[
+                '-fopenmp',  # needed for OpenMP
+                '-w',  # suppress numpy compilation warnings
+            ],
+            extra_link_args=['-fopenmp'],
+            language='c')
+
+    def build(self):
+        dist = Distribution({
+            "script_name": None,
+            "script_args": ["build_ext"]
+        })
+        dist.ext_modules = cythonize([self.extension])
+        dist.include_dirs = []
+        dist.cmdclass = {'build_ext': custom_build_ext}
+        build = dist.get_command_obj('build')
+        # following the convention of cython's pyxbuild and naming
+        # base directory "_pyxbld"
+        build.build_base = join(self.CYMJ_DIR_PATH, 'generated',
+                                '_pyxbld_%s' % self.__class__.__name__)
+        dist.parse_command_line()
+        obj_build_ext = dist.get_command_obj("build_ext")
+        dist.run_commands()
+        so_file_path, = obj_build_ext.get_outputs()
+        return so_file_path
+
+
+class WindowsExtensionBuilder(MujocoExtensionBuilder):
+
+    def __init__(self, mjpro_path):
+        super().__init__(mjpro_path)
+        os.environ["PATH"] += ";" + join(mjpro_path, "bin")
+        self.extension.sources.append(self.CYMJ_DIR_PATH + "/gl/dummyshim.c")
+
+
+class LinuxCPUExtensionBuilder(MujocoExtensionBuilder):
+
+    def __init__(self, mjpro_path):
+        super().__init__(mjpro_path)
+
+        self.extension.sources.append(
+            join(self.CYMJ_DIR_PATH, "gl", "osmesashim.c"))
+        self.extension.libraries.extend(['glewosmesa', 'OSMesa'])
+        self.extension.runtime_library_dirs = [join(mjpro_path, 'bin')]
+
+
+class LinuxGPUExtensionBuilder(MujocoExtensionBuilder):
+
+    def __init__(self, mjpro_path):
+        super().__init__(mjpro_path)
+
+        self.extension.sources.append(self.CYMJ_DIR_PATH + "/gl/eglshim.c")
+        self.extension.include_dirs.append(self.CYMJ_DIR_PATH + '/vendor/egl')
+        self.extension.libraries.extend(['glewegl'])
+        self.extension.runtime_library_dirs = [join(mjpro_path, 'bin')]
+
+    def build(self):
+        so_file_path = super().build()
+        nvidia_lib_dir = '/usr/local/nvidia/lib64/'
+        fix_shared_library(so_file_path, 'libOpenGL.so',
+                           join(nvidia_lib_dir, 'libOpenGL.so.0'))
+        fix_shared_library(so_file_path, 'libEGL.so',
+                           join(nvidia_lib_dir, 'libEGL.so.1'))
+        return so_file_path
+
+
+class MacExtensionBuilder(MujocoExtensionBuilder):
+
+    def __init__(self, mjpro_path):
+        super().__init__(mjpro_path)
+
+        self.extension.sources.append(self.CYMJ_DIR_PATH + "/gl/dummyshim.c")
+        self.extension.libraries.extend(['glfw.3'])
+        self.extension.define_macros = [('ONMAC', None)]
+        self.extension.runtime_library_dirs = [join(mjpro_path, 'bin')]
+
+    def build(self):
+        # Prefer GCC 6 for now since GCC 7 may behave differently.
+        c_compilers = ['/usr/local/bin/gcc-6', '/usr/local/bin/gcc-7']
+        available_c_compiler = None
+        for c_compiler in c_compilers:
+            if distutils.spawn.find_executable(c_compiler) is not None:
+                available_c_compiler = c_compiler
+                break
+        if available_c_compiler is None:
+            raise RuntimeError(
+                'Could not find GCC 6 or GCC 7 executable.\n\n'
+                'HINT: On OS X, install GCC 6 with '
+                '`brew install gcc --without-multilib`.')
+        os.environ['CC'] = available_c_compiler
+
+        so_file_path = super().build()
+        del os.environ['CC']
+        return self.manually_link_libraries(so_file_path)
+
+    def manually_link_libraries(self, raw_cext_dll_path):
+        root, ext = os.path.splitext(raw_cext_dll_path)
+        final_cext_dll_path = root + '_final' + ext
+
+        # If someone else already built the final DLL, don't bother
+        # recreating it here, even though this should still be idempotent.
+        if (exists(final_cext_dll_path) and
+                getmtime(final_cext_dll_path) >= getmtime(raw_cext_dll_path)):
+            return final_cext_dll_path
+
+        tmp_final_cext_dll_path = final_cext_dll_path + '~'
+        shutil.copyfile(raw_cext_dll_path, tmp_final_cext_dll_path)
+
+        mj_bin_path = join(self.mjpro_path, 'bin')
+
+        # Fix the rpath of the generated library -- i lost the Stackoverflow
+        # reference here
+        from_mujoco_path = '@executable_path/libmujoco150.dylib'
+        to_mujoco_path = '%s/libmujoco150.dylib' % mj_bin_path
+        subprocess.check_call(['install_name_tool',
+                               '-change',
+                               from_mujoco_path,
+                               to_mujoco_path,
+                               tmp_final_cext_dll_path])
+
+        from_glfw_path = 'libglfw.3.dylib'
+        to_glfw_path = os.path.join(mj_bin_path, 'libglfw.3.dylib')
+        subprocess.check_call(['install_name_tool',
+                               '-change',
+                               from_glfw_path,
+                               to_glfw_path,
+                               tmp_final_cext_dll_path])
+
+        os.rename(tmp_final_cext_dll_path, final_cext_dll_path)
+        return final_cext_dll_path
+
+
+class MujocoException(Exception):
+    pass
+
+
+def user_warning_raise_exception(warn_bytes):
+    '''
+    User-defined warning callback, which is called by mujoco on warnings.
+    Here we have two primary jobs:
+        - Detect known warnings and suggest fixes (with code)
+        - Decide whether to raise an Exception and raise if needed
+    More cases should be added as we find new failures.
+    '''
+    # TODO: look through test output to see MuJoCo warnings to catch
+    # and recommend. Also fix those tests
+    warn = warn_bytes.decode()  # Convert bytes to string
+    if 'Pre-allocated constraint buffer is full' in warn:
+        raise MujocoException(warn + 'Increase njmax in mujoco XML')
+    if 'Pre-allocated contact buffer is full' in warn:
+        raise MujocoException(warn + 'Increase njconmax in mujoco XML')
+    raise MujocoException('Got MuJoCo Warning: {}'.format(warn))
+
+
+def user_warning_ignore_exception(warn_bytes):
+    pass
+
+
+
[docs]class ignore_mujoco_warnings:
+    """
+    Class to turn off mujoco warning exceptions within a scope. Useful for
+    large, vectorized rollouts.
+    """
+
+    def __enter__(self):
+        self.prev_user_warning = cymj.get_warning_callback()
+        cymj.set_warning_callback(user_warning_ignore_exception)
+        return self
+
+    def __exit__(self, type, value, traceback):
+        cymj.set_warning_callback(self.prev_user_warning)

+
+
+mjpro_path, key_path = discover_mujoco()
+cymj = load_cython_ext(mjpro_path)
+
+
+# Trick to expose all mj* functions from mujoco in mujoco_py.*
+class dict2(object):
+    pass
+
+
+functions = dict2()
+for func_name in dir(cymj):
+    if func_name.startswith("_mj"):
+        setattr(functions, func_name[1:], getattr(cymj, func_name))
+
+functions.mj_activate(key_path)
+
+# Set user-defined callbacks that raise assertion with message
+cymj.set_warning_callback(user_warning_raise_exception)
+
+ +
+
+ +
+
+ + +
+
+ +
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/docs/build/html/_modules/mujoco_py/mjviewer.html b/docs/build/html/_modules/mujoco_py/mjviewer.html new file mode 100644 index 00000000..d1338427 --- /dev/null +++ b/docs/build/html/_modules/mujoco_py/mjviewer.html @@ -0,0 +1,580 @@ + + + + + + + + + + + mujoco_py.mjviewer — mujoco-py 1.50.0.14 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + + +
+ + + + + + +
+
+ + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +

Source code for mujoco_py.mjviewer

+from threading import Lock
+import glfw
+from mujoco_py.builder import cymj
+from mujoco_py.generated import const
+import time
+import copy
+from multiprocessing import Process
+from mujoco_py.utils import rec_copy, rec_assign
+import imageio
+
+
+
[docs]class MjViewerBasic(cymj.MjRenderContextWindow):
+    """
+    A simple display GUI showing the scene of an :class:`.MjSim` with a mouse-movable camera.
+
+    :class:`.MjViewer` extends this class to provide more sophisticated playback and interaction controls.
+
+    Parameters
+    ----------
+    sim : :class:`.MjSim`
+        The simulator to display.
+    """
+
+    def __init__(self, sim):
+        super().__init__(sim)
+
+        self._gui_lock = Lock()
+        self._button_left_pressed = False
+        self._button_right_pressed = False
+        self._last_mouse_x = 0
+        self._last_mouse_y = 0
+
+        framebuffer_width, _ = glfw.get_framebuffer_size(self.window)
+        window_width, _ = glfw.get_window_size(self.window)
+        self._scale = framebuffer_width * 1.0 / window_width
+
+        glfw.set_cursor_pos_callback(self.window, self._cursor_pos_callback)
+        glfw.set_mouse_button_callback(
+            self.window, self._mouse_button_callback)
+        glfw.set_scroll_callback(self.window, self._scroll_callback)
+        glfw.set_key_callback(self.window, self.key_callback)
+
+    def render(self):
+        """
+        Render the current simulation state to the screen or off-screen buffer.
+        """
+        if self.window is None:
+            return
+        elif glfw.window_should_close(self.window):
+            exit(0)
+
+        with self._gui_lock:
+            super().render()
+
+        glfw.poll_events()
+
+    def key_callback(self, window, key, scancode, action, mods):
+        if action == glfw.RELEASE and key == glfw.KEY_ESCAPE:
+            print("Pressed ESC")
+            print("Quitting.")
+            exit(0)
+
+    def _cursor_pos_callback(self, window, xpos, ypos):
+        if not (self._button_left_pressed or self._button_right_pressed):
+            return
+
+        # Determine whether to move, zoom or rotate view
+        mod_shift = (
+            glfw.get_key(window, glfw.KEY_LEFT_SHIFT) == glfw.PRESS or
+            glfw.get_key(window, glfw.KEY_RIGHT_SHIFT) == glfw.PRESS)
+        if self._button_right_pressed:
+            action = const.MOUSE_MOVE_H if mod_shift else const.MOUSE_MOVE_V
+        elif self._button_left_pressed:
+            action = const.MOUSE_ROTATE_H if mod_shift else const.MOUSE_ROTATE_V
+        else:
+            action = const.MOUSE_ZOOM
+
+        # Determine
+        dx = int(self._scale * xpos) - self._last_mouse_x
+        dy = int(self._scale * ypos) - self._last_mouse_y
+        width, height = glfw.get_framebuffer_size(window)
+
+        with self._gui_lock:
+            self.move_camera(action, dx / height, dy / height)
+
+        self._last_mouse_x = int(self._scale * xpos)
+        self._last_mouse_y = int(self._scale * ypos)
+
+    def _mouse_button_callback(self, window, button, act, mods):
+        self._button_left_pressed = (
+            glfw.get_mouse_button(window, glfw.MOUSE_BUTTON_LEFT) == glfw.PRESS)
+        self._button_right_pressed = (
+            glfw.get_mouse_button(window, glfw.MOUSE_BUTTON_RIGHT) == glfw.PRESS)
+
+        x, y = glfw.get_cursor_pos(window)
+        self._last_mouse_x = int(self._scale * x)
+        self._last_mouse_y = int(self._scale * y)
+
+    def _scroll_callback(self, window, x_offset, y_offset):
+        with self._gui_lock:
+            self.move_camera(const.MOUSE_ZOOM, 0, -0.05 * y_offset)

+
+
+
[docs]class MjViewer(MjViewerBasic):
+    """
+    Extends :class:`.MjViewerBasic` to add video recording, interactive time and interaction controls.
+
+    The key bindings are as follows:
+
+    - TAB: Switch between MuJoCo cameras.
+    - H: Toggle hiding all GUI components.
+    - SPACE: Pause/unpause the simulation.
+    - RIGHT: Advance simulation by one step.
+    - V: Start/stop video recording.
+    - T: Capture screenshot.
+    - I: Drop into ``ipdb`` debugger.
+    - S/F: Decrease/Increase simulation playback speed.
+    - C: Toggle visualization of contact forces (off by default).
+    - D: Enable/disable frame skipping when rendering lags behind real time.
+    - R: Toggle transparency of geoms.
+    - M: Toggle display of mocap bodies.
+
+    Parameters
+    ----------
+    sim : :class:`.MjSim`
+        The simulator to display.
+    """
+
+    def __init__(self, sim):
+        super().__init__(sim)
+
+        self._ncam = sim.model.ncam
+        self._paused = False  # is viewer paused.
+        # should we advance viewer just by one step.
+        self._advance_by_one_step = False
+
+        # Vars for recording video
+        self._record_video = False
+        self._video_frames = []
+        self._video_idx = 0
+        self._video_path = "/tmp/video_%07d.mp4"
+
+        # vars for capturing screen
+        self._image_idx = 0
+        self._image_path = "/tmp/frame_%07d.png"
+
+        # run_speed = x1, means running real time, x2 means fast-forward times
+        # two.
+        self._run_speed = 1.0
+        self._loop_count = 0
+        self._render_every_frame = False
+
+        self._show_mocap = True  # Show / hide mocap bodies.
+        self._transparent = False  # Make everything transparent.
+
+        # this variable is estamated as a running average.
+        self._time_per_render = 1 / 60.0
+        self._hide_overlay = False  # hide the entire overlay.
+        self._user_overlay = {}
+
+    def render(self):
+        def render_inner_loop(self):
+            render_start = time.time()
+
+            self._overlay.clear()
+            if not self._hide_overlay:
+                for k, v in self._user_overlay.items():
+                    self._overlay[k] = v
+                self._create_full_overlay()
+
+            super().render()
+            if self._record_video:
+                frame = self._read_pixels_as_in_window()
+                self._video_frames.append(frame)
+            else:
+                self._time_per_render = 0.9 * self._time_per_render + \
+                    0.1 * (time.time() - render_start)
+
+        self._user_overlay = copy.deepcopy(self._overlay)
+        # Render the same frame if paused.
+        if self._paused:
+            while self._paused:
+                render_inner_loop(self)
+                if self._advance_by_one_step:
+                    self._advance_by_one_step = False
+                    break
+        else:
+            # inner_loop runs "_loop_count" times in expectation (where "_loop_count" is a float).
+            # Therefore, frames are displayed in the real-time.
+            self._loop_count += self.sim.model.opt.timestep * self.sim.nsubsteps / \
+                (self._time_per_render * self._run_speed)
+            if self._render_every_frame:
+                self._loop_count = 1
+            while self._loop_count > 0:
+                render_inner_loop(self)
+                self._loop_count -= 1
+        # Markers and overlay are regenerated in every pass.
+        self._markers[:] = []
+        self._overlay.clear()
+
+    def _read_pixels_as_in_window(self):
+        # Reads pixels with markers and overlay from the same camera as screen.
+        resolution = glfw.get_framebuffer_size(
+            self.sim._render_context_window.window)
+        if self.sim._render_context_offscreen is None:
+            self.sim.render(*resolution)
+        offscreen_ctx = self.sim._render_context_offscreen
+        window_ctx = self.sim._render_context_window
+        # Save markers and overlay from offscreen.
+        saved = [copy.deepcopy(offscreen_ctx._markers),
+                 copy.deepcopy(offscreen_ctx._overlay),
+                 rec_copy(offscreen_ctx.cam)]
+        # Copy markers and overlay from window.
+        offscreen_ctx._markers[:] = window_ctx._markers[:]
+        offscreen_ctx._overlay.clear()
+        offscreen_ctx._overlay.update(window_ctx._overlay)
+        rec_assign(offscreen_ctx.cam, rec_copy(window_ctx.cam))
+
+        img = self.sim.render(*resolution)
+        # Restore markers and overlay to offscreen.
+        offscreen_ctx._markers[:] = saved[0][:]
+        offscreen_ctx._overlay.clear()
+        offscreen_ctx._overlay.update(saved[1])
+        rec_assign(offscreen_ctx.cam, saved[2])
+        return img
+
+    def _create_full_overlay(self):
+        if self._render_every_frame:
+            self.add_overlay(const.GRID_TOPLEFT, "", "")
+        else:
+            self.add_overlay(const.GRID_TOPLEFT, "Run speed = %.3f x real time" %
+                             self._run_speed, "[S]lower, [F]aster")
+        self.add_overlay(
+            const.GRID_TOPLEFT, "Ren[d]er every frame", "Off" if self._render_every_frame else "On")
+        self.add_overlay(const.GRID_TOPLEFT, "Switch camera (#cams = %d)" % (self._ncam + 1),
+                                             "[Tab] (camera ID = %d)" % self.cam.fixedcamid)
+        self.add_overlay(const.GRID_TOPLEFT, "[C]ontact forces", "Off" if self.vopt.flags[
+                         10] == 1 else "On")
+        self.add_overlay(
+            const.GRID_TOPLEFT, "Referenc[e] frames", "Off" if self.vopt.frame == 1 else "On")
+        self.add_overlay(const.GRID_TOPLEFT,
+                         "T[r]ansparent", "On" if self._transparent else "Off")
+        self.add_overlay(
+            const.GRID_TOPLEFT, "Display [M]ocap bodies", "On" if self._show_mocap else "Off")
+        if self._paused is not None:
+            if not self._paused:
+                self.add_overlay(const.GRID_TOPLEFT, "Stop", "[Space]")
+            else:
+                self.add_overlay(const.GRID_TOPLEFT, "Start", "[Space]")
+            self.add_overlay(const.GRID_TOPLEFT,
+                             "Advance simulation by one step", "[right arrow]")
+        self.add_overlay(const.GRID_TOPLEFT, "[H]ide Menu", "")
+        if self._record_video:
+            ndots = int(7 * (time.time() % 1))
+            dots = ("." * ndots) + (" " * (6 - ndots))
+            self.add_overlay(const.GRID_TOPLEFT,
+                             "Record [V]ideo (On) " + dots, "")
+        else:
+            self.add_overlay(const.GRID_TOPLEFT, "Record [V]ideo (Off) ", "")
+        if self._video_idx > 0:
+            fname = self._video_path % (self._video_idx - 1)
+            self.add_overlay(const.GRID_TOPLEFT, "   saved as %s" % fname, "")
+
+        self.add_overlay(const.GRID_TOPLEFT, "Cap[t]ure frame", "")
+        if self._image_idx > 0:
+            fname = self._image_path % (self._image_idx - 1)
+            self.add_overlay(const.GRID_TOPLEFT, "   saved as %s" % fname, "")
+        self.add_overlay(const.GRID_TOPLEFT, "Start [i]pdb", "")
+        if self._record_video:
+            extra = " (while video is not recorded)"
+        else:
+            extra = ""
+        self.add_overlay(const.GRID_BOTTOMLEFT, "FPS", "%d%s" %
+                         (1 / self._time_per_render, extra))
+        self.add_overlay(const.GRID_BOTTOMLEFT, "Solver iterations", str(
+            self.sim.data.solver_iter + 1))
+
+    def key_callback(self, window, key, scancode, action, mods):
+        if action != glfw.RELEASE:
+            return
+        elif key == glfw.KEY_TAB:  # Switches cameras.
+            self.cam.fixedcamid += 1
+            self.cam.type = const.CAMERA_FIXED
+            if self.cam.fixedcamid >= self._ncam:
+                self.cam.fixedcamid = -1
+                self.cam.type = const.CAMERA_FREE
+        elif key == glfw.KEY_H:  # hides all overlay.
+            self._hide_overlay = not self._hide_overlay
+        elif key == glfw.KEY_SPACE and self._paused is not None:  # stops simulation.
+            self._paused = not self._paused
+        # Advances simulation by one step.
+        elif key == glfw.KEY_RIGHT and self._paused is not None:
+            self._advance_by_one_step = True
+            self._paused = True
+        elif key == glfw.KEY_V or \
+                (key == glfw.KEY_ESCAPE and self._record_video):  # Records video. Trigers with V or if in progress by ESC.
+            self._record_video = not self._record_video
+            if not self._record_video and len(self._video_frames) > 0:
+                # This include captures console, if in the top declaration.
+                frames = [f for f in self._video_frames]
+                fps = (1 / self._time_per_render)
+                process = Process(target=save_video,
+                                  args=(frames, self._video_path % self._video_idx, fps))
+                process.start()
+                self._video_frames = []
+                self._video_idx += 1
+        elif key == glfw.KEY_T:  # capture screenshot
+            img = self._read_pixels_as_in_window()
+            imageio.imwrite(self._image_path % self._image_idx, img)
+            self._image_idx += 1
+        elif key == glfw.KEY_I:  # drops in debugger.
+            print('You can access the simulator by self.sim')
+            import ipdb
+            ipdb.set_trace()
+        elif key == glfw.KEY_S:  # Slows down simulation.
+            self._run_speed /= 2.0
+        elif key == glfw.KEY_F:  # Speeds up simulation.
+            self._run_speed *= 2.0
+        elif key == glfw.KEY_C:  # Displays contact forces.
+            vopt = self.vopt
+            vopt.flags[10] = vopt.flags[11] = not vopt.flags[10]
+        elif key == glfw.KEY_D:  # turn off / turn on rendering every frame.
+            self._render_every_frame = not self._render_every_frame
+        elif key == glfw.KEY_E:
+            vopt = self.vopt
+            vopt.frame = 1 - vopt.frame
+        elif key == glfw.KEY_R:  # makes everything little bit transparent.
+            self._transparent = not self._transparent
+            if self._transparent:
+                self.sim.model.geom_rgba[:, 3] /= 5.0
+            else:
+                self.sim.model.geom_rgba[:, 3] *= 5.0
+        elif key == glfw.KEY_M:  # Shows / hides mocap bodies
+            self._show_mocap = not self._show_mocap
+            for body_idx1, val in enumerate(self.sim.model.body_mocapid):
+                if val != -1:
+                    for geom_idx, body_idx2 in enumerate(self.sim.model.geom_bodyid):
+                        if body_idx1 == body_idx2:
+                            if not self._show_mocap:
+                                # Store transparency for later to show it.
+                                self.sim.extras[
+                                    geom_idx] = self.sim.model.geom_rgba[geom_idx, 3]
+                                self.sim.model.geom_rgba[geom_idx, 3] = 0
+                            else:
+                                self.sim.model.geom_rgba[
+                                    geom_idx, 3] = self.sim.extras[geom_idx]
+        super().key_callback(window, key, scancode, action, mods)

+
+# Separate Process to save video. This way visualization is
+# less slowed down.
+
+
+def save_video(frames, filename, fps):
+    writer = imageio.get_writer(filename, fps=fps)
+    for f in frames:
+        writer.append_data(f)
+    writer.close()
+
+ +
+
+ +
+
+ + +
+
+ +
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/docs/build/html/_sources/index.rst.txt b/docs/build/html/_sources/index.rst.txt new file mode 100644 index 00000000..d7ca05bf --- /dev/null +++ b/docs/build/html/_sources/index.rst.txt @@ -0,0 +1,20 @@ +======================= +mujoco-py Documentation +======================= + +.. toctree:: + reference + internals + +`MuJoCo `_ is a physics engine for detailed, efficient rigid body simulations with contacts. ``mujoco-py`` allows using MuJoCo from Python. + +See the `README `_ for installation instructions and example usage. + +``mujoco-py`` allows access to MuJoCo on a number of different levels of abstraction: + +- Directly from Cython (low-level): `Raw Cython declarations `_ are provided for using the MuJoCo C structs and functions directly in your own Cython code. + +- Using :ref:`pymjdata` (medium-level): These wrappers are lightweight Cython ``cdef`` classes that expose MuJuCo data to Python space. The data in the MuJoCo structs is exposed as NumPy arrays bound to Mujoco-allocated memory, so there is no copying overhead when accessing or modifying MuJoCo state from Python. For more information on how this works internally, see [this document](./doc/cython_wrappers.md). + +- Using :class:`mujoco_py.MjSim` (high-level): :class:`mujoco_py.MjSim` manages a stateful simulation similar to the `MujocoEnv `_ class found in `Gym `_ +. diff --git a/docs/build/html/_sources/internals.rst.txt b/docs/build/html/_sources/internals.rst.txt new file mode 100644 index 00000000..60a91ae8 --- /dev/null +++ b/docs/build/html/_sources/internals.rst.txt @@ -0,0 +1,55 @@ +Internals +========= + +.. _genwrapper: + +Autogenerated wrappers +---------------------- + +The Cython struct wrappers are generated by ``scripts/gen_wrappers.py``. To illustrate how the wrappers work, let's consider a toy C structure and the corresponding generated Cython cdef class. Here's a stripped down version of ``mjData`` with a scalar member and a pointer (array) member:: + + typedef struct _mjData { + int ne; + mjtNum* qpos; // (nq x 1) + } mjData; + +Here's the corresponding generated Cython wrapper code:: + + cdef class PyMjData(object): + cdef mjData* ptr + cdef mjModel* _model + cdef np.ndarray _qpos + + cdef void _set(self, mjData* p, mjModel* model): + self.ptr = p + self._model = model + self._qpos = _wrap_mjtNum_1d(p.qpos, model.nq) + + @property + def ne(self): return self.ptr.ne + + @ne.setter + def ne(self, int x): self.ptr.ne = x + + @property + def qpos(self): return self._qpos + + cdef PyMjData WrapMjData(mjData* p, mjModel* model): + cdef PyMjData o = PyMjData() + o._set(p, model) + return o + +``PyMjData`` is the wrapper class for exposing the underlying Mujoco structure to Python; it doesn't perform any memory mangement. A user writing Cython code can create this wrapper using ``WrapMjData``. A ``mjModel`` pointer must be passed because the shape of a ``mjData`` member, namely ``qpos``, depends on ``model->nq``. + +Each field of ``mjData`` corresponds to some generated piece of code in ``PyMjData`` that depends on the type of that field. For example, ``ne`` is a scalar integer, so it gets exposed as a pair of getter and setter methods in ``PyMjData``. ``qpos`` is an array represented as a pointer to its first element, so it's wrapped with a NumPy array by ``_wrap_mjtNum_1d`` and is exposed with a getter for that NumPy array. + +The function ``_wrap_mjtNum_1d`` creates a Cython memoryview from the data pointer and converts it to a NumPy array pointing to the same memory:: + + cdef inline np.ndarray _wrap_mjtNum_1d(mjtNum* a, int shape0): + if shape0 == 0: return None + cdef mjtNum[:] b = a + return np.asarray(b) + +Similar functions for other types are also generated as required. + +Keep in mind that the only reason to use these autogenerated wrappers is to allow Python users of the Cython code to easily access Mujoco data (for instance the ``MjSim`` Cython class, found in ``cymj/cymj.pyx`). If you're writing Cython code and you don't need the user to access Mujoco data from Python, then there is no reason to use these wrappers. diff --git a/docs/build/html/_sources/reference.rst.txt b/docs/build/html/_sources/reference.rst.txt new file mode 100644 index 00000000..0ec5a933 --- /dev/null +++ b/docs/build/html/_sources/reference.rst.txt @@ -0,0 +1,313 @@ +API reference +============= + +.. contents:: :local: + +MjSim: Basic simulation +----------------------- + +.. autofunction:: mujoco_py.load_model_from_path(path) + +.. autofunction:: mujoco_py.load_model_from_xml(xml_string) + +.. autofunction:: mujoco_py.load_model_from_mjb(path) + +.. autoclass:: mujoco_py.MjSim(model, data=None, nsubsteps=1, udd_callback=None) + :members: model, data, step, render, get_state, set_state, set_state_from_flattened, save, reset + +.. autoclass:: mujoco_py.MjSimState + +.. autofunction:: mujoco_py.ignore_mujoco_warnings + +.. _pymjdata: + +PyMjData: Time-dependent data +----------------------------- + +``PyMjData`` and related classes are automatically generated from the MuJoCo C header files. For more information on this process, see :ref:`genwrapper`. Their structure therefore directly follows the MuJoCo structs. + +.. raw:: html + +
+
+ class mujoco_py.PyMjData
+
+

Attributes

+ +.. attribute:: act +.. attribute:: act_dot +.. attribute:: active_contacts_efc_pos +.. attribute:: actuator_force +.. attribute:: actuator_length +.. attribute:: actuator_moment +.. attribute:: actuator_velocity +.. attribute:: body_jacp +.. attribute:: body_jacr +.. attribute:: body_xmat +.. attribute:: body_xpos +.. attribute:: body_xquat +.. attribute:: body_xvelp +.. attribute:: body_xvelr +.. attribute:: cacc +.. attribute:: cam_xmat +.. attribute:: cam_xpos +.. attribute:: cdof +.. attribute:: cdof_dot +.. attribute:: cfrc_ext +.. attribute:: cfrc_int +.. attribute:: cinert +.. attribute:: contact +.. attribute:: crb +.. attribute:: ctrl +.. attribute:: cvel +.. attribute:: efc_AR +.. attribute:: efc_AR_colind +.. attribute:: efc_AR_rowadr +.. attribute:: efc_AR_rownnz +.. attribute:: efc_D +.. attribute:: efc_J +.. attribute:: efc_JT +.. attribute:: efc_JT_colind +.. attribute:: efc_JT_rowadr +.. attribute:: efc_JT_rownnz +.. attribute:: efc_J_colind +.. attribute:: efc_J_rowadr +.. attribute:: efc_J_rownnz +.. attribute:: efc_R +.. attribute:: efc_aref +.. attribute:: efc_b +.. attribute:: efc_diagApprox +.. attribute:: efc_force +.. attribute:: efc_frictionloss +.. attribute:: efc_id +.. attribute:: efc_margin +.. attribute:: efc_solimp +.. attribute:: efc_solref +.. attribute:: efc_state +.. attribute:: efc_type +.. attribute:: efc_vel +.. attribute:: energy +.. attribute:: geom_jacp +.. attribute:: geom_jacr +.. attribute:: geom_xmat +.. attribute:: geom_xpos +.. attribute:: geom_xvelp +.. attribute:: geom_xvelr +.. attribute:: light_xdir +.. attribute:: light_xpos +.. attribute:: maxuse_con +.. attribute:: maxuse_efc +.. attribute:: maxuse_stack +.. attribute:: mocap_pos +.. attribute:: mocap_quat +.. attribute:: nbuffer +.. attribute:: ncon +.. attribute:: ne +.. attribute:: nefc +.. attribute:: nf +.. attribute:: nstack +.. attribute:: pstack +.. attribute:: qLD +.. attribute:: qLDiagInv +.. attribute:: qLDiagSqrtInv +.. attribute:: qM +.. attribute:: qacc +.. attribute:: qacc_unc +.. attribute:: qacc_warmstart +.. attribute:: qfrc_actuator +.. attribute:: qfrc_applied +.. attribute:: qfrc_bias +.. attribute:: qfrc_constraint +.. attribute:: qfrc_inverse +.. attribute:: qfrc_passive +.. attribute:: qfrc_unc +.. attribute:: qpos +.. attribute:: qvel +.. attribute:: sensordata +.. attribute:: set_joint_qpos +.. attribute:: set_joint_qvel +.. attribute:: set_mocap_pos +.. attribute:: set_mocap_quat +.. attribute:: site_jacp +.. attribute:: site_jacr +.. attribute:: site_xmat +.. attribute:: site_xpos +.. attribute:: site_xvelp +.. attribute:: site_xvelr +.. attribute:: solver +.. attribute:: solver_fwdinv +.. attribute:: solver_iter +.. attribute:: solver_nnz +.. attribute:: subtree_angmom +.. attribute:: subtree_com +.. attribute:: subtree_linvel +.. attribute:: ten_length +.. attribute:: ten_moment +.. attribute:: ten_velocity +.. attribute:: ten_wrapadr +.. attribute:: ten_wrapnum +.. attribute:: time +.. attribute:: timer +.. attribute:: userdata +.. attribute:: warning +.. attribute:: wrap_obj +.. attribute:: wrap_xpos +.. attribute:: xanchor +.. attribute:: xaxis +.. attribute:: xfrc_applied +.. attribute:: ximat +.. attribute:: xipos + +.. raw:: html + +

Methods

+ + +.. method:: get_body_jacp(name) + + Get the entry in ``jacp`` corresponding to the body with the given `name` + +.. method:: get_body_jacr(name) + + Get the entry in ``jacr`` corresponding to the body with the given `name` + +.. method:: get_body_ximat(name) + + Get the entry in ``ximat`` corresponding to the body with the given `name` + +.. method:: get_body_xipos(name) + + Get the entry in ``xipos`` corresponding to the body with the given `name` + +.. method:: get_body_xmat(name) + + Get the entry in ``xmat`` corresponding to the body with the given `name` + +.. method:: get_body_xpos(name) + + Get the entry in ``xpos`` corresponding to the body with the given `name` + +.. method:: get_body_xquat(name) + + Get the entry in ``xquat`` corresponding to the body with the given `name` + +.. method:: get_body_xvelp(name) + + Get the entry in ``xvelp`` corresponding to the body with the given `name` + +.. method:: get_body_xvelr(name) + + Get the entry in ``xvelr`` corresponding to the body with the given `name` + +.. method:: get_cam_xmat(name) + + Get the entry in ``xmat`` corresponding to the cam with the given `name` + +.. method:: get_cam_xpos(name) + + Get the entry in ``xpos`` corresponding to the cam with the given `name` + +.. method:: get_camera_xmat(name) + + Get the entry in ``xmat`` corresponding to the camera with the given `name` + +.. method:: get_camera_xpos(name) + + Get the entry in ``xpos`` corresponding to the camera with the given `name` + +.. method:: get_geom_jacp(name) + + Get the entry in ``jacp`` corresponding to the geom with the given `name` + +.. method:: get_geom_jacr(name) + + Get the entry in ``jacr`` corresponding to the geom with the given `name` + +.. method:: get_geom_xmat(name) + + Get the entry in ``xmat`` corresponding to the geom with the given `name` + +.. method:: get_geom_xpos(name) + + Get the entry in ``xpos`` corresponding to the geom with the given `name` + +.. method:: get_geom_xvelp(name) + + Get the entry in ``xvelp`` corresponding to the geom with the given `name` + +.. method:: get_geom_xvelr(name) + + Get the entry in ``xvelr`` corresponding to the geom with the given `name` + +.. method:: get_joint_qpos(name) + + Get the entry in ``qpos`` corresponding to the joint with the given `name` + +.. method:: get_joint_qvel(name) + + Get the entry in ``qvel`` corresponding to the joint with the given `name` + +.. method:: get_joint_xanchor(name) + + Get the entry in ``xanchor`` corresponding to the joint with the given `name` + +.. method:: get_joint_xaxis(name) + + Get the entry in ``xaxis`` corresponding to the joint with the given `name` + +.. method:: get_light_xdir(name) + + Get the entry in ``xdir`` corresponding to the light with the given `name` + +.. method:: get_light_xpos(name) + + Get the entry in ``xpos`` corresponding to the light with the given `name` + +.. method:: get_mocap_pos(name) + + Get the entry in ``pos`` corresponding to the mocap with the given `name` + +.. method:: get_mocap_quat(name) + + Get the entry in ``quat`` corresponding to the mocap with the given `name` + +.. method:: get_site_jacp(name) + + Get the entry in ``jacp`` corresponding to the site with the given `name` + +.. method:: get_site_jacr(name) + + Get the entry in ``jacr`` corresponding to the site with the given `name` + +.. method:: get_site_xmat(name) + + Get the entry in ``xmat`` corresponding to the site with the given `name` + +.. method:: get_site_xpos(name) + + Get the entry in ``xpos`` corresponding to the site with the given `name` + +.. method:: get_site_xvelp(name) + + Get the entry in ``xvelp`` corresponding to the site with the given `name` + +.. method:: get_site_xvelr(name) + + Get the entry in ``xvelr`` corresponding to the site with the given `name` + +.. raw:: html + +
+ +MjSimPool: Batched simulation +----------------------------- + +.. autoclass:: mujoco_py.MjSimPool + :members: reset, forward, step, sims, create_from_sim + +MjViewer: 3D rendering +----------------------------- + +.. autoclass:: mujoco_py.MjViewerBasic + +.. autoclass:: mujoco_py.MjViewer diff --git a/docs/build/html/_static/ajax-loader.gif b/docs/build/html/_static/ajax-loader.gif new file mode 100644 index 0000000000000000000000000000000000000000..61faf8cab23993bd3e1560bff0668bd628642330 GIT binary patch literal 673 zcmZ?wbhEHb6krfw_{6~Q|Nno%(3)e{?)x>&1u}A`t?OF7Z|1gRivOgXi&7IyQd1Pl zGfOfQ60;I3a`F>X^fL3(@);C=vM_KlFfb_o=k{|A33hf2a5d61U}gjg=>Rd%XaNQW zW@Cw{|b%Y*pl8F?4B9 zlo4Fz*0kZGJabY|>}Okf0}CCg{u4`zEPY^pV?j2@h+|igy0+Kz6p;@SpM4s6)XEMg z#3Y4GX>Hjlml5ftdH$4x0JGdn8~MX(U~_^d!Hi)=HU{V%g+mi8#UGbE-*ao8f#h+S z2a0-5+vc7MU$e-NhmBjLIC1v|)9+Im8x1yacJ7{^tLX(ZhYi^rpmXm0`@ku9b53aN zEXH@Y3JaztblgpxbJt{AtE1ad1Ca>{v$rwwvK(>{m~Gf_=-Ro7Fk{#;i~+{{>QtvI 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b/docs/build/html/_static/doctools.js new file mode 100644 index 00000000..56549772 --- /dev/null +++ b/docs/build/html/_static/doctools.js @@ -0,0 +1,287 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Sphinx JavaScript utilities for all documentation. + * + * :copyright: Copyright 2007-2017 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +/** + * select a different prefix for underscore + */ +$u = _.noConflict(); + +/** + * make the code below compatible with browsers without + * an installed firebug like debugger +if (!window.console || !console.firebug) { + var names = ["log", "debug", "info", "warn", "error", "assert", "dir", + "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", + "profile", "profileEnd"]; + window.console = {}; + for (var i = 0; i < names.length; ++i) + window.console[names[i]] = function() {}; +} + */ + +/** + * small helper function to urldecode strings + */ +jQuery.urldecode = function(x) { + return decodeURIComponent(x).replace(/\+/g, ' '); +}; + +/** + * small helper function to urlencode strings + */ +jQuery.urlencode = encodeURIComponent; + +/** + * This function returns the parsed url parameters of the + * current request. Multiple values per key are supported, + * it will always return arrays of strings for the value parts. + */ +jQuery.getQueryParameters = function(s) { + if (typeof s == 'undefined') + s = document.location.search; + var parts = s.substr(s.indexOf('?') + 1).split('&'); + var result = {}; + for (var i = 0; i < parts.length; i++) { + var tmp = parts[i].split('=', 2); + var key = jQuery.urldecode(tmp[0]); + var value = jQuery.urldecode(tmp[1]); + if (key in result) + result[key].push(value); + else + result[key] = [value]; + } + return result; +}; + +/** + * highlight a given string on a jquery object by wrapping it in + * span elements with the given class name. + */ +jQuery.fn.highlightText = function(text, className) { + function highlight(node) { + if (node.nodeType == 3) { + var val = node.nodeValue; + var pos = val.toLowerCase().indexOf(text); + if (pos >= 0 && !jQuery(node.parentNode).hasClass(className)) { + var span = document.createElement("span"); + span.className = className; + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + node.parentNode.insertBefore(span, node.parentNode.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling)); + node.nodeValue = val.substr(0, pos); + } + } + else if (!jQuery(node).is("button, select, textarea")) { + jQuery.each(node.childNodes, function() { + highlight(this); + }); + } + } + return this.each(function() { + highlight(this); + }); +}; + +/* + * backward compatibility for jQuery.browser + * This will be supported until firefox bug is fixed. + */ +if (!jQuery.browser) { + jQuery.uaMatch = function(ua) { + ua = ua.toLowerCase(); + + var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || + /(webkit)[ \/]([\w.]+)/.exec(ua) || + /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || + /(msie) ([\w.]+)/.exec(ua) || + ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || + []; + + return { + browser: match[ 1 ] || "", + version: match[ 2 ] || "0" + }; + }; + jQuery.browser = {}; + jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; +} + +/** + * Small JavaScript module for the documentation. + */ +var Documentation = { + + init : function() { + this.fixFirefoxAnchorBug(); + this.highlightSearchWords(); + this.initIndexTable(); + + }, + + /** + * i18n support + */ + TRANSLATIONS : {}, + PLURAL_EXPR : function(n) { return n == 1 ? 0 : 1; }, + LOCALE : 'unknown', + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext : function(string) { + var translated = Documentation.TRANSLATIONS[string]; + if (typeof translated == 'undefined') + return string; + return (typeof translated == 'string') ? translated : translated[0]; + }, + + ngettext : function(singular, plural, n) { + var translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated == 'undefined') + return (n == 1) ? singular : plural; + return translated[Documentation.PLURALEXPR(n)]; + }, + + addTranslations : function(catalog) { + for (var key in catalog.messages) + this.TRANSLATIONS[key] = catalog.messages[key]; + this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); + this.LOCALE = catalog.locale; + }, + + /** + * add context elements like header anchor links + */ + addContextElements : function() { + $('div[id] > :header:first').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this headline')). + appendTo(this); + }); + $('dt[id]').each(function() { + $('\u00B6'). + attr('href', '#' + this.id). + attr('title', _('Permalink to this definition')). + appendTo(this); + }); + }, + + /** + * workaround a firefox stupidity + * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + */ + fixFirefoxAnchorBug : function() { + if (document.location.hash) + window.setTimeout(function() { + document.location.href += ''; + }, 10); + }, + + /** + * highlight the search words provided in the url in the text + */ + highlightSearchWords : function() { + var params = $.getQueryParameters(); + var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; + if (terms.length) { + var body = $('div.body'); + if (!body.length) { + body = $('body'); + } + window.setTimeout(function() { + $.each(terms, function() { + body.highlightText(this.toLowerCase(), 'highlighted'); + }); + }, 10); + $('

' + _('Hide Search Matches') + '

') + .appendTo($('#searchbox')); + } + }, + + /** + * init the domain index toggle buttons + */ + initIndexTable : function() { + var togglers = $('img.toggler').click(function() { + var src = $(this).attr('src'); + var idnum = $(this).attr('id').substr(7); + $('tr.cg-' + idnum).toggle(); + if (src.substr(-9) == 'minus.png') + $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); + else + $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); + }).css('display', ''); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { + togglers.click(); + } + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords : function() { + $('#searchbox .highlight-link').fadeOut(300); + $('span.highlighted').removeClass('highlighted'); + }, + + /** + * make the url absolute + */ + makeURL : function(relativeURL) { + return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; + }, + + /** + * get the current relative url + */ + getCurrentURL : function() { + var path = document.location.pathname; + var parts = path.split(/\//); + $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { + if (this == '..') + parts.pop(); + }); + var url = parts.join('/'); + return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + }, + + initOnKeyListeners: function() { + $(document).keyup(function(event) { + var activeElementType = document.activeElement.tagName; + // don't navigate when in search box or textarea + if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT') { + switch (event.keyCode) { + case 37: // left + var prevHref = $('link[rel="prev"]').prop('href'); + if (prevHref) { + window.location.href = prevHref; + return false; + } + case 39: // right + var nextHref = $('link[rel="next"]').prop('href'); + if (nextHref) { + window.location.href = nextHref; + return false; + } + } + } + }); + } +}; + +// quick alias for translations +_ = Documentation.gettext; + +$(document).ready(function() { + 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`document` + // (such as Node.js), expose a factory as module.exports. + // This accentuates the need for the creation of a real `window`. + // e.g. var jQuery = require("jquery")(window); + // See ticket #14549 for more info. + module.exports = global.document ? + factory( global, true ) : + function( w ) { + if ( !w.document ) { + throw new Error( "jQuery requires a window with a document" ); + } + return factory( w ); + }; + } else { + factory( global ); + } + +// Pass this if window is not defined yet +} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) { + +// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1 +// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode +// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common +// enough that all such attempts are guarded in a try block. +"use strict"; + +var arr = []; + +var document = window.document; + +var getProto = Object.getPrototypeOf; + +var slice = arr.slice; + +var concat = arr.concat; + +var push = arr.push; + +var indexOf = arr.indexOf; + +var class2type = {}; + +var toString = class2type.toString; + +var hasOwn = class2type.hasOwnProperty; + +var fnToString = hasOwn.toString; + +var ObjectFunctionString = fnToString.call( Object ); + +var support = {}; + + + + function DOMEval( code, doc ) { + doc = doc || document; + + var script = doc.createElement( "script" ); + + script.text = code; + doc.head.appendChild( script ).parentNode.removeChild( script ); + } +/* global Symbol */ +// Defining this global in .eslintrc would create a danger of using the global +// unguarded in another place, it seems safer to define global only for this module + + + +var + version = "3.1.0", + + // Define a local copy of jQuery + jQuery = function( selector, context ) { + + // The jQuery object is actually just the init constructor 'enhanced' + // Need init if jQuery is called (just allow error to be thrown if not included) + return new jQuery.fn.init( selector, context ); + }, + + // Support: Android <=4.0 only + // Make sure we trim BOM and NBSP + rtrim = /^[\s\uFEFF\xA0]+|[\s\uFEFF\xA0]+$/g, + + // Matches dashed string for camelizing + rmsPrefix = /^-ms-/, + rdashAlpha = /-([a-z])/g, + + // Used by jQuery.camelCase as callback to replace() + fcamelCase = function( all, letter ) { + return letter.toUpperCase(); + }; + +jQuery.fn = jQuery.prototype = { + + // The current version of jQuery being used + jquery: version, + + constructor: jQuery, + + // The default length of a jQuery object is 0 + length: 0, + + toArray: function() { + return slice.call( this ); + }, + + // Get the Nth element in the matched element set OR + // Get the whole matched element set as a clean array + get: function( num ) { + return num != null ? + + // Return just the one element from the set + ( num < 0 ? this[ num + this.length ] : this[ num ] ) : + + // Return all the elements in a clean array + slice.call( this ); + }, + + // Take an array of elements and push it onto the stack + // (returning the new matched element set) + pushStack: function( elems ) { + + // Build a new jQuery matched element set + var ret = jQuery.merge( this.constructor(), elems ); + + // Add the old object onto the stack (as a reference) + ret.prevObject = this; + + // Return the newly-formed element set + return ret; + }, + + // Execute a callback for every element in the matched set. + each: function( callback ) { + return jQuery.each( this, callback ); + }, + + map: function( callback ) { + return this.pushStack( jQuery.map( this, function( elem, i ) { + return callback.call( elem, i, elem ); + } ) ); + }, + + slice: function() { + return this.pushStack( slice.apply( this, arguments ) ); + }, + + first: function() { + return this.eq( 0 ); + }, + + last: function() { + return this.eq( -1 ); + }, + + eq: function( i ) { + var len = this.length, + j = +i + ( i < 0 ? len : 0 ); + return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] ); + }, + + end: function() { + return this.prevObject || this.constructor(); + }, + + // For internal use only. + // Behaves like an Array's method, not like a jQuery method. + push: push, + sort: arr.sort, + splice: arr.splice +}; + +jQuery.extend = jQuery.fn.extend = function() { + var options, name, src, copy, copyIsArray, clone, + target = arguments[ 0 ] || {}, + i = 1, + length = arguments.length, + deep = false; + + // Handle a deep copy situation + if ( typeof target === "boolean" ) { + deep = target; + + // Skip the boolean and the target + target = arguments[ i ] || {}; + i++; + } + + // Handle case when target is a string or something (possible in deep copy) + if ( typeof target !== "object" && !jQuery.isFunction( target ) ) { + target = {}; + } + + // Extend jQuery itself if only one argument is passed + if ( i === length ) { + target = this; + i--; + } + + for ( ; i < length; i++ ) { + + // Only deal with non-null/undefined values + if ( ( options = arguments[ i ] ) != null ) { + + // Extend the base object + for ( name in options ) { + src = target[ name ]; + copy = options[ name ]; + + // Prevent never-ending loop + if ( target === copy ) { + continue; + } + + // Recurse if we're merging plain objects or arrays + if ( deep && copy && ( jQuery.isPlainObject( copy ) || + ( copyIsArray = jQuery.isArray( copy ) ) ) ) { + + if ( copyIsArray ) { + copyIsArray = false; + clone = src && jQuery.isArray( src ) ? src : []; + + } else { + clone = src && jQuery.isPlainObject( src ) ? src : {}; + } + + // Never move original objects, clone them + target[ name ] = jQuery.extend( deep, clone, copy ); + + // Don't bring in undefined values + } else if ( copy !== undefined ) { + target[ name ] = copy; + } + } + } + } + + // Return the modified object + return target; +}; + +jQuery.extend( { + + // Unique for each copy of jQuery on the page + expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ), + + // Assume jQuery is ready without the ready module + isReady: true, + + error: function( msg ) { + throw new Error( msg ); + }, + + noop: function() {}, + + isFunction: function( obj ) { + return jQuery.type( obj ) === "function"; + }, + + isArray: Array.isArray, + + isWindow: function( obj ) { + return obj != null && obj === obj.window; + }, + + isNumeric: function( obj ) { + + // As of jQuery 3.0, isNumeric is limited to + // strings and numbers (primitives or objects) + // that can be coerced to finite numbers (gh-2662) + var type = jQuery.type( obj ); + return ( type === "number" || type === "string" ) && + + // parseFloat NaNs numeric-cast false positives ("") + // ...but misinterprets leading-number strings, particularly hex literals ("0x...") + // subtraction forces infinities to NaN + !isNaN( obj - parseFloat( obj ) ); + }, + + isPlainObject: function( obj ) { + var proto, Ctor; + + // Detect obvious negatives + // Use toString instead of jQuery.type to catch host objects + if ( !obj || toString.call( obj ) !== "[object Object]" ) { + return false; + } + + proto = getProto( obj ); + + // Objects with no prototype (e.g., `Object.create( null )`) are plain + if ( !proto ) { + return true; + } + + // Objects with prototype are plain iff they were constructed by a global Object function + Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor; + return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString; + }, + + isEmptyObject: function( obj ) { + + /* eslint-disable no-unused-vars */ + // See https://github.com/eslint/eslint/issues/6125 + var name; + + for ( name in obj ) { + return false; + } + return true; + }, + + type: function( obj ) { + if ( obj == null ) { + return obj + ""; + } + + // Support: Android <=2.3 only (functionish RegExp) + return typeof obj === "object" || typeof obj === "function" ? + class2type[ toString.call( obj ) ] || "object" : + typeof obj; + }, + + // Evaluates a script in a global context + globalEval: function( code ) { + DOMEval( code ); + }, + + // Convert dashed to camelCase; used by the css and data modules + // Support: IE <=9 - 11, Edge 12 - 13 + // Microsoft forgot to hump their vendor prefix (#9572) + camelCase: function( string ) { + return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase ); + }, + + nodeName: function( elem, name ) { + return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase(); + }, + + each: function( obj, callback ) { + var length, i = 0; + + if ( isArrayLike( obj ) ) { + length = obj.length; + for ( ; i < length; i++ ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } else { + for ( i in obj ) { + if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) { + break; + } + } + } + + return obj; + }, + + // Support: Android <=4.0 only + trim: function( text ) { + return text == null ? + "" : + ( text + "" ).replace( rtrim, "" ); + }, + + // results is for internal usage only + makeArray: function( arr, results ) { + var ret = results || []; + + if ( arr != null ) { + if ( isArrayLike( Object( arr ) ) ) { + jQuery.merge( ret, + typeof arr === "string" ? + [ arr ] : arr + ); + } else { + push.call( ret, arr ); + } + } + + return ret; + }, + + inArray: function( elem, arr, i ) { + return arr == null ? -1 : indexOf.call( arr, elem, i ); + }, + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + merge: function( first, second ) { + var len = +second.length, + j = 0, + i = first.length; + + for ( ; j < len; j++ ) { + first[ i++ ] = second[ j ]; + } + + first.length = i; + + return first; + }, + + grep: function( elems, callback, invert ) { + var callbackInverse, + matches = [], + i = 0, + length = elems.length, + callbackExpect = !invert; + + // Go through the array, only saving the items + // that pass the validator function + for ( ; i < length; i++ ) { + callbackInverse = !callback( elems[ i ], i ); + if ( callbackInverse !== callbackExpect ) { + matches.push( elems[ i ] ); + } + } + + return matches; + }, + + // arg is for internal usage only + map: function( elems, callback, arg ) { + var length, value, + i = 0, + ret = []; + + // Go through the array, translating each of the items to their new values + if ( isArrayLike( elems ) ) { + length = elems.length; + for ( ; i < length; i++ ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + + // Go through every key on the object, + } else { + for ( i in elems ) { + value = callback( elems[ i ], i, arg ); + + if ( value != null ) { + ret.push( value ); + } + } + } + + // Flatten any nested arrays + return concat.apply( [], ret ); + }, + + // A global GUID counter for objects + guid: 1, + + // Bind a function to a context, optionally partially applying any + // arguments. + proxy: function( fn, context ) { + var tmp, args, proxy; + + if ( typeof context === "string" ) { + tmp = fn[ context ]; + context = fn; + fn = tmp; + } + + // Quick check to determine if target is callable, in the spec + // this throws a TypeError, but we will just return undefined. + if ( !jQuery.isFunction( fn ) ) { + return undefined; + } + + // Simulated bind + args = slice.call( arguments, 2 ); + proxy = function() { + return fn.apply( context || this, args.concat( slice.call( arguments ) ) ); + }; + + // Set the guid of unique handler to the same of original handler, so it can be removed + proxy.guid = fn.guid = fn.guid || jQuery.guid++; + + return proxy; + }, + + now: Date.now, + + // jQuery.support is not used in Core but other projects attach their + // properties to it so it needs to exist. + support: support +} ); + +if ( typeof Symbol === "function" ) { + jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ]; +} + +// Populate the class2type map +jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ), +function( i, name ) { + class2type[ "[object " + name + "]" ] = name.toLowerCase(); +} ); + +function isArrayLike( obj ) { + + // Support: real iOS 8.2 only (not reproducible in simulator) + // `in` check used to prevent JIT error (gh-2145) + // hasOwn isn't used here due to false negatives + // regarding Nodelist length in IE + var length = !!obj && "length" in obj && obj.length, + type = jQuery.type( obj ); + + if ( type === "function" || jQuery.isWindow( obj ) ) { + return false; + } + + return type === "array" || length === 0 || + typeof length === "number" && length > 0 && ( length - 1 ) in obj; +} +var Sizzle = +/*! + * Sizzle CSS Selector Engine v2.3.0 + * https://sizzlejs.com/ + * + * Copyright jQuery Foundation and other contributors + * Released under the MIT license + * http://jquery.org/license + * + * Date: 2016-01-04 + */ +(function( window ) { + +var i, + support, + Expr, + getText, + isXML, + tokenize, + compile, + select, + outermostContext, + sortInput, + hasDuplicate, + + // Local document vars + setDocument, + document, + docElem, + documentIsHTML, + rbuggyQSA, + rbuggyMatches, + matches, + contains, + + // Instance-specific data + expando = "sizzle" + 1 * new Date(), + preferredDoc = window.document, + dirruns = 0, + done = 0, + classCache = createCache(), + tokenCache = createCache(), + compilerCache = createCache(), + sortOrder = function( a, b ) { + if ( a === b ) { + hasDuplicate = true; + } + return 0; + }, + + // Instance methods + hasOwn = ({}).hasOwnProperty, + arr = [], + pop = arr.pop, + push_native = arr.push, + push = arr.push, + slice = arr.slice, + // Use a stripped-down indexOf as it's faster than native + // https://jsperf.com/thor-indexof-vs-for/5 + indexOf = function( list, elem ) { + var i = 0, + len = list.length; + for ( ; i < len; i++ ) { + if ( list[i] === elem ) { + return i; + } + } + return -1; + }, + + booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|ismap|loop|multiple|open|readonly|required|scoped", + + // Regular expressions + + // http://www.w3.org/TR/css3-selectors/#whitespace + whitespace = "[\\x20\\t\\r\\n\\f]", + + // http://www.w3.org/TR/CSS21/syndata.html#value-def-identifier + identifier = "(?:\\\\.|[\\w-]|[^\0-\\xa0])+", + + // Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors + attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace + + // Operator (capture 2) + "*([*^$|!~]?=)" + whitespace + + // "Attribute values must be CSS identifiers [capture 5] or strings [capture 3 or capture 4]" + "*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" + whitespace + + "*\\]", + + pseudos = ":(" + identifier + ")(?:\\((" + + // To reduce the number of selectors needing tokenize in the preFilter, prefer arguments: + // 1. quoted (capture 3; capture 4 or capture 5) + "('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" + + // 2. simple (capture 6) + "((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" + + // 3. anything else (capture 2) + ".*" + + ")\\)|)", + + // Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter + rwhitespace = new RegExp( whitespace + "+", "g" ), + rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" + whitespace + "+$", "g" ), + + rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ), + rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace + "*" ), + + rattributeQuotes = new RegExp( "=" + whitespace + "*([^\\]'\"]*?)" + whitespace + "*\\]", "g" ), + + rpseudo = new RegExp( pseudos ), + ridentifier = new RegExp( "^" + identifier + "$" ), + + matchExpr = { + "ID": new RegExp( "^#(" + identifier + ")" ), + "CLASS": new RegExp( "^\\.(" + identifier + ")" ), + "TAG": new RegExp( "^(" + identifier + "|[*])" ), + "ATTR": new RegExp( "^" + attributes ), + "PSEUDO": new RegExp( "^" + pseudos ), + "CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" + whitespace + + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" + whitespace + + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ), + "bool": new RegExp( "^(?:" + booleans + ")$", "i" ), + // For use in libraries implementing .is() + // We use this for POS matching in `select` + "needsContext": new RegExp( "^" + whitespace + "*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + + whitespace + "*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" ) + }, + + rinputs = /^(?:input|select|textarea|button)$/i, + rheader = /^h\d$/i, + + rnative = /^[^{]+\{\s*\[native \w/, + + // Easily-parseable/retrievable ID or TAG or CLASS selectors + rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/, + + rsibling = /[+~]/, + + // CSS escapes + // http://www.w3.org/TR/CSS21/syndata.html#escaped-characters + runescape = new RegExp( "\\\\([\\da-f]{1,6}" + whitespace + "?|(" + whitespace + ")|.)", "ig" ), + funescape = function( _, escaped, escapedWhitespace ) { + var high = "0x" + escaped - 0x10000; + // NaN means non-codepoint + // Support: Firefox<24 + // Workaround erroneous numeric interpretation of +"0x" + return high !== high || escapedWhitespace ? + escaped : + high < 0 ? + // BMP codepoint + String.fromCharCode( high + 0x10000 ) : + // Supplemental Plane codepoint (surrogate pair) + String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 ); + }, + + // CSS string/identifier serialization + // https://drafts.csswg.org/cssom/#common-serializing-idioms + rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\x80-\uFFFF\w-]/g, + fcssescape = function( ch, asCodePoint ) { + if ( asCodePoint ) { + + // U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER + if ( ch === "\0" ) { + return "\uFFFD"; + } + + // Control characters and (dependent upon position) numbers get escaped as code points + return ch.slice( 0, -1 ) + "\\" + ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " "; + } + + // Other potentially-special ASCII characters get backslash-escaped + return "\\" + ch; + }, + + // Used for iframes + // See setDocument() + // Removing the function wrapper causes a "Permission Denied" + // error in IE + unloadHandler = function() { + setDocument(); + }, + + disabledAncestor = addCombinator( + function( elem ) { + return elem.disabled === true; + }, + { dir: "parentNode", next: "legend" } + ); + +// Optimize for push.apply( _, NodeList ) +try { + push.apply( + (arr = slice.call( preferredDoc.childNodes )), + preferredDoc.childNodes + ); + // Support: Android<4.0 + // Detect silently failing push.apply + arr[ preferredDoc.childNodes.length ].nodeType; +} catch ( e ) { + push = { apply: arr.length ? + + // Leverage slice if possible + function( target, els ) { + push_native.apply( target, slice.call(els) ); + } : + + // Support: IE<9 + // Otherwise append directly + function( target, els ) { + var j = target.length, + i = 0; + // Can't trust NodeList.length + while ( (target[j++] = els[i++]) ) {} + target.length = j - 1; + } + }; +} + +function Sizzle( selector, context, results, seed ) { + var m, i, elem, nid, match, groups, newSelector, + newContext = context && context.ownerDocument, + + // nodeType defaults to 9, since context defaults to document + nodeType = context ? context.nodeType : 9; + + results = results || []; + + // Return early from calls with invalid selector or context + if ( typeof selector !== "string" || !selector || + nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) { + + return results; + } + + // Try to shortcut find operations (as opposed to filters) in HTML documents + if ( !seed ) { + + if ( ( context ? context.ownerDocument || context : preferredDoc ) !== document ) { + setDocument( context ); + } + context = context || document; + + if ( documentIsHTML ) { + + // If the selector is sufficiently simple, try using a "get*By*" DOM method + // (excepting DocumentFragment context, where the methods don't exist) + if ( nodeType !== 11 && (match = rquickExpr.exec( selector )) ) { + + // ID selector + if ( (m = match[1]) ) { + + // Document context + if ( nodeType === 9 ) { + if ( (elem = context.getElementById( m )) ) { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( elem.id === m ) { + results.push( elem ); + return results; + } + } else { + return results; + } + + // Element context + } else { + + // Support: IE, Opera, Webkit + // TODO: identify versions + // getElementById can match elements by name instead of ID + if ( newContext && (elem = newContext.getElementById( m )) && + contains( context, elem ) && + elem.id === m ) { + + results.push( elem ); + return results; + } + } + + // Type selector + } else if ( match[2] ) { + push.apply( results, context.getElementsByTagName( selector ) ); + return results; + + // Class selector + } else if ( (m = match[3]) && support.getElementsByClassName && + context.getElementsByClassName ) { + + push.apply( results, context.getElementsByClassName( m ) ); + return results; + } + } + + // Take advantage of querySelectorAll + if ( support.qsa && + !compilerCache[ selector + " " ] && + (!rbuggyQSA || !rbuggyQSA.test( selector )) ) { + + if ( nodeType !== 1 ) { + newContext = context; + newSelector = selector; + + // qSA looks outside Element context, which is not what we want + // Thanks to Andrew Dupont for this workaround technique + // Support: IE <=8 + // Exclude object elements + } else if ( context.nodeName.toLowerCase() !== "object" ) { + + // Capture the context ID, setting it first if necessary + if ( (nid = context.getAttribute( "id" )) ) { + nid = nid.replace( rcssescape, fcssescape ); + } else { + context.setAttribute( "id", (nid = expando) ); + } + + // Prefix every selector in the list + groups = tokenize( selector ); + i = groups.length; + while ( i-- ) { + groups[i] = "#" + nid + " " + toSelector( groups[i] ); + } + newSelector = groups.join( "," ); + + // Expand context for sibling selectors + newContext = rsibling.test( selector ) && testContext( context.parentNode ) || + context; + } + + if ( newSelector ) { + try { + push.apply( results, + newContext.querySelectorAll( newSelector ) + ); + return results; + } catch ( qsaError ) { + } finally { + if ( nid === expando ) { + context.removeAttribute( "id" ); + } + } + } + } + } + } + + // All others + return select( selector.replace( rtrim, "$1" ), context, results, seed ); +} + +/** + * Create key-value caches of limited size + * @returns {function(string, object)} Returns the Object data after storing it on itself with + * property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength) + * deleting the oldest entry + */ +function createCache() { + var keys = []; + + function cache( key, value ) { + // Use (key + " ") to avoid collision with native prototype properties (see Issue #157) + if ( keys.push( key + " " ) > Expr.cacheLength ) { + // Only keep the most recent entries + delete cache[ keys.shift() ]; + } + return (cache[ key + " " ] = value); + } + return cache; +} + +/** + * Mark a function for special use by Sizzle + * @param {Function} fn The function to mark + */ +function markFunction( fn ) { + fn[ expando ] = true; + return fn; +} + +/** + * Support testing using an element + * @param {Function} fn Passed the created element and returns a boolean result + */ +function assert( fn ) { + var el = document.createElement("fieldset"); + + try { + return !!fn( el ); + } catch (e) { + return false; + } finally { + // Remove from its parent by default + if ( el.parentNode ) { + el.parentNode.removeChild( el ); + } + // release memory in IE + el = null; + } +} + +/** + * Adds the same handler for all of the specified attrs + * @param {String} attrs Pipe-separated list of attributes + * @param {Function} handler The method that will be applied + */ +function addHandle( attrs, handler ) { + var arr = attrs.split("|"), + i = arr.length; + + while ( i-- ) { + Expr.attrHandle[ arr[i] ] = handler; + } +} + +/** + * Checks document order of two siblings + * @param {Element} a + * @param {Element} b + * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b + */ +function siblingCheck( a, b ) { + var cur = b && a, + diff = cur && a.nodeType === 1 && b.nodeType === 1 && + a.sourceIndex - b.sourceIndex; + + // Use IE sourceIndex if available on both nodes + if ( diff ) { + return diff; + } + + // Check if b follows a + if ( cur ) { + while ( (cur = cur.nextSibling) ) { + if ( cur === b ) { + return -1; + } + } + } + + return a ? 1 : -1; +} + +/** + * Returns a function to use in pseudos for input types + * @param {String} type + */ +function createInputPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for buttons + * @param {String} type + */ +function createButtonPseudo( type ) { + return function( elem ) { + var name = elem.nodeName.toLowerCase(); + return (name === "input" || name === "button") && elem.type === type; + }; +} + +/** + * Returns a function to use in pseudos for :enabled/:disabled + * @param {Boolean} disabled true for :disabled; false for :enabled + */ +function createDisabledPseudo( disabled ) { + // Known :disabled false positives: + // IE: *[disabled]:not(button, input, select, textarea, optgroup, option, menuitem, fieldset) + // not IE: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable + return function( elem ) { + + // Check form elements and option elements for explicit disabling + return "label" in elem && elem.disabled === disabled || + "form" in elem && elem.disabled === disabled || + + // Check non-disabled form elements for fieldset[disabled] ancestors + "form" in elem && elem.disabled === false && ( + // Support: IE6-11+ + // Ancestry is covered for us + elem.isDisabled === disabled || + + // Otherwise, assume any non-" + + ""; + + // Support: IE8, Opera 11-12.16 + // Nothing should be selected when empty strings follow ^= or $= or *= + // The test attribute must be unknown in Opera but "safe" for WinRT + // https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section + if ( el.querySelectorAll("[msallowcapture^='']").length ) { + rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" ); + } + + // Support: IE8 + // Boolean attributes and "value" are not treated correctly + if ( !el.querySelectorAll("[selected]").length ) { + rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" ); + } + + // Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+ + if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) { + rbuggyQSA.push("~="); + } + + // Webkit/Opera - :checked should return selected option elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + // IE8 throws error here and will not see later tests + if ( !el.querySelectorAll(":checked").length ) { + rbuggyQSA.push(":checked"); + } + + // Support: Safari 8+, iOS 8+ + // https://bugs.webkit.org/show_bug.cgi?id=136851 + // In-page `selector#id sibling-combinator selector` fails + if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) { + rbuggyQSA.push(".#.+[+~]"); + } + }); + + assert(function( el ) { + el.innerHTML = "" + + ""; + + // Support: Windows 8 Native Apps + // The type and name attributes are restricted during .innerHTML assignment + var input = document.createElement("input"); + input.setAttribute( "type", "hidden" ); + el.appendChild( input ).setAttribute( "name", "D" ); + + // Support: IE8 + // Enforce case-sensitivity of name attribute + if ( el.querySelectorAll("[name=d]").length ) { + rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" ); + } + + // FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled) + // IE8 throws error here and will not see later tests + if ( el.querySelectorAll(":enabled").length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Support: IE9-11+ + // IE's :disabled selector does not pick up the children of disabled fieldsets + docElem.appendChild( el ).disabled = true; + if ( el.querySelectorAll(":disabled").length !== 2 ) { + rbuggyQSA.push( ":enabled", ":disabled" ); + } + + // Opera 10-11 does not throw on post-comma invalid pseudos + el.querySelectorAll("*,:x"); + rbuggyQSA.push(",.*:"); + }); + } + + if ( (support.matchesSelector = rnative.test( (matches = docElem.matches || + docElem.webkitMatchesSelector || + docElem.mozMatchesSelector || + docElem.oMatchesSelector || + docElem.msMatchesSelector) )) ) { + + assert(function( el ) { + // Check to see if it's possible to do matchesSelector + // on a disconnected node (IE 9) + support.disconnectedMatch = matches.call( el, "*" ); + + // This should fail with an exception + // Gecko does not error, returns false instead + matches.call( el, "[s!='']:x" ); + rbuggyMatches.push( "!=", pseudos ); + }); + } + + rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join("|") ); + rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join("|") ); + + /* Contains + ---------------------------------------------------------------------- */ + hasCompare = rnative.test( docElem.compareDocumentPosition ); + + // Element contains another + // Purposefully self-exclusive + // As in, an element does not contain itself + contains = hasCompare || rnative.test( docElem.contains ) ? + function( a, b ) { + var adown = a.nodeType === 9 ? a.documentElement : a, + bup = b && b.parentNode; + return a === bup || !!( bup && bup.nodeType === 1 && ( + adown.contains ? + adown.contains( bup ) : + a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16 + )); + } : + function( a, b ) { + if ( b ) { + while ( (b = b.parentNode) ) { + if ( b === a ) { + return true; + } + } + } + return false; + }; + + /* Sorting + ---------------------------------------------------------------------- */ + + // Document order sorting + sortOrder = hasCompare ? + function( a, b ) { + + // Flag for duplicate removal + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + // Sort on method existence if only one input has compareDocumentPosition + var compare = !a.compareDocumentPosition - !b.compareDocumentPosition; + if ( compare ) { + return compare; + } + + // Calculate position if both inputs belong to the same document + compare = ( a.ownerDocument || a ) === ( b.ownerDocument || b ) ? + a.compareDocumentPosition( b ) : + + // Otherwise we know they are disconnected + 1; + + // Disconnected nodes + if ( compare & 1 || + (!support.sortDetached && b.compareDocumentPosition( a ) === compare) ) { + + // Choose the first element that is related to our preferred document + if ( a === document || a.ownerDocument === preferredDoc && contains(preferredDoc, a) ) { + return -1; + } + if ( b === document || b.ownerDocument === preferredDoc && contains(preferredDoc, b) ) { + return 1; + } + + // Maintain original order + return sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + } + + return compare & 4 ? -1 : 1; + } : + function( a, b ) { + // Exit early if the nodes are identical + if ( a === b ) { + hasDuplicate = true; + return 0; + } + + var cur, + i = 0, + aup = a.parentNode, + bup = b.parentNode, + ap = [ a ], + bp = [ b ]; + + // Parentless nodes are either documents or disconnected + if ( !aup || !bup ) { + return a === document ? -1 : + b === document ? 1 : + aup ? -1 : + bup ? 1 : + sortInput ? + ( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) : + 0; + + // If the nodes are siblings, we can do a quick check + } else if ( aup === bup ) { + return siblingCheck( a, b ); + } + + // Otherwise we need full lists of their ancestors for comparison + cur = a; + while ( (cur = cur.parentNode) ) { + ap.unshift( cur ); + } + cur = b; + while ( (cur = cur.parentNode) ) { + bp.unshift( cur ); + } + + // Walk down the tree looking for a discrepancy + while ( ap[i] === bp[i] ) { + i++; + } + + return i ? + // Do a sibling check if the nodes have a common ancestor + siblingCheck( ap[i], bp[i] ) : + + // Otherwise nodes in our document sort first + ap[i] === preferredDoc ? -1 : + bp[i] === preferredDoc ? 1 : + 0; + }; + + return document; +}; + +Sizzle.matches = function( expr, elements ) { + return Sizzle( expr, null, null, elements ); +}; + +Sizzle.matchesSelector = function( elem, expr ) { + // Set document vars if needed + if ( ( elem.ownerDocument || elem ) !== document ) { + setDocument( elem ); + } + + // Make sure that attribute selectors are quoted + expr = expr.replace( rattributeQuotes, "='$1']" ); + + if ( support.matchesSelector && documentIsHTML && + !compilerCache[ expr + " " ] && + ( !rbuggyMatches || !rbuggyMatches.test( expr ) ) && + ( !rbuggyQSA || !rbuggyQSA.test( expr ) ) ) { + + try { + var ret = matches.call( elem, expr ); + + // IE 9's matchesSelector returns false on disconnected nodes + if ( ret || support.disconnectedMatch || + // As well, disconnected nodes are said to be in a document + // fragment in IE 9 + elem.document && elem.document.nodeType !== 11 ) { + return ret; + } + } catch (e) {} + } + + return Sizzle( expr, document, null, [ elem ] ).length > 0; +}; + +Sizzle.contains = function( context, elem ) { + // Set document vars if needed + if ( ( context.ownerDocument || context ) !== document ) { + setDocument( context ); + } + return contains( context, elem ); +}; + +Sizzle.attr = function( elem, name ) { + // Set document vars if needed + if ( ( elem.ownerDocument || elem ) !== document ) { + setDocument( elem ); + } + + var fn = Expr.attrHandle[ name.toLowerCase() ], + // Don't get fooled by Object.prototype properties (jQuery #13807) + val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ? + fn( elem, name, !documentIsHTML ) : + undefined; + + return val !== undefined ? + val : + support.attributes || !documentIsHTML ? + elem.getAttribute( name ) : + (val = elem.getAttributeNode(name)) && val.specified ? + val.value : + null; +}; + +Sizzle.escape = function( sel ) { + return (sel + "").replace( rcssescape, fcssescape ); +}; + +Sizzle.error = function( msg ) { + throw new Error( "Syntax error, unrecognized expression: " + msg ); +}; + +/** + * Document sorting and removing duplicates + * @param {ArrayLike} results + */ +Sizzle.uniqueSort = function( results ) { + var elem, + duplicates = [], + j = 0, + i = 0; + + // Unless we *know* we can detect duplicates, assume their presence + hasDuplicate = !support.detectDuplicates; + sortInput = !support.sortStable && results.slice( 0 ); + results.sort( sortOrder ); + + if ( hasDuplicate ) { + while ( (elem = results[i++]) ) { + if ( elem === results[ i ] ) { + j = duplicates.push( i ); + } + } + while ( j-- ) { + results.splice( duplicates[ j ], 1 ); + } + } + + // Clear input after sorting to release objects + // See https://github.com/jquery/sizzle/pull/225 + sortInput = null; + + return results; +}; + +/** + * Utility function for retrieving the text value of an array of DOM nodes + * @param {Array|Element} elem + */ +getText = Sizzle.getText = function( elem ) { + var node, + ret = "", + i = 0, + nodeType = elem.nodeType; + + if ( !nodeType ) { + // If no nodeType, this is expected to be an array + while ( (node = elem[i++]) ) { + // Do not traverse comment nodes + ret += getText( node ); + } + } else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) { + // Use textContent for elements + // innerText usage removed for consistency of new lines (jQuery #11153) + if ( typeof elem.textContent === "string" ) { + return elem.textContent; + } else { + // Traverse its children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + ret += getText( elem ); + } + } + } else if ( nodeType === 3 || nodeType === 4 ) { + return elem.nodeValue; + } + // Do not include comment or processing instruction nodes + + return ret; +}; + +Expr = Sizzle.selectors = { + + // Can be adjusted by the user + cacheLength: 50, + + createPseudo: markFunction, + + match: matchExpr, + + attrHandle: {}, + + find: {}, + + relative: { + ">": { dir: "parentNode", first: true }, + " ": { dir: "parentNode" }, + "+": { dir: "previousSibling", first: true }, + "~": { dir: "previousSibling" } + }, + + preFilter: { + "ATTR": function( match ) { + match[1] = match[1].replace( runescape, funescape ); + + // Move the given value to match[3] whether quoted or unquoted + match[3] = ( match[3] || match[4] || match[5] || "" ).replace( runescape, funescape ); + + if ( match[2] === "~=" ) { + match[3] = " " + match[3] + " "; + } + + return match.slice( 0, 4 ); + }, + + "CHILD": function( match ) { + /* matches from matchExpr["CHILD"] + 1 type (only|nth|...) + 2 what (child|of-type) + 3 argument (even|odd|\d*|\d*n([+-]\d+)?|...) + 4 xn-component of xn+y argument ([+-]?\d*n|) + 5 sign of xn-component + 6 x of xn-component + 7 sign of y-component + 8 y of y-component + */ + match[1] = match[1].toLowerCase(); + + if ( match[1].slice( 0, 3 ) === "nth" ) { + // nth-* requires argument + if ( !match[3] ) { + Sizzle.error( match[0] ); + } + + // numeric x and y parameters for Expr.filter.CHILD + // remember that false/true cast respectively to 0/1 + match[4] = +( match[4] ? match[5] + (match[6] || 1) : 2 * ( match[3] === "even" || match[3] === "odd" ) ); + match[5] = +( ( match[7] + match[8] ) || match[3] === "odd" ); + + // other types prohibit arguments + } else if ( match[3] ) { + Sizzle.error( match[0] ); + } + + return match; + }, + + "PSEUDO": function( match ) { + var excess, + unquoted = !match[6] && match[2]; + + if ( matchExpr["CHILD"].test( match[0] ) ) { + return null; + } + + // Accept quoted arguments as-is + if ( match[3] ) { + match[2] = match[4] || match[5] || ""; + + // Strip excess characters from unquoted arguments + } else if ( unquoted && rpseudo.test( unquoted ) && + // Get excess from tokenize (recursively) + (excess = tokenize( unquoted, true )) && + // advance to the next closing parenthesis + (excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length) ) { + + // excess is a negative index + match[0] = match[0].slice( 0, excess ); + match[2] = unquoted.slice( 0, excess ); + } + + // Return only captures needed by the pseudo filter method (type and argument) + return match.slice( 0, 3 ); + } + }, + + filter: { + + "TAG": function( nodeNameSelector ) { + var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase(); + return nodeNameSelector === "*" ? + function() { return true; } : + function( elem ) { + return elem.nodeName && elem.nodeName.toLowerCase() === nodeName; + }; + }, + + "CLASS": function( className ) { + var pattern = classCache[ className + " " ]; + + return pattern || + (pattern = new RegExp( "(^|" + whitespace + ")" + className + "(" + whitespace + "|$)" )) && + classCache( className, function( elem ) { + return pattern.test( typeof elem.className === "string" && elem.className || typeof elem.getAttribute !== "undefined" && elem.getAttribute("class") || "" ); + }); + }, + + "ATTR": function( name, operator, check ) { + return function( elem ) { + var result = Sizzle.attr( elem, name ); + + if ( result == null ) { + return operator === "!="; + } + if ( !operator ) { + return true; + } + + result += ""; + + return operator === "=" ? result === check : + operator === "!=" ? result !== check : + operator === "^=" ? check && result.indexOf( check ) === 0 : + operator === "*=" ? check && result.indexOf( check ) > -1 : + operator === "$=" ? check && result.slice( -check.length ) === check : + operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 : + operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" : + false; + }; + }, + + "CHILD": function( type, what, argument, first, last ) { + var simple = type.slice( 0, 3 ) !== "nth", + forward = type.slice( -4 ) !== "last", + ofType = what === "of-type"; + + return first === 1 && last === 0 ? + + // Shortcut for :nth-*(n) + function( elem ) { + return !!elem.parentNode; + } : + + function( elem, context, xml ) { + var cache, uniqueCache, outerCache, node, nodeIndex, start, + dir = simple !== forward ? "nextSibling" : "previousSibling", + parent = elem.parentNode, + name = ofType && elem.nodeName.toLowerCase(), + useCache = !xml && !ofType, + diff = false; + + if ( parent ) { + + // :(first|last|only)-(child|of-type) + if ( simple ) { + while ( dir ) { + node = elem; + while ( (node = node[ dir ]) ) { + if ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) { + + return false; + } + } + // Reverse direction for :only-* (if we haven't yet done so) + start = dir = type === "only" && !start && "nextSibling"; + } + return true; + } + + start = [ forward ? parent.firstChild : parent.lastChild ]; + + // non-xml :nth-child(...) stores cache data on `parent` + if ( forward && useCache ) { + + // Seek `elem` from a previously-cached index + + // ...in a gzip-friendly way + node = parent; + outerCache = node[ expando ] || (node[ expando ] = {}); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + (outerCache[ node.uniqueID ] = {}); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex && cache[ 2 ]; + node = nodeIndex && parent.childNodes[ nodeIndex ]; + + while ( (node = ++nodeIndex && node && node[ dir ] || + + // Fallback to seeking `elem` from the start + (diff = nodeIndex = 0) || start.pop()) ) { + + // When found, cache indexes on `parent` and break + if ( node.nodeType === 1 && ++diff && node === elem ) { + uniqueCache[ type ] = [ dirruns, nodeIndex, diff ]; + break; + } + } + + } else { + // Use previously-cached element index if available + if ( useCache ) { + // ...in a gzip-friendly way + node = elem; + outerCache = node[ expando ] || (node[ expando ] = {}); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + (outerCache[ node.uniqueID ] = {}); + + cache = uniqueCache[ type ] || []; + nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ]; + diff = nodeIndex; + } + + // xml :nth-child(...) + // or :nth-last-child(...) or :nth(-last)?-of-type(...) + if ( diff === false ) { + // Use the same loop as above to seek `elem` from the start + while ( (node = ++nodeIndex && node && node[ dir ] || + (diff = nodeIndex = 0) || start.pop()) ) { + + if ( ( ofType ? + node.nodeName.toLowerCase() === name : + node.nodeType === 1 ) && + ++diff ) { + + // Cache the index of each encountered element + if ( useCache ) { + outerCache = node[ expando ] || (node[ expando ] = {}); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ node.uniqueID ] || + (outerCache[ node.uniqueID ] = {}); + + uniqueCache[ type ] = [ dirruns, diff ]; + } + + if ( node === elem ) { + break; + } + } + } + } + } + + // Incorporate the offset, then check against cycle size + diff -= last; + return diff === first || ( diff % first === 0 && diff / first >= 0 ); + } + }; + }, + + "PSEUDO": function( pseudo, argument ) { + // pseudo-class names are case-insensitive + // http://www.w3.org/TR/selectors/#pseudo-classes + // Prioritize by case sensitivity in case custom pseudos are added with uppercase letters + // Remember that setFilters inherits from pseudos + var args, + fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] || + Sizzle.error( "unsupported pseudo: " + pseudo ); + + // The user may use createPseudo to indicate that + // arguments are needed to create the filter function + // just as Sizzle does + if ( fn[ expando ] ) { + return fn( argument ); + } + + // But maintain support for old signatures + if ( fn.length > 1 ) { + args = [ pseudo, pseudo, "", argument ]; + return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ? + markFunction(function( seed, matches ) { + var idx, + matched = fn( seed, argument ), + i = matched.length; + while ( i-- ) { + idx = indexOf( seed, matched[i] ); + seed[ idx ] = !( matches[ idx ] = matched[i] ); + } + }) : + function( elem ) { + return fn( elem, 0, args ); + }; + } + + return fn; + } + }, + + pseudos: { + // Potentially complex pseudos + "not": markFunction(function( selector ) { + // Trim the selector passed to compile + // to avoid treating leading and trailing + // spaces as combinators + var input = [], + results = [], + matcher = compile( selector.replace( rtrim, "$1" ) ); + + return matcher[ expando ] ? + markFunction(function( seed, matches, context, xml ) { + var elem, + unmatched = matcher( seed, null, xml, [] ), + i = seed.length; + + // Match elements unmatched by `matcher` + while ( i-- ) { + if ( (elem = unmatched[i]) ) { + seed[i] = !(matches[i] = elem); + } + } + }) : + function( elem, context, xml ) { + input[0] = elem; + matcher( input, null, xml, results ); + // Don't keep the element (issue #299) + input[0] = null; + return !results.pop(); + }; + }), + + "has": markFunction(function( selector ) { + return function( elem ) { + return Sizzle( selector, elem ).length > 0; + }; + }), + + "contains": markFunction(function( text ) { + text = text.replace( runescape, funescape ); + return function( elem ) { + return ( elem.textContent || elem.innerText || getText( elem ) ).indexOf( text ) > -1; + }; + }), + + // "Whether an element is represented by a :lang() selector + // is based solely on the element's language value + // being equal to the identifier C, + // or beginning with the identifier C immediately followed by "-". + // The matching of C against the element's language value is performed case-insensitively. + // The identifier C does not have to be a valid language name." + // http://www.w3.org/TR/selectors/#lang-pseudo + "lang": markFunction( function( lang ) { + // lang value must be a valid identifier + if ( !ridentifier.test(lang || "") ) { + Sizzle.error( "unsupported lang: " + lang ); + } + lang = lang.replace( runescape, funescape ).toLowerCase(); + return function( elem ) { + var elemLang; + do { + if ( (elemLang = documentIsHTML ? + elem.lang : + elem.getAttribute("xml:lang") || elem.getAttribute("lang")) ) { + + elemLang = elemLang.toLowerCase(); + return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0; + } + } while ( (elem = elem.parentNode) && elem.nodeType === 1 ); + return false; + }; + }), + + // Miscellaneous + "target": function( elem ) { + var hash = window.location && window.location.hash; + return hash && hash.slice( 1 ) === elem.id; + }, + + "root": function( elem ) { + return elem === docElem; + }, + + "focus": function( elem ) { + return elem === document.activeElement && (!document.hasFocus || document.hasFocus()) && !!(elem.type || elem.href || ~elem.tabIndex); + }, + + // Boolean properties + "enabled": createDisabledPseudo( false ), + "disabled": createDisabledPseudo( true ), + + "checked": function( elem ) { + // In CSS3, :checked should return both checked and selected elements + // http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked + var nodeName = elem.nodeName.toLowerCase(); + return (nodeName === "input" && !!elem.checked) || (nodeName === "option" && !!elem.selected); + }, + + "selected": function( elem ) { + // Accessing this property makes selected-by-default + // options in Safari work properly + if ( elem.parentNode ) { + elem.parentNode.selectedIndex; + } + + return elem.selected === true; + }, + + // Contents + "empty": function( elem ) { + // http://www.w3.org/TR/selectors/#empty-pseudo + // :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5), + // but not by others (comment: 8; processing instruction: 7; etc.) + // nodeType < 6 works because attributes (2) do not appear as children + for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) { + if ( elem.nodeType < 6 ) { + return false; + } + } + return true; + }, + + "parent": function( elem ) { + return !Expr.pseudos["empty"]( elem ); + }, + + // Element/input types + "header": function( elem ) { + return rheader.test( elem.nodeName ); + }, + + "input": function( elem ) { + return rinputs.test( elem.nodeName ); + }, + + "button": function( elem ) { + var name = elem.nodeName.toLowerCase(); + return name === "input" && elem.type === "button" || name === "button"; + }, + + "text": function( elem ) { + var attr; + return elem.nodeName.toLowerCase() === "input" && + elem.type === "text" && + + // Support: IE<8 + // New HTML5 attribute values (e.g., "search") appear with elem.type === "text" + ( (attr = elem.getAttribute("type")) == null || attr.toLowerCase() === "text" ); + }, + + // Position-in-collection + "first": createPositionalPseudo(function() { + return [ 0 ]; + }), + + "last": createPositionalPseudo(function( matchIndexes, length ) { + return [ length - 1 ]; + }), + + "eq": createPositionalPseudo(function( matchIndexes, length, argument ) { + return [ argument < 0 ? argument + length : argument ]; + }), + + "even": createPositionalPseudo(function( matchIndexes, length ) { + var i = 0; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + }), + + "odd": createPositionalPseudo(function( matchIndexes, length ) { + var i = 1; + for ( ; i < length; i += 2 ) { + matchIndexes.push( i ); + } + return matchIndexes; + }), + + "lt": createPositionalPseudo(function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; --i >= 0; ) { + matchIndexes.push( i ); + } + return matchIndexes; + }), + + "gt": createPositionalPseudo(function( matchIndexes, length, argument ) { + var i = argument < 0 ? argument + length : argument; + for ( ; ++i < length; ) { + matchIndexes.push( i ); + } + return matchIndexes; + }) + } +}; + +Expr.pseudos["nth"] = Expr.pseudos["eq"]; + +// Add button/input type pseudos +for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) { + Expr.pseudos[ i ] = createInputPseudo( i ); +} +for ( i in { submit: true, reset: true } ) { + Expr.pseudos[ i ] = createButtonPseudo( i ); +} + +// Easy API for creating new setFilters +function setFilters() {} +setFilters.prototype = Expr.filters = Expr.pseudos; +Expr.setFilters = new setFilters(); + +tokenize = Sizzle.tokenize = function( selector, parseOnly ) { + var matched, match, tokens, type, + soFar, groups, preFilters, + cached = tokenCache[ selector + " " ]; + + if ( cached ) { + return parseOnly ? 0 : cached.slice( 0 ); + } + + soFar = selector; + groups = []; + preFilters = Expr.preFilter; + + while ( soFar ) { + + // Comma and first run + if ( !matched || (match = rcomma.exec( soFar )) ) { + if ( match ) { + // Don't consume trailing commas as valid + soFar = soFar.slice( match[0].length ) || soFar; + } + groups.push( (tokens = []) ); + } + + matched = false; + + // Combinators + if ( (match = rcombinators.exec( soFar )) ) { + matched = match.shift(); + tokens.push({ + value: matched, + // Cast descendant combinators to space + type: match[0].replace( rtrim, " " ) + }); + soFar = soFar.slice( matched.length ); + } + + // Filters + for ( type in Expr.filter ) { + if ( (match = matchExpr[ type ].exec( soFar )) && (!preFilters[ type ] || + (match = preFilters[ type ]( match ))) ) { + matched = match.shift(); + tokens.push({ + value: matched, + type: type, + matches: match + }); + soFar = soFar.slice( matched.length ); + } + } + + if ( !matched ) { + break; + } + } + + // Return the length of the invalid excess + // if we're just parsing + // Otherwise, throw an error or return tokens + return parseOnly ? + soFar.length : + soFar ? + Sizzle.error( selector ) : + // Cache the tokens + tokenCache( selector, groups ).slice( 0 ); +}; + +function toSelector( tokens ) { + var i = 0, + len = tokens.length, + selector = ""; + for ( ; i < len; i++ ) { + selector += tokens[i].value; + } + return selector; +} + +function addCombinator( matcher, combinator, base ) { + var dir = combinator.dir, + skip = combinator.next, + key = skip || dir, + checkNonElements = base && key === "parentNode", + doneName = done++; + + return combinator.first ? + // Check against closest ancestor/preceding element + function( elem, context, xml ) { + while ( (elem = elem[ dir ]) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + return matcher( elem, context, xml ); + } + } + } : + + // Check against all ancestor/preceding elements + function( elem, context, xml ) { + var oldCache, uniqueCache, outerCache, + newCache = [ dirruns, doneName ]; + + // We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching + if ( xml ) { + while ( (elem = elem[ dir ]) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + if ( matcher( elem, context, xml ) ) { + return true; + } + } + } + } else { + while ( (elem = elem[ dir ]) ) { + if ( elem.nodeType === 1 || checkNonElements ) { + outerCache = elem[ expando ] || (elem[ expando ] = {}); + + // Support: IE <9 only + // Defend against cloned attroperties (jQuery gh-1709) + uniqueCache = outerCache[ elem.uniqueID ] || (outerCache[ elem.uniqueID ] = {}); + + if ( skip && skip === elem.nodeName.toLowerCase() ) { + elem = elem[ dir ] || elem; + } else if ( (oldCache = uniqueCache[ key ]) && + oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) { + + // Assign to newCache so results back-propagate to previous elements + return (newCache[ 2 ] = oldCache[ 2 ]); + } else { + // Reuse newcache so results back-propagate to previous elements + uniqueCache[ key ] = newCache; + + // A match means we're done; a fail means we have to keep checking + if ( (newCache[ 2 ] = matcher( elem, context, xml )) ) { + return true; + } + } + } + } + } + }; +} + +function elementMatcher( matchers ) { + return matchers.length > 1 ? + function( elem, context, xml ) { + var i = matchers.length; + while ( i-- ) { + if ( !matchers[i]( elem, context, xml ) ) { + return false; + } + } + return true; + } : + matchers[0]; +} + +function multipleContexts( selector, contexts, results ) { + var i = 0, + len = contexts.length; + for ( ; i < len; i++ ) { + Sizzle( selector, contexts[i], results ); + } + return results; +} + +function condense( unmatched, map, filter, context, xml ) { + var elem, + newUnmatched = [], + i = 0, + len = unmatched.length, + mapped = map != null; + + for ( ; i < len; i++ ) { + if ( (elem = unmatched[i]) ) { + if ( !filter || filter( elem, context, xml ) ) { + newUnmatched.push( elem ); + if ( mapped ) { + map.push( i ); + } + } + } + } + + return newUnmatched; +} + +function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) { + if ( postFilter && !postFilter[ expando ] ) { + postFilter = setMatcher( postFilter ); + } + if ( postFinder && !postFinder[ expando ] ) { + postFinder = setMatcher( postFinder, postSelector ); + } + return markFunction(function( seed, results, context, xml ) { + var temp, i, elem, + preMap = [], + postMap = [], + preexisting = results.length, + + // Get initial elements from seed or context + elems = seed || multipleContexts( selector || "*", context.nodeType ? [ context ] : context, [] ), + + // Prefilter to get matcher input, preserving a map for seed-results synchronization + matcherIn = preFilter && ( seed || !selector ) ? + condense( elems, preMap, preFilter, context, xml ) : + elems, + + matcherOut = matcher ? + // If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results, + postFinder || ( seed ? preFilter : preexisting || postFilter ) ? + + // ...intermediate processing is necessary + [] : + + // ...otherwise use results directly + results : + matcherIn; + + // Find primary matches + if ( matcher ) { + matcher( matcherIn, matcherOut, context, xml ); + } + + // Apply postFilter + if ( postFilter ) { + temp = condense( matcherOut, postMap ); + postFilter( temp, [], context, xml ); + + // Un-match failing elements by moving them back to matcherIn + i = temp.length; + while ( i-- ) { + if ( (elem = temp[i]) ) { + matcherOut[ postMap[i] ] = !(matcherIn[ postMap[i] ] = elem); + } + } + } + + if ( seed ) { + if ( postFinder || preFilter ) { + if ( postFinder ) { + // Get the final matcherOut by condensing this intermediate into postFinder contexts + temp = []; + i = matcherOut.length; + while ( i-- ) { + if ( (elem = matcherOut[i]) ) { + // Restore matcherIn since elem is not yet a final match + temp.push( (matcherIn[i] = elem) ); + } + } + postFinder( null, (matcherOut = []), temp, xml ); + } + + // Move matched elements from seed to results to keep them synchronized + i = matcherOut.length; + while ( i-- ) { + if ( (elem = matcherOut[i]) && + (temp = postFinder ? indexOf( seed, elem ) : preMap[i]) > -1 ) { + + seed[temp] = !(results[temp] = elem); + } + } + } + + // Add elements to results, through postFinder if defined + } else { + matcherOut = condense( + matcherOut === results ? + matcherOut.splice( preexisting, matcherOut.length ) : + matcherOut + ); + if ( postFinder ) { + postFinder( null, results, matcherOut, xml ); + } else { + push.apply( results, matcherOut ); + } + } + }); +} + +function matcherFromTokens( tokens ) { + var checkContext, matcher, j, + len = tokens.length, + leadingRelative = Expr.relative[ tokens[0].type ], + implicitRelative = leadingRelative || Expr.relative[" "], + i = leadingRelative ? 1 : 0, + + // The foundational matcher ensures that elements are reachable from top-level context(s) + matchContext = addCombinator( function( elem ) { + return elem === checkContext; + }, implicitRelative, true ), + matchAnyContext = addCombinator( function( elem ) { + return indexOf( checkContext, elem ) > -1; + }, implicitRelative, true ), + matchers = [ function( elem, context, xml ) { + var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || ( + (checkContext = context).nodeType ? + matchContext( elem, context, xml ) : + matchAnyContext( elem, context, xml ) ); + // Avoid hanging onto element (issue #299) + checkContext = null; + return ret; + } ]; + + for ( ; i < len; i++ ) { + if ( (matcher = Expr.relative[ tokens[i].type ]) ) { + matchers = [ addCombinator(elementMatcher( matchers ), matcher) ]; + } else { + matcher = Expr.filter[ tokens[i].type ].apply( null, tokens[i].matches ); + + // Return special upon seeing a positional matcher + if ( matcher[ expando ] ) { + // Find the next relative operator (if any) for proper handling + j = ++i; + for ( ; j < len; j++ ) { + if ( Expr.relative[ tokens[j].type ] ) { + break; + } + } + return setMatcher( + i > 1 && elementMatcher( matchers ), + i > 1 && toSelector( + // If the preceding token was a descendant combinator, insert an implicit any-element `*` + tokens.slice( 0, i - 1 ).concat({ value: tokens[ i - 2 ].type === " " ? "*" : "" }) + ).replace( rtrim, "$1" ), + matcher, + i < j && matcherFromTokens( tokens.slice( i, j ) ), + j < len && matcherFromTokens( (tokens = tokens.slice( j )) ), + j < len && toSelector( tokens ) + ); + } + matchers.push( matcher ); + } + } + + return elementMatcher( matchers ); +} + +function matcherFromGroupMatchers( elementMatchers, setMatchers ) { + var bySet = setMatchers.length > 0, + byElement = elementMatchers.length > 0, + superMatcher = function( seed, context, xml, results, outermost ) { + var elem, j, matcher, + matchedCount = 0, + i = "0", + unmatched = seed && [], + setMatched = [], + contextBackup = outermostContext, + // We must always have either seed elements or outermost context + elems = seed || byElement && Expr.find["TAG"]( "*", outermost ), + // Use integer dirruns iff this is the outermost matcher + dirrunsUnique = (dirruns += contextBackup == null ? 1 : Math.random() || 0.1), + len = elems.length; + + if ( outermost ) { + outermostContext = context === document || context || outermost; + } + + // Add elements passing elementMatchers directly to results + // Support: IE<9, Safari + // Tolerate NodeList properties (IE: "length"; Safari: ) matching elements by id + for ( ; i !== len && (elem = elems[i]) != null; i++ ) { + if ( byElement && elem ) { + j = 0; + if ( !context && elem.ownerDocument !== document ) { + setDocument( elem ); + xml = !documentIsHTML; + } + while ( (matcher = elementMatchers[j++]) ) { + if ( matcher( elem, context || document, xml) ) { + results.push( elem ); + break; + } + } + if ( outermost ) { + dirruns = dirrunsUnique; + } + } + + // Track unmatched elements for set filters + if ( bySet ) { + // They will have gone through all possible matchers + if ( (elem = !matcher && elem) ) { + matchedCount--; + } + + // Lengthen the array for every element, matched or not + if ( seed ) { + unmatched.push( elem ); + } + } + } + + // `i` is now the count of elements visited above, and adding it to `matchedCount` + // makes the latter nonnegative. + matchedCount += i; + + // Apply set filters to unmatched elements + // NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount` + // equals `i`), unless we didn't visit _any_ elements in the above loop because we have + // no element matchers and no seed. + // Incrementing an initially-string "0" `i` allows `i` to remain a string only in that + // case, which will result in a "00" `matchedCount` that differs from `i` but is also + // numerically zero. + if ( bySet && i !== matchedCount ) { + j = 0; + while ( (matcher = setMatchers[j++]) ) { + matcher( unmatched, setMatched, context, xml ); + } + + if ( seed ) { + // Reintegrate element matches to eliminate the need for sorting + if ( matchedCount > 0 ) { + while ( i-- ) { + if ( !(unmatched[i] || setMatched[i]) ) { + setMatched[i] = pop.call( results ); + } + } + } + + // Discard index placeholder values to get only actual matches + setMatched = condense( setMatched ); + } + + // Add matches to results + push.apply( results, setMatched ); + + // Seedless set matches succeeding multiple successful matchers stipulate sorting + if ( outermost && !seed && setMatched.length > 0 && + ( matchedCount + setMatchers.length ) > 1 ) { + + Sizzle.uniqueSort( results ); + } + } + + // Override manipulation of globals by nested matchers + if ( outermost ) { + dirruns = dirrunsUnique; + outermostContext = contextBackup; + } + + return unmatched; + }; + + return bySet ? + markFunction( superMatcher ) : + superMatcher; +} + +compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) { + var i, + setMatchers = [], + elementMatchers = [], + cached = compilerCache[ selector + " " ]; + + if ( !cached ) { + // Generate a function of recursive functions that can be used to check each element + if ( !match ) { + match = tokenize( selector ); + } + i = match.length; + while ( i-- ) { + cached = matcherFromTokens( match[i] ); + if ( cached[ expando ] ) { + setMatchers.push( cached ); + } else { + elementMatchers.push( cached ); + } + } + + // Cache the compiled function + cached = compilerCache( selector, matcherFromGroupMatchers( elementMatchers, setMatchers ) ); + + // Save selector and tokenization + cached.selector = selector; + } + return cached; +}; + +/** + * A low-level selection function that works with Sizzle's compiled + * selector functions + * @param {String|Function} selector A selector or a pre-compiled + * selector function built with Sizzle.compile + * @param {Element} context + * @param {Array} [results] + * @param {Array} [seed] A set of elements to match against + */ +select = Sizzle.select = function( selector, context, results, seed ) { + var i, tokens, token, type, find, + compiled = typeof selector === "function" && selector, + match = !seed && tokenize( (selector = compiled.selector || selector) ); + + results = results || []; + + // Try to minimize operations if there is only one selector in the list and no seed + // (the latter of which guarantees us context) + if ( match.length === 1 ) { + + // Reduce context if the leading compound selector is an ID + tokens = match[0] = match[0].slice( 0 ); + if ( tokens.length > 2 && (token = tokens[0]).type === "ID" && + support.getById && context.nodeType === 9 && documentIsHTML && + Expr.relative[ tokens[1].type ] ) { + + context = ( Expr.find["ID"]( token.matches[0].replace(runescape, funescape), context ) || [] )[0]; + if ( !context ) { + return results; + + // Precompiled matchers will still verify ancestry, so step up a level + } else if ( compiled ) { + context = context.parentNode; + } + + selector = selector.slice( tokens.shift().value.length ); + } + + // Fetch a seed set for right-to-left matching + i = matchExpr["needsContext"].test( selector ) ? 0 : tokens.length; + while ( i-- ) { + token = tokens[i]; + + // Abort if we hit a combinator + if ( Expr.relative[ (type = token.type) ] ) { + break; + } + if ( (find = Expr.find[ type ]) ) { + // Search, expanding context for leading sibling combinators + if ( (seed = find( + token.matches[0].replace( runescape, funescape ), + rsibling.test( tokens[0].type ) && testContext( context.parentNode ) || context + )) ) { + + // If seed is empty or no tokens remain, we can return early + tokens.splice( i, 1 ); + selector = seed.length && toSelector( tokens ); + if ( !selector ) { + push.apply( results, seed ); + return results; + } + + break; + } + } + } + } + + // Compile and execute a filtering function if one is not provided + // Provide `match` to avoid retokenization if we modified the selector above + ( compiled || compile( selector, match ) )( + seed, + context, + !documentIsHTML, + results, + !context || rsibling.test( selector ) && testContext( context.parentNode ) || context + ); + return results; +}; + +// One-time assignments + +// Sort stability +support.sortStable = expando.split("").sort( sortOrder ).join("") === expando; + +// Support: Chrome 14-35+ +// Always assume duplicates if they aren't passed to the comparison function +support.detectDuplicates = !!hasDuplicate; + +// Initialize against the default document +setDocument(); + +// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27) +// Detached nodes confoundingly follow *each other* +support.sortDetached = assert(function( el ) { + // Should return 1, but returns 4 (following) + return el.compareDocumentPosition( document.createElement("fieldset") ) & 1; +}); + +// Support: IE<8 +// Prevent attribute/property "interpolation" +// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx +if ( !assert(function( el ) { + el.innerHTML = ""; + return el.firstChild.getAttribute("href") === "#" ; +}) ) { + addHandle( "type|href|height|width", function( elem, name, isXML ) { + if ( !isXML ) { + return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 ); + } + }); +} + +// Support: IE<9 +// Use defaultValue in place of getAttribute("value") +if ( !support.attributes || !assert(function( el ) { + el.innerHTML = ""; + el.firstChild.setAttribute( "value", "" ); + return el.firstChild.getAttribute( "value" ) === ""; +}) ) { + addHandle( "value", function( elem, name, isXML ) { + if ( !isXML && elem.nodeName.toLowerCase() === "input" ) { + return elem.defaultValue; + } + }); +} + +// Support: IE<9 +// Use getAttributeNode to fetch booleans when getAttribute lies +if ( !assert(function( el ) { + return el.getAttribute("disabled") == null; +}) ) { + addHandle( booleans, function( elem, name, isXML ) { + var val; + if ( !isXML ) { + return elem[ name ] === true ? name.toLowerCase() : + (val = elem.getAttributeNode( name )) && val.specified ? + val.value : + null; + } + }); +} + +return Sizzle; + +})( window ); + + + +jQuery.find = Sizzle; +jQuery.expr = Sizzle.selectors; + +// Deprecated +jQuery.expr[ ":" ] = jQuery.expr.pseudos; +jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort; +jQuery.text = Sizzle.getText; +jQuery.isXMLDoc = Sizzle.isXML; +jQuery.contains = Sizzle.contains; +jQuery.escapeSelector = Sizzle.escape; + + + + +var dir = function( elem, dir, until ) { + var matched = [], + truncate = until !== undefined; + + while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) { + if ( elem.nodeType === 1 ) { + if ( truncate && jQuery( elem ).is( until ) ) { + break; + } + matched.push( elem ); + } + } + return matched; +}; + + +var siblings = function( n, elem ) { + var matched = []; + + for ( ; n; n = n.nextSibling ) { + if ( n.nodeType === 1 && n !== elem ) { + matched.push( n ); + } + } + + return matched; +}; + + +var rneedsContext = jQuery.expr.match.needsContext; + +var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i ); + + + +var risSimple = /^.[^:#\[\.,]*$/; + +// Implement the identical functionality for filter and not +function winnow( elements, qualifier, not ) { + if ( jQuery.isFunction( qualifier ) ) { + return jQuery.grep( elements, function( elem, i ) { + return !!qualifier.call( elem, i, elem ) !== not; + } ); + + } + + if ( qualifier.nodeType ) { + return jQuery.grep( elements, function( elem ) { + return ( elem === qualifier ) !== not; + } ); + + } + + if ( typeof qualifier === "string" ) { + if ( risSimple.test( qualifier ) ) { + return jQuery.filter( qualifier, elements, not ); + } + + qualifier = jQuery.filter( qualifier, elements ); + } + + return jQuery.grep( elements, function( elem ) { + return ( indexOf.call( qualifier, elem ) > -1 ) !== not && elem.nodeType === 1; + } ); +} + +jQuery.filter = function( expr, elems, not ) { + var elem = elems[ 0 ]; + + if ( not ) { + expr = ":not(" + expr + ")"; + } + + return elems.length === 1 && elem.nodeType === 1 ? + jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : [] : + jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) { + return elem.nodeType === 1; + } ) ); +}; + +jQuery.fn.extend( { + find: function( selector ) { + var i, ret, + len = this.length, + self = this; + + if ( typeof selector !== "string" ) { + return this.pushStack( jQuery( selector ).filter( function() { + for ( i = 0; i < len; i++ ) { + if ( jQuery.contains( self[ i ], this ) ) { + return true; + } + } + } ) ); + } + + ret = this.pushStack( [] ); + + for ( i = 0; i < len; i++ ) { + jQuery.find( selector, self[ i ], ret ); + } + + return len > 1 ? jQuery.uniqueSort( ret ) : ret; + }, + filter: function( selector ) { + return this.pushStack( winnow( this, selector || [], false ) ); + }, + not: function( selector ) { + return this.pushStack( winnow( this, selector || [], true ) ); + }, + is: function( selector ) { + return !!winnow( + this, + + // If this is a positional/relative selector, check membership in the returned set + // so $("p:first").is("p:last") won't return true for a doc with two "p". + typeof selector === "string" && rneedsContext.test( selector ) ? + jQuery( selector ) : + selector || [], + false + ).length; + } +} ); + + +// Initialize a jQuery object + + +// A central reference to the root jQuery(document) +var rootjQuery, + + // A simple way to check for HTML strings + // Prioritize #id over to avoid XSS via location.hash (#9521) + // Strict HTML recognition (#11290: must start with <) + // Shortcut simple #id case for speed + rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/, + + init = jQuery.fn.init = function( selector, context, root ) { + var match, elem; + + // HANDLE: $(""), $(null), $(undefined), $(false) + if ( !selector ) { + return this; + } + + // Method init() accepts an alternate rootjQuery + // so migrate can support jQuery.sub (gh-2101) + root = root || rootjQuery; + + // Handle HTML strings + if ( typeof selector === "string" ) { + if ( selector[ 0 ] === "<" && + selector[ selector.length - 1 ] === ">" && + selector.length >= 3 ) { + + // Assume that strings that start and end with <> are HTML and skip the regex check + match = [ null, selector, null ]; + + } else { + match = rquickExpr.exec( selector ); + } + + // Match html or make sure no context is specified for #id + if ( match && ( match[ 1 ] || !context ) ) { + + // HANDLE: $(html) -> $(array) + if ( match[ 1 ] ) { + context = context instanceof jQuery ? context[ 0 ] : context; + + // Option to run scripts is true for back-compat + // Intentionally let the error be thrown if parseHTML is not present + jQuery.merge( this, jQuery.parseHTML( + match[ 1 ], + context && context.nodeType ? context.ownerDocument || context : document, + true + ) ); + + // HANDLE: $(html, props) + if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) { + for ( match in context ) { + + // Properties of context are called as methods if possible + if ( jQuery.isFunction( this[ match ] ) ) { + this[ match ]( context[ match ] ); + + // ...and otherwise set as attributes + } else { + this.attr( match, context[ match ] ); + } + } + } + + return this; + + // HANDLE: $(#id) + } else { + elem = document.getElementById( match[ 2 ] ); + + if ( elem ) { + + // Inject the element directly into the jQuery object + this[ 0 ] = elem; + this.length = 1; + } + return this; + } + + // HANDLE: $(expr, $(...)) + } else if ( !context || context.jquery ) { + return ( context || root ).find( selector ); + + // HANDLE: $(expr, context) + // (which is just equivalent to: $(context).find(expr) + } else { + return this.constructor( context ).find( selector ); + } + + // HANDLE: $(DOMElement) + } else if ( selector.nodeType ) { + this[ 0 ] = selector; + this.length = 1; + return this; + + // HANDLE: $(function) + // Shortcut for document ready + } else if ( jQuery.isFunction( selector ) ) { + return root.ready !== undefined ? + root.ready( selector ) : + + // Execute immediately if ready is not present + selector( jQuery ); + } + + return jQuery.makeArray( selector, this ); + }; + +// Give the init function the jQuery prototype for later instantiation +init.prototype = jQuery.fn; + +// Initialize central reference +rootjQuery = jQuery( document ); + + +var rparentsprev = /^(?:parents|prev(?:Until|All))/, + + // Methods guaranteed to produce a unique set when starting from a unique set + guaranteedUnique = { + children: true, + contents: true, + next: true, + prev: true + }; + +jQuery.fn.extend( { + has: function( target ) { + var targets = jQuery( target, this ), + l = targets.length; + + return this.filter( function() { + var i = 0; + for ( ; i < l; i++ ) { + if ( jQuery.contains( this, targets[ i ] ) ) { + return true; + } + } + } ); + }, + + closest: function( selectors, context ) { + var cur, + i = 0, + l = this.length, + matched = [], + targets = typeof selectors !== "string" && jQuery( selectors ); + + // Positional selectors never match, since there's no _selection_ context + if ( !rneedsContext.test( selectors ) ) { + for ( ; i < l; i++ ) { + for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) { + + // Always skip document fragments + if ( cur.nodeType < 11 && ( targets ? + targets.index( cur ) > -1 : + + // Don't pass non-elements to Sizzle + cur.nodeType === 1 && + jQuery.find.matchesSelector( cur, selectors ) ) ) { + + matched.push( cur ); + break; + } + } + } + } + + return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched ); + }, + + // Determine the position of an element within the set + index: function( elem ) { + + // No argument, return index in parent + if ( !elem ) { + return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1; + } + + // Index in selector + if ( typeof elem === "string" ) { + return indexOf.call( jQuery( elem ), this[ 0 ] ); + } + + // Locate the position of the desired element + return indexOf.call( this, + + // If it receives a jQuery object, the first element is used + elem.jquery ? elem[ 0 ] : elem + ); + }, + + add: function( selector, context ) { + return this.pushStack( + jQuery.uniqueSort( + jQuery.merge( this.get(), jQuery( selector, context ) ) + ) + ); + }, + + addBack: function( selector ) { + return this.add( selector == null ? + this.prevObject : this.prevObject.filter( selector ) + ); + } +} ); + +function sibling( cur, dir ) { + while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {} + return cur; +} + +jQuery.each( { + parent: function( elem ) { + var parent = elem.parentNode; + return parent && parent.nodeType !== 11 ? parent : null; + }, + parents: function( elem ) { + return dir( elem, "parentNode" ); + }, + parentsUntil: function( elem, i, until ) { + return dir( elem, "parentNode", until ); + }, + next: function( elem ) { + return sibling( elem, "nextSibling" ); + }, + prev: function( elem ) { + return sibling( elem, "previousSibling" ); + }, + nextAll: function( elem ) { + return dir( elem, "nextSibling" ); + }, + prevAll: function( elem ) { + return dir( elem, "previousSibling" ); + }, + nextUntil: function( elem, i, until ) { + return dir( elem, "nextSibling", until ); + }, + prevUntil: function( elem, i, until ) { + return dir( elem, "previousSibling", until ); + }, + siblings: function( elem ) { + return siblings( ( elem.parentNode || {} ).firstChild, elem ); + }, + children: function( elem ) { + return siblings( elem.firstChild ); + }, + contents: function( elem ) { + return elem.contentDocument || jQuery.merge( [], elem.childNodes ); + } +}, function( name, fn ) { + jQuery.fn[ name ] = function( until, selector ) { + var matched = jQuery.map( this, fn, until ); + + if ( name.slice( -5 ) !== "Until" ) { + selector = until; + } + + if ( selector && typeof selector === "string" ) { + matched = jQuery.filter( selector, matched ); + } + + if ( this.length > 1 ) { + + // Remove duplicates + if ( !guaranteedUnique[ name ] ) { + jQuery.uniqueSort( matched ); + } + + // Reverse order for parents* and prev-derivatives + if ( rparentsprev.test( name ) ) { + matched.reverse(); + } + } + + return this.pushStack( matched ); + }; +} ); +var rnotwhite = ( /\S+/g ); + + + +// Convert String-formatted options into Object-formatted ones +function createOptions( options ) { + var object = {}; + jQuery.each( options.match( rnotwhite ) || [], function( _, flag ) { + object[ flag ] = true; + } ); + return object; +} + +/* + * Create a callback list using the following parameters: + * + * options: an optional list of space-separated options that will change how + * the callback list behaves or a more traditional option object + * + * By default a callback list will act like an event callback list and can be + * "fired" multiple times. + * + * Possible options: + * + * once: will ensure the callback list can only be fired once (like a Deferred) + * + * memory: will keep track of previous values and will call any callback added + * after the list has been fired right away with the latest "memorized" + * values (like a Deferred) + * + * unique: will ensure a callback can only be added once (no duplicate in the list) + * + * stopOnFalse: interrupt callings when a callback returns false + * + */ +jQuery.Callbacks = function( options ) { + + // Convert options from String-formatted to Object-formatted if needed + // (we check in cache first) + options = typeof options === "string" ? + createOptions( options ) : + jQuery.extend( {}, options ); + + var // Flag to know if list is currently firing + firing, + + // Last fire value for non-forgettable lists + memory, + + // Flag to know if list was already fired + fired, + + // Flag to prevent firing + locked, + + // Actual callback list + list = [], + + // Queue of execution data for repeatable lists + queue = [], + + // Index of currently firing callback (modified by add/remove as needed) + firingIndex = -1, + + // Fire callbacks + fire = function() { + + // Enforce single-firing + locked = options.once; + + // Execute callbacks for all pending executions, + // respecting firingIndex overrides and runtime changes + fired = firing = true; + for ( ; queue.length; firingIndex = -1 ) { + memory = queue.shift(); + while ( ++firingIndex < list.length ) { + + // Run callback and check for early termination + if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false && + options.stopOnFalse ) { + + // Jump to end and forget the data so .add doesn't re-fire + firingIndex = list.length; + memory = false; + } + } + } + + // Forget the data if we're done with it + if ( !options.memory ) { + memory = false; + } + + firing = false; + + // Clean up if we're done firing for good + if ( locked ) { + + // Keep an empty list if we have data for future add calls + if ( memory ) { + list = []; + + // Otherwise, this object is spent + } else { + list = ""; + } + } + }, + + // Actual Callbacks object + self = { + + // Add a callback or a collection of callbacks to the list + add: function() { + if ( list ) { + + // If we have memory from a past run, we should fire after adding + if ( memory && !firing ) { + firingIndex = list.length - 1; + queue.push( memory ); + } + + ( function add( args ) { + jQuery.each( args, function( _, arg ) { + if ( jQuery.isFunction( arg ) ) { + if ( !options.unique || !self.has( arg ) ) { + list.push( arg ); + } + } else if ( arg && arg.length && jQuery.type( arg ) !== "string" ) { + + // Inspect recursively + add( arg ); + } + } ); + } )( arguments ); + + if ( memory && !firing ) { + fire(); + } + } + return this; + }, + + // Remove a callback from the list + remove: function() { + jQuery.each( arguments, function( _, arg ) { + var index; + while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) { + list.splice( index, 1 ); + + // Handle firing indexes + if ( index <= firingIndex ) { + firingIndex--; + } + } + } ); + return this; + }, + + // Check if a given callback is in the list. + // If no argument is given, return whether or not list has callbacks attached. + has: function( fn ) { + return fn ? + jQuery.inArray( fn, list ) > -1 : + list.length > 0; + }, + + // Remove all callbacks from the list + empty: function() { + if ( list ) { + list = []; + } + return this; + }, + + // Disable .fire and .add + // Abort any current/pending executions + // Clear all callbacks and values + disable: function() { + locked = queue = []; + list = memory = ""; + return this; + }, + disabled: function() { + return !list; + }, + + // Disable .fire + // Also disable .add unless we have memory (since it would have no effect) + // Abort any pending executions + lock: function() { + locked = queue = []; + if ( !memory && !firing ) { + list = memory = ""; + } + return this; + }, + locked: function() { + return !!locked; + }, + + // Call all callbacks with the given context and arguments + fireWith: function( context, args ) { + if ( !locked ) { + args = args || []; + args = [ context, args.slice ? args.slice() : args ]; + queue.push( args ); + if ( !firing ) { + fire(); + } + } + return this; + }, + + // Call all the callbacks with the given arguments + fire: function() { + self.fireWith( this, arguments ); + return this; + }, + + // To know if the callbacks have already been called at least once + fired: function() { + return !!fired; + } + }; + + return self; +}; + + +function Identity( v ) { + return v; +} +function Thrower( ex ) { + throw ex; +} + +function adoptValue( value, resolve, reject ) { + var method; + + try { + + // Check for promise aspect first to privilege synchronous behavior + if ( value && jQuery.isFunction( ( method = value.promise ) ) ) { + method.call( value ).done( resolve ).fail( reject ); + + // Other thenables + } else if ( value && jQuery.isFunction( ( method = value.then ) ) ) { + method.call( value, resolve, reject ); + + // Other non-thenables + } else { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + resolve.call( undefined, value ); + } + + // For Promises/A+, convert exceptions into rejections + // Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in + // Deferred#then to conditionally suppress rejection. + } catch ( value ) { + + // Support: Android 4.0 only + // Strict mode functions invoked without .call/.apply get global-object context + reject.call( undefined, value ); + } +} + +jQuery.extend( { + + Deferred: function( func ) { + var tuples = [ + + // action, add listener, callbacks, + // ... .then handlers, argument index, [final state] + [ "notify", "progress", jQuery.Callbacks( "memory" ), + jQuery.Callbacks( "memory" ), 2 ], + [ "resolve", "done", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 0, "resolved" ], + [ "reject", "fail", jQuery.Callbacks( "once memory" ), + jQuery.Callbacks( "once memory" ), 1, "rejected" ] + ], + state = "pending", + promise = { + state: function() { + return state; + }, + always: function() { + deferred.done( arguments ).fail( arguments ); + return this; + }, + "catch": function( fn ) { + return promise.then( null, fn ); + }, + + // Keep pipe for back-compat + pipe: function( /* fnDone, fnFail, fnProgress */ ) { + var fns = arguments; + + return jQuery.Deferred( function( newDefer ) { + jQuery.each( tuples, function( i, tuple ) { + + // Map tuples (progress, done, fail) to arguments (done, fail, progress) + var fn = jQuery.isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ]; + + // deferred.progress(function() { bind to newDefer or newDefer.notify }) + // deferred.done(function() { bind to newDefer or newDefer.resolve }) + // deferred.fail(function() { bind to newDefer or newDefer.reject }) + deferred[ tuple[ 1 ] ]( function() { + var returned = fn && fn.apply( this, arguments ); + if ( returned && jQuery.isFunction( returned.promise ) ) { + returned.promise() + .progress( newDefer.notify ) + .done( newDefer.resolve ) + .fail( newDefer.reject ); + } else { + newDefer[ tuple[ 0 ] + "With" ]( + this, + fn ? [ returned ] : arguments + ); + } + } ); + } ); + fns = null; + } ).promise(); + }, + then: function( onFulfilled, onRejected, onProgress ) { + var maxDepth = 0; + function resolve( depth, deferred, handler, special ) { + return function() { + var that = this, + args = arguments, + mightThrow = function() { + var returned, then; + + // Support: Promises/A+ section 2.3.3.3.3 + // https://promisesaplus.com/#point-59 + // Ignore double-resolution attempts + if ( depth < maxDepth ) { + return; + } + + returned = handler.apply( that, args ); + + // Support: Promises/A+ section 2.3.1 + // https://promisesaplus.com/#point-48 + if ( returned === deferred.promise() ) { + throw new TypeError( "Thenable self-resolution" ); + } + + // Support: Promises/A+ sections 2.3.3.1, 3.5 + // https://promisesaplus.com/#point-54 + // https://promisesaplus.com/#point-75 + // Retrieve `then` only once + then = returned && + + // Support: Promises/A+ section 2.3.4 + // https://promisesaplus.com/#point-64 + // Only check objects and functions for thenability + ( typeof returned === "object" || + typeof returned === "function" ) && + returned.then; + + // Handle a returned thenable + if ( jQuery.isFunction( then ) ) { + + // Special processors (notify) just wait for resolution + if ( special ) { + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ) + ); + + // Normal processors (resolve) also hook into progress + } else { + + // ...and disregard older resolution values + maxDepth++; + + then.call( + returned, + resolve( maxDepth, deferred, Identity, special ), + resolve( maxDepth, deferred, Thrower, special ), + resolve( maxDepth, deferred, Identity, + deferred.notifyWith ) + ); + } + + // Handle all other returned values + } else { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Identity ) { + that = undefined; + args = [ returned ]; + } + + // Process the value(s) + // Default process is resolve + ( special || deferred.resolveWith )( that, args ); + } + }, + + // Only normal processors (resolve) catch and reject exceptions + process = special ? + mightThrow : + function() { + try { + mightThrow(); + } catch ( e ) { + + if ( jQuery.Deferred.exceptionHook ) { + jQuery.Deferred.exceptionHook( e, + process.stackTrace ); + } + + // Support: Promises/A+ section 2.3.3.3.4.1 + // https://promisesaplus.com/#point-61 + // Ignore post-resolution exceptions + if ( depth + 1 >= maxDepth ) { + + // Only substitute handlers pass on context + // and multiple values (non-spec behavior) + if ( handler !== Thrower ) { + that = undefined; + args = [ e ]; + } + + deferred.rejectWith( that, args ); + } + } + }; + + // Support: Promises/A+ section 2.3.3.3.1 + // https://promisesaplus.com/#point-57 + // Re-resolve promises immediately to dodge false rejection from + // subsequent errors + if ( depth ) { + process(); + } else { + + // Call an optional hook to record the stack, in case of exception + // since it's otherwise lost when execution goes async + if ( jQuery.Deferred.getStackHook ) { + process.stackTrace = jQuery.Deferred.getStackHook(); + } + window.setTimeout( process ); + } + }; + } + + return jQuery.Deferred( function( newDefer ) { + + // progress_handlers.add( ... ) + tuples[ 0 ][ 3 ].add( + resolve( + 0, + newDefer, + jQuery.isFunction( onProgress ) ? + onProgress : + Identity, + newDefer.notifyWith + ) + ); + + // fulfilled_handlers.add( ... ) + tuples[ 1 ][ 3 ].add( + resolve( + 0, + newDefer, + jQuery.isFunction( onFulfilled ) ? + onFulfilled : + Identity + ) + ); + + // rejected_handlers.add( ... ) + tuples[ 2 ][ 3 ].add( + resolve( + 0, + newDefer, + jQuery.isFunction( onRejected ) ? + onRejected : + Thrower + ) + ); + } ).promise(); + }, + + // Get a promise for this deferred + // If obj is provided, the promise aspect is added to the object + promise: function( obj ) { + return obj != null ? jQuery.extend( obj, promise ) : promise; + } + }, + deferred = {}; + + // Add list-specific methods + jQuery.each( tuples, function( i, tuple ) { + var list = tuple[ 2 ], + stateString = tuple[ 5 ]; + + // promise.progress = list.add + // promise.done = list.add + // promise.fail = list.add + promise[ tuple[ 1 ] ] = list.add; + + // Handle state + if ( stateString ) { + list.add( + function() { + + // state = "resolved" (i.e., fulfilled) + // state = "rejected" + state = stateString; + }, + + // rejected_callbacks.disable + // fulfilled_callbacks.disable + tuples[ 3 - i ][ 2 ].disable, + + // progress_callbacks.lock + tuples[ 0 ][ 2 ].lock + ); + } + + // progress_handlers.fire + // fulfilled_handlers.fire + // rejected_handlers.fire + list.add( tuple[ 3 ].fire ); + + // deferred.notify = function() { deferred.notifyWith(...) } + // deferred.resolve = function() { deferred.resolveWith(...) } + // deferred.reject = function() { deferred.rejectWith(...) } + deferred[ tuple[ 0 ] ] = function() { + deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments ); + return this; + }; + + // deferred.notifyWith = list.fireWith + // deferred.resolveWith = list.fireWith + // deferred.rejectWith = list.fireWith + deferred[ tuple[ 0 ] + "With" ] = list.fireWith; + } ); + + // Make the deferred a promise + promise.promise( deferred ); + + // Call given func if any + if ( func ) { + func.call( deferred, deferred ); + } + + // All done! + return deferred; + }, + + // Deferred helper + when: function( singleValue ) { + var + + // count of uncompleted subordinates + remaining = arguments.length, + + // count of unprocessed arguments + i = remaining, + + // subordinate fulfillment data + resolveContexts = Array( i ), + resolveValues = slice.call( arguments ), + + // the master Deferred + master = jQuery.Deferred(), + + // subordinate callback factory + updateFunc = function( i ) { + return function( value ) { + resolveContexts[ i ] = this; + resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value; + if ( !( --remaining ) ) { + master.resolveWith( resolveContexts, resolveValues ); + } + }; + }; + + // Single- and empty arguments are adopted like Promise.resolve + if ( remaining <= 1 ) { + adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject ); + + // Use .then() to unwrap secondary thenables (cf. gh-3000) + if ( master.state() === "pending" || + jQuery.isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) { + + return master.then(); + } + } + + // Multiple arguments are aggregated like Promise.all array elements + while ( i-- ) { + adoptValue( resolveValues[ i ], updateFunc( i ), master.reject ); + } + + return master.promise(); + } +} ); + + +// These usually indicate a programmer mistake during development, +// warn about them ASAP rather than swallowing them by default. +var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/; + +jQuery.Deferred.exceptionHook = function( error, stack ) { + + // Support: IE 8 - 9 only + // Console exists when dev tools are open, which can happen at any time + if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) { + window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack ); + } +}; + + + + +jQuery.readyException = function( error ) { + window.setTimeout( function() { + throw error; + } ); +}; + + + + +// The deferred used on DOM ready +var readyList = jQuery.Deferred(); + +jQuery.fn.ready = function( fn ) { + + readyList + .then( fn ) + + // Wrap jQuery.readyException in a function so that the lookup + // happens at the time of error handling instead of callback + // registration. + .catch( function( error ) { + jQuery.readyException( error ); + } ); + + return this; +}; + +jQuery.extend( { + + // Is the DOM ready to be used? Set to true once it occurs. + isReady: false, + + // A counter to track how many items to wait for before + // the ready event fires. See #6781 + readyWait: 1, + + // Hold (or release) the ready event + holdReady: function( hold ) { + if ( hold ) { + jQuery.readyWait++; + } else { + jQuery.ready( true ); + } + }, + + // Handle when the DOM is ready + ready: function( wait ) { + + // Abort if there are pending holds or we're already ready + if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) { + return; + } + + // Remember that the DOM is ready + jQuery.isReady = true; + + // If a normal DOM Ready event fired, decrement, and wait if need be + if ( wait !== true && --jQuery.readyWait > 0 ) { + return; + } + + // If there are functions bound, to execute + readyList.resolveWith( document, [ jQuery ] ); + } +} ); + +jQuery.ready.then = readyList.then; + +// The ready event handler and self cleanup method +function completed() { + document.removeEventListener( "DOMContentLoaded", completed ); + window.removeEventListener( "load", completed ); + jQuery.ready(); +} + +// Catch cases where $(document).ready() is called +// after the browser event has already occurred. +// Support: IE <=9 - 10 only +// Older IE sometimes signals "interactive" too soon +if ( document.readyState === "complete" || + ( document.readyState !== "loading" && !document.documentElement.doScroll ) ) { + + // Handle it asynchronously to allow scripts the opportunity to delay ready + window.setTimeout( jQuery.ready ); + +} else { + + // Use the handy event callback + document.addEventListener( "DOMContentLoaded", completed ); + + // A fallback to window.onload, that will always work + window.addEventListener( "load", completed ); +} + + + + +// Multifunctional method to get and set values of a collection +// The value/s can optionally be executed if it's a function +var access = function( elems, fn, key, value, chainable, emptyGet, raw ) { + var i = 0, + len = elems.length, + bulk = key == null; + + // Sets many values + if ( jQuery.type( key ) === "object" ) { + chainable = true; + for ( i in key ) { + access( elems, fn, i, key[ i ], true, emptyGet, raw ); + } + + // Sets one value + } else if ( value !== undefined ) { + chainable = true; + + if ( !jQuery.isFunction( value ) ) { + raw = true; + } + + if ( bulk ) { + + // Bulk operations run against the entire set + if ( raw ) { + fn.call( elems, value ); + fn = null; + + // ...except when executing function values + } else { + bulk = fn; + fn = function( elem, key, value ) { + return bulk.call( jQuery( elem ), value ); + }; + } + } + + if ( fn ) { + for ( ; i < len; i++ ) { + fn( + elems[ i ], key, raw ? + value : + value.call( elems[ i ], i, fn( elems[ i ], key ) ) + ); + } + } + } + + return chainable ? + elems : + + // Gets + bulk ? + fn.call( elems ) : + len ? fn( elems[ 0 ], key ) : emptyGet; +}; +var acceptData = function( owner ) { + + // Accepts only: + // - Node + // - Node.ELEMENT_NODE + // - Node.DOCUMENT_NODE + // - Object + // - Any + return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType ); +}; + + + + +function Data() { + this.expando = jQuery.expando + Data.uid++; +} + +Data.uid = 1; + +Data.prototype = { + + cache: function( owner ) { + + // Check if the owner object already has a cache + var value = owner[ this.expando ]; + + // If not, create one + if ( !value ) { + value = {}; + + // We can accept data for non-element nodes in modern browsers, + // but we should not, see #8335. + // Always return an empty object. + if ( acceptData( owner ) ) { + + // If it is a node unlikely to be stringify-ed or looped over + // use plain assignment + if ( owner.nodeType ) { + owner[ this.expando ] = value; + + // Otherwise secure it in a non-enumerable property + // configurable must be true to allow the property to be + // deleted when data is removed + } else { + Object.defineProperty( owner, this.expando, { + value: value, + configurable: true + } ); + } + } + } + + return value; + }, + set: function( owner, data, value ) { + var prop, + cache = this.cache( owner ); + + // Handle: [ owner, key, value ] args + // Always use camelCase key (gh-2257) + if ( typeof data === "string" ) { + cache[ jQuery.camelCase( data ) ] = value; + + // Handle: [ owner, { properties } ] args + } else { + + // Copy the properties one-by-one to the cache object + for ( prop in data ) { + cache[ jQuery.camelCase( prop ) ] = data[ prop ]; + } + } + return cache; + }, + get: function( owner, key ) { + return key === undefined ? + this.cache( owner ) : + + // Always use camelCase key (gh-2257) + owner[ this.expando ] && owner[ this.expando ][ jQuery.camelCase( key ) ]; + }, + access: function( owner, key, value ) { + + // In cases where either: + // + // 1. No key was specified + // 2. A string key was specified, but no value provided + // + // Take the "read" path and allow the get method to determine + // which value to return, respectively either: + // + // 1. The entire cache object + // 2. The data stored at the key + // + if ( key === undefined || + ( ( key && typeof key === "string" ) && value === undefined ) ) { + + return this.get( owner, key ); + } + + // When the key is not a string, or both a key and value + // are specified, set or extend (existing objects) with either: + // + // 1. An object of properties + // 2. A key and value + // + this.set( owner, key, value ); + + // Since the "set" path can have two possible entry points + // return the expected data based on which path was taken[*] + return value !== undefined ? value : key; + }, + remove: function( owner, key ) { + var i, + cache = owner[ this.expando ]; + + if ( cache === undefined ) { + return; + } + + if ( key !== undefined ) { + + // Support array or space separated string of keys + if ( jQuery.isArray( key ) ) { + + // If key is an array of keys... + // We always set camelCase keys, so remove that. + key = key.map( jQuery.camelCase ); + } else { + key = jQuery.camelCase( key ); + + // If a key with the spaces exists, use it. + // Otherwise, create an array by matching non-whitespace + key = key in cache ? + [ key ] : + ( key.match( rnotwhite ) || [] ); + } + + i = key.length; + + while ( i-- ) { + delete cache[ key[ i ] ]; + } + } + + // Remove the expando if there's no more data + if ( key === undefined || jQuery.isEmptyObject( cache ) ) { + + // Support: Chrome <=35 - 45 + // Webkit & Blink performance suffers when deleting properties + // from DOM nodes, so set to undefined instead + // https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted) + if ( owner.nodeType ) { + owner[ this.expando ] = undefined; + } else { + delete owner[ this.expando ]; + } + } + }, + hasData: function( owner ) { + var cache = owner[ this.expando ]; + return cache !== undefined && !jQuery.isEmptyObject( cache ); + } +}; +var dataPriv = new Data(); + +var dataUser = new Data(); + + + +// Implementation Summary +// +// 1. Enforce API surface and semantic compatibility with 1.9.x branch +// 2. Improve the module's maintainability by reducing the storage +// paths to a single mechanism. +// 3. Use the same single mechanism to support "private" and "user" data. +// 4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData) +// 5. Avoid exposing implementation details on user objects (eg. expando properties) +// 6. Provide a clear path for implementation upgrade to WeakMap in 2014 + +var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/, + rmultiDash = /[A-Z]/g; + +function dataAttr( elem, key, data ) { + var name; + + // If nothing was found internally, try to fetch any + // data from the HTML5 data-* attribute + if ( data === undefined && elem.nodeType === 1 ) { + name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase(); + data = elem.getAttribute( name ); + + if ( typeof data === "string" ) { + try { + data = data === "true" ? true : + data === "false" ? false : + data === "null" ? null : + + // Only convert to a number if it doesn't change the string + +data + "" === data ? +data : + rbrace.test( data ) ? JSON.parse( data ) : + data; + } catch ( e ) {} + + // Make sure we set the data so it isn't changed later + dataUser.set( elem, key, data ); + } else { + data = undefined; + } + } + return data; +} + +jQuery.extend( { + hasData: function( elem ) { + return dataUser.hasData( elem ) || dataPriv.hasData( elem ); + }, + + data: function( elem, name, data ) { + return dataUser.access( elem, name, data ); + }, + + removeData: function( elem, name ) { + dataUser.remove( elem, name ); + }, + + // TODO: Now that all calls to _data and _removeData have been replaced + // with direct calls to dataPriv methods, these can be deprecated. + _data: function( elem, name, data ) { + return dataPriv.access( elem, name, data ); + }, + + _removeData: function( elem, name ) { + dataPriv.remove( elem, name ); + } +} ); + +jQuery.fn.extend( { + data: function( key, value ) { + var i, name, data, + elem = this[ 0 ], + attrs = elem && elem.attributes; + + // Gets all values + if ( key === undefined ) { + if ( this.length ) { + data = dataUser.get( elem ); + + if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) { + i = attrs.length; + while ( i-- ) { + + // Support: IE 11 only + // The attrs elements can be null (#14894) + if ( attrs[ i ] ) { + name = attrs[ i ].name; + if ( name.indexOf( "data-" ) === 0 ) { + name = jQuery.camelCase( name.slice( 5 ) ); + dataAttr( elem, name, data[ name ] ); + } + } + } + dataPriv.set( elem, "hasDataAttrs", true ); + } + } + + return data; + } + + // Sets multiple values + if ( typeof key === "object" ) { + return this.each( function() { + dataUser.set( this, key ); + } ); + } + + return access( this, function( value ) { + var data; + + // The calling jQuery object (element matches) is not empty + // (and therefore has an element appears at this[ 0 ]) and the + // `value` parameter was not undefined. An empty jQuery object + // will result in `undefined` for elem = this[ 0 ] which will + // throw an exception if an attempt to read a data cache is made. + if ( elem && value === undefined ) { + + // Attempt to get data from the cache + // The key will always be camelCased in Data + data = dataUser.get( elem, key ); + if ( data !== undefined ) { + return data; + } + + // Attempt to "discover" the data in + // HTML5 custom data-* attrs + data = dataAttr( elem, key ); + if ( data !== undefined ) { + return data; + } + + // We tried really hard, but the data doesn't exist. + return; + } + + // Set the data... + this.each( function() { + + // We always store the camelCased key + dataUser.set( this, key, value ); + } ); + }, null, value, arguments.length > 1, null, true ); + }, + + removeData: function( key ) { + return this.each( function() { + dataUser.remove( this, key ); + } ); + } +} ); + + +jQuery.extend( { + queue: function( elem, type, data ) { + var queue; + + if ( elem ) { + type = ( type || "fx" ) + "queue"; + queue = dataPriv.get( elem, type ); + + // Speed up dequeue by getting out quickly if this is just a lookup + if ( data ) { + if ( !queue || jQuery.isArray( data ) ) { + queue = dataPriv.access( elem, type, jQuery.makeArray( data ) ); + } else { + queue.push( data ); + } + } + return queue || []; + } + }, + + dequeue: function( elem, type ) { + type = type || "fx"; + + var queue = jQuery.queue( elem, type ), + startLength = queue.length, + fn = queue.shift(), + hooks = jQuery._queueHooks( elem, type ), + next = function() { + jQuery.dequeue( elem, type ); + }; + + // If the fx queue is dequeued, always remove the progress sentinel + if ( fn === "inprogress" ) { + fn = queue.shift(); + startLength--; + } + + if ( fn ) { + + // Add a progress sentinel to prevent the fx queue from being + // automatically dequeued + if ( type === "fx" ) { + queue.unshift( "inprogress" ); + } + + // Clear up the last queue stop function + delete hooks.stop; + fn.call( elem, next, hooks ); + } + + if ( !startLength && hooks ) { + hooks.empty.fire(); + } + }, + + // Not public - generate a queueHooks object, or return the current one + _queueHooks: function( elem, type ) { + var key = type + "queueHooks"; + return dataPriv.get( elem, key ) || dataPriv.access( elem, key, { + empty: jQuery.Callbacks( "once memory" ).add( function() { + dataPriv.remove( elem, [ type + "queue", key ] ); + } ) + } ); + } +} ); + +jQuery.fn.extend( { + queue: function( type, data ) { + var setter = 2; + + if ( typeof type !== "string" ) { + data = type; + type = "fx"; + setter--; + } + + if ( arguments.length < setter ) { + return jQuery.queue( this[ 0 ], type ); + } + + return data === undefined ? + this : + this.each( function() { + var queue = jQuery.queue( this, type, data ); + + // Ensure a hooks for this queue + jQuery._queueHooks( this, type ); + + if ( type === "fx" && queue[ 0 ] !== "inprogress" ) { + jQuery.dequeue( this, type ); + } + } ); + }, + dequeue: function( type ) { + return this.each( function() { + jQuery.dequeue( this, type ); + } ); + }, + clearQueue: function( type ) { + return this.queue( type || "fx", [] ); + }, + + // Get a promise resolved when queues of a certain type + // are emptied (fx is the type by default) + promise: function( type, obj ) { + var tmp, + count = 1, + defer = jQuery.Deferred(), + elements = this, + i = this.length, + resolve = function() { + if ( !( --count ) ) { + defer.resolveWith( elements, [ elements ] ); + } + }; + + if ( typeof type !== "string" ) { + obj = type; + type = undefined; + } + type = type || "fx"; + + while ( i-- ) { + tmp = dataPriv.get( elements[ i ], type + "queueHooks" ); + if ( tmp && tmp.empty ) { + count++; + tmp.empty.add( resolve ); + } + } + resolve(); + return defer.promise( obj ); + } +} ); +var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source; + +var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" ); + + +var cssExpand = [ "Top", "Right", "Bottom", "Left" ]; + +var isHiddenWithinTree = function( elem, el ) { + + // isHiddenWithinTree might be called from jQuery#filter function; + // in that case, element will be second argument + elem = el || elem; + + // Inline style trumps all + return elem.style.display === "none" || + elem.style.display === "" && + + // Otherwise, check computed style + // Support: Firefox <=43 - 45 + // Disconnected elements can have computed display: none, so first confirm that elem is + // in the document. + jQuery.contains( elem.ownerDocument, elem ) && + + jQuery.css( elem, "display" ) === "none"; + }; + +var swap = function( elem, options, callback, args ) { + var ret, name, + old = {}; + + // Remember the old values, and insert the new ones + for ( name in options ) { + old[ name ] = elem.style[ name ]; + elem.style[ name ] = options[ name ]; + } + + ret = callback.apply( elem, args || [] ); + + // Revert the old values + for ( name in options ) { + elem.style[ name ] = old[ name ]; + } + + return ret; +}; + + + + +function adjustCSS( elem, prop, valueParts, tween ) { + var adjusted, + scale = 1, + maxIterations = 20, + currentValue = tween ? + function() { + return tween.cur(); + } : + function() { + return jQuery.css( elem, prop, "" ); + }, + initial = currentValue(), + unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ), + + // Starting value computation is required for potential unit mismatches + initialInUnit = ( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) && + rcssNum.exec( jQuery.css( elem, prop ) ); + + if ( initialInUnit && initialInUnit[ 3 ] !== unit ) { + + // Trust units reported by jQuery.css + unit = unit || initialInUnit[ 3 ]; + + // Make sure we update the tween properties later on + valueParts = valueParts || []; + + // Iteratively approximate from a nonzero starting point + initialInUnit = +initial || 1; + + do { + + // If previous iteration zeroed out, double until we get *something*. + // Use string for doubling so we don't accidentally see scale as unchanged below + scale = scale || ".5"; + + // Adjust and apply + initialInUnit = initialInUnit / scale; + jQuery.style( elem, prop, initialInUnit + unit ); + + // Update scale, tolerating zero or NaN from tween.cur() + // Break the loop if scale is unchanged or perfect, or if we've just had enough. + } while ( + scale !== ( scale = currentValue() / initial ) && scale !== 1 && --maxIterations + ); + } + + if ( valueParts ) { + initialInUnit = +initialInUnit || +initial || 0; + + // Apply relative offset (+=/-=) if specified + adjusted = valueParts[ 1 ] ? + initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] : + +valueParts[ 2 ]; + if ( tween ) { + tween.unit = unit; + tween.start = initialInUnit; + tween.end = adjusted; + } + } + return adjusted; +} + + +var defaultDisplayMap = {}; + +function getDefaultDisplay( elem ) { + var temp, + doc = elem.ownerDocument, + nodeName = elem.nodeName, + display = defaultDisplayMap[ nodeName ]; + + if ( display ) { + return display; + } + + temp = doc.body.appendChild( doc.createElement( nodeName ) ), + display = jQuery.css( temp, "display" ); + + temp.parentNode.removeChild( temp ); + + if ( display === "none" ) { + display = "block"; + } + defaultDisplayMap[ nodeName ] = display; + + return display; +} + +function showHide( elements, show ) { + var display, elem, + values = [], + index = 0, + length = elements.length; + + // Determine new display value for elements that need to change + for ( ; index < length; index++ ) { + elem = elements[ index ]; + if ( !elem.style ) { + continue; + } + + display = elem.style.display; + if ( show ) { + + // Since we force visibility upon cascade-hidden elements, an immediate (and slow) + // check is required in this first loop unless we have a nonempty display value (either + // inline or about-to-be-restored) + if ( display === "none" ) { + values[ index ] = dataPriv.get( elem, "display" ) || null; + if ( !values[ index ] ) { + elem.style.display = ""; + } + } + if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) { + values[ index ] = getDefaultDisplay( elem ); + } + } else { + if ( display !== "none" ) { + values[ index ] = "none"; + + // Remember what we're overwriting + dataPriv.set( elem, "display", display ); + } + } + } + + // Set the display of the elements in a second loop to avoid constant reflow + for ( index = 0; index < length; index++ ) { + if ( values[ index ] != null ) { + elements[ index ].style.display = values[ index ]; + } + } + + return elements; +} + +jQuery.fn.extend( { + show: function() { + return showHide( this, true ); + }, + hide: function() { + return showHide( this ); + }, + toggle: function( state ) { + if ( typeof state === "boolean" ) { + return state ? this.show() : this.hide(); + } + + return this.each( function() { + if ( isHiddenWithinTree( this ) ) { + jQuery( this ).show(); + } else { + jQuery( this ).hide(); + } + } ); + } +} ); +var rcheckableType = ( /^(?:checkbox|radio)$/i ); + +var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]+)/i ); + +var rscriptType = ( /^$|\/(?:java|ecma)script/i ); + + + +// We have to close these tags to support XHTML (#13200) +var wrapMap = { + + // Support: IE <=9 only + option: [ 1, "" ], + + // XHTML parsers do not magically insert elements in the + // same way that tag soup parsers do. So we cannot shorten + // this by omitting or other required elements. + thead: [ 1, "", "
" ], + col: [ 2, "", "
" ], + tr: [ 2, "", "
" ], + td: [ 3, "", "
" ], + + _default: [ 0, "", "" ] +}; + +// Support: IE <=9 only +wrapMap.optgroup = wrapMap.option; + +wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead; +wrapMap.th = wrapMap.td; + + +function getAll( context, tag ) { + + // Support: IE <=9 - 11 only + // Use typeof to avoid zero-argument method invocation on host objects (#15151) + var ret = typeof context.getElementsByTagName !== "undefined" ? + context.getElementsByTagName( tag || "*" ) : + typeof context.querySelectorAll !== "undefined" ? + context.querySelectorAll( tag || "*" ) : + []; + + return tag === undefined || tag && jQuery.nodeName( context, tag ) ? + jQuery.merge( [ context ], ret ) : + ret; +} + + +// Mark scripts as having already been evaluated +function setGlobalEval( elems, refElements ) { + var i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + dataPriv.set( + elems[ i ], + "globalEval", + !refElements || dataPriv.get( refElements[ i ], "globalEval" ) + ); + } +} + + +var rhtml = /<|&#?\w+;/; + +function buildFragment( elems, context, scripts, selection, ignored ) { + var elem, tmp, tag, wrap, contains, j, + fragment = context.createDocumentFragment(), + nodes = [], + i = 0, + l = elems.length; + + for ( ; i < l; i++ ) { + elem = elems[ i ]; + + if ( elem || elem === 0 ) { + + // Add nodes directly + if ( jQuery.type( elem ) === "object" ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem ); + + // Convert non-html into a text node + } else if ( !rhtml.test( elem ) ) { + nodes.push( context.createTextNode( elem ) ); + + // Convert html into DOM nodes + } else { + tmp = tmp || fragment.appendChild( context.createElement( "div" ) ); + + // Deserialize a standard representation + tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase(); + wrap = wrapMap[ tag ] || wrapMap._default; + tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ]; + + // Descend through wrappers to the right content + j = wrap[ 0 ]; + while ( j-- ) { + tmp = tmp.lastChild; + } + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( nodes, tmp.childNodes ); + + // Remember the top-level container + tmp = fragment.firstChild; + + // Ensure the created nodes are orphaned (#12392) + tmp.textContent = ""; + } + } + } + + // Remove wrapper from fragment + fragment.textContent = ""; + + i = 0; + while ( ( elem = nodes[ i++ ] ) ) { + + // Skip elements already in the context collection (trac-4087) + if ( selection && jQuery.inArray( elem, selection ) > -1 ) { + if ( ignored ) { + ignored.push( elem ); + } + continue; + } + + contains = jQuery.contains( elem.ownerDocument, elem ); + + // Append to fragment + tmp = getAll( fragment.appendChild( elem ), "script" ); + + // Preserve script evaluation history + if ( contains ) { + setGlobalEval( tmp ); + } + + // Capture executables + if ( scripts ) { + j = 0; + while ( ( elem = tmp[ j++ ] ) ) { + if ( rscriptType.test( elem.type || "" ) ) { + scripts.push( elem ); + } + } + } + } + + return fragment; +} + + +( function() { + var fragment = document.createDocumentFragment(), + div = fragment.appendChild( document.createElement( "div" ) ), + input = document.createElement( "input" ); + + // Support: Android 4.0 - 4.3 only + // Check state lost if the name is set (#11217) + // Support: Windows Web Apps (WWA) + // `name` and `type` must use .setAttribute for WWA (#14901) + input.setAttribute( "type", "radio" ); + input.setAttribute( "checked", "checked" ); + input.setAttribute( "name", "t" ); + + div.appendChild( input ); + + // Support: Android <=4.1 only + // Older WebKit doesn't clone checked state correctly in fragments + support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked; + + // Support: IE <=11 only + // Make sure textarea (and checkbox) defaultValue is properly cloned + div.innerHTML = ""; + support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue; +} )(); +var documentElement = document.documentElement; + + + +var + rkeyEvent = /^key/, + rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/, + rtypenamespace = /^([^.]*)(?:\.(.+)|)/; + +function returnTrue() { + return true; +} + +function returnFalse() { + return false; +} + +// Support: IE <=9 only +// See #13393 for more info +function safeActiveElement() { + try { + return document.activeElement; + } catch ( err ) { } +} + +function on( elem, types, selector, data, fn, one ) { + var origFn, type; + + // Types can be a map of types/handlers + if ( typeof types === "object" ) { + + // ( types-Object, selector, data ) + if ( typeof selector !== "string" ) { + + // ( types-Object, data ) + data = data || selector; + selector = undefined; + } + for ( type in types ) { + on( elem, type, selector, data, types[ type ], one ); + } + return elem; + } + + if ( data == null && fn == null ) { + + // ( types, fn ) + fn = selector; + data = selector = undefined; + } else if ( fn == null ) { + if ( typeof selector === "string" ) { + + // ( types, selector, fn ) + fn = data; + data = undefined; + } else { + + // ( types, data, fn ) + fn = data; + data = selector; + selector = undefined; + } + } + if ( fn === false ) { + fn = returnFalse; + } else if ( !fn ) { + return elem; + } + + if ( one === 1 ) { + origFn = fn; + fn = function( event ) { + + // Can use an empty set, since event contains the info + jQuery().off( event ); + return origFn.apply( this, arguments ); + }; + + // Use same guid so caller can remove using origFn + fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ ); + } + return elem.each( function() { + jQuery.event.add( this, types, fn, data, selector ); + } ); +} + +/* + * Helper functions for managing events -- not part of the public interface. + * Props to Dean Edwards' addEvent library for many of the ideas. + */ +jQuery.event = { + + global: {}, + + add: function( elem, types, handler, data, selector ) { + + var handleObjIn, eventHandle, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.get( elem ); + + // Don't attach events to noData or text/comment nodes (but allow plain objects) + if ( !elemData ) { + return; + } + + // Caller can pass in an object of custom data in lieu of the handler + if ( handler.handler ) { + handleObjIn = handler; + handler = handleObjIn.handler; + selector = handleObjIn.selector; + } + + // Ensure that invalid selectors throw exceptions at attach time + // Evaluate against documentElement in case elem is a non-element node (e.g., document) + if ( selector ) { + jQuery.find.matchesSelector( documentElement, selector ); + } + + // Make sure that the handler has a unique ID, used to find/remove it later + if ( !handler.guid ) { + handler.guid = jQuery.guid++; + } + + // Init the element's event structure and main handler, if this is the first + if ( !( events = elemData.events ) ) { + events = elemData.events = {}; + } + if ( !( eventHandle = elemData.handle ) ) { + eventHandle = elemData.handle = function( e ) { + + // Discard the second event of a jQuery.event.trigger() and + // when an event is called after a page has unloaded + return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ? + jQuery.event.dispatch.apply( elem, arguments ) : undefined; + }; + } + + // Handle multiple events separated by a space + types = ( types || "" ).match( rnotwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // There *must* be a type, no attaching namespace-only handlers + if ( !type ) { + continue; + } + + // If event changes its type, use the special event handlers for the changed type + special = jQuery.event.special[ type ] || {}; + + // If selector defined, determine special event api type, otherwise given type + type = ( selector ? special.delegateType : special.bindType ) || type; + + // Update special based on newly reset type + special = jQuery.event.special[ type ] || {}; + + // handleObj is passed to all event handlers + handleObj = jQuery.extend( { + type: type, + origType: origType, + data: data, + handler: handler, + guid: handler.guid, + selector: selector, + needsContext: selector && jQuery.expr.match.needsContext.test( selector ), + namespace: namespaces.join( "." ) + }, handleObjIn ); + + // Init the event handler queue if we're the first + if ( !( handlers = events[ type ] ) ) { + handlers = events[ type ] = []; + handlers.delegateCount = 0; + + // Only use addEventListener if the special events handler returns false + if ( !special.setup || + special.setup.call( elem, data, namespaces, eventHandle ) === false ) { + + if ( elem.addEventListener ) { + elem.addEventListener( type, eventHandle ); + } + } + } + + if ( special.add ) { + special.add.call( elem, handleObj ); + + if ( !handleObj.handler.guid ) { + handleObj.handler.guid = handler.guid; + } + } + + // Add to the element's handler list, delegates in front + if ( selector ) { + handlers.splice( handlers.delegateCount++, 0, handleObj ); + } else { + handlers.push( handleObj ); + } + + // Keep track of which events have ever been used, for event optimization + jQuery.event.global[ type ] = true; + } + + }, + + // Detach an event or set of events from an element + remove: function( elem, types, handler, selector, mappedTypes ) { + + var j, origCount, tmp, + events, t, handleObj, + special, handlers, type, namespaces, origType, + elemData = dataPriv.hasData( elem ) && dataPriv.get( elem ); + + if ( !elemData || !( events = elemData.events ) ) { + return; + } + + // Once for each type.namespace in types; type may be omitted + types = ( types || "" ).match( rnotwhite ) || [ "" ]; + t = types.length; + while ( t-- ) { + tmp = rtypenamespace.exec( types[ t ] ) || []; + type = origType = tmp[ 1 ]; + namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort(); + + // Unbind all events (on this namespace, if provided) for the element + if ( !type ) { + for ( type in events ) { + jQuery.event.remove( elem, type + types[ t ], handler, selector, true ); + } + continue; + } + + special = jQuery.event.special[ type ] || {}; + type = ( selector ? special.delegateType : special.bindType ) || type; + handlers = events[ type ] || []; + tmp = tmp[ 2 ] && + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ); + + // Remove matching events + origCount = j = handlers.length; + while ( j-- ) { + handleObj = handlers[ j ]; + + if ( ( mappedTypes || origType === handleObj.origType ) && + ( !handler || handler.guid === handleObj.guid ) && + ( !tmp || tmp.test( handleObj.namespace ) ) && + ( !selector || selector === handleObj.selector || + selector === "**" && handleObj.selector ) ) { + handlers.splice( j, 1 ); + + if ( handleObj.selector ) { + handlers.delegateCount--; + } + if ( special.remove ) { + special.remove.call( elem, handleObj ); + } + } + } + + // Remove generic event handler if we removed something and no more handlers exist + // (avoids potential for endless recursion during removal of special event handlers) + if ( origCount && !handlers.length ) { + if ( !special.teardown || + special.teardown.call( elem, namespaces, elemData.handle ) === false ) { + + jQuery.removeEvent( elem, type, elemData.handle ); + } + + delete events[ type ]; + } + } + + // Remove data and the expando if it's no longer used + if ( jQuery.isEmptyObject( events ) ) { + dataPriv.remove( elem, "handle events" ); + } + }, + + dispatch: function( nativeEvent ) { + + // Make a writable jQuery.Event from the native event object + var event = jQuery.event.fix( nativeEvent ); + + var i, j, ret, matched, handleObj, handlerQueue, + args = new Array( arguments.length ), + handlers = ( dataPriv.get( this, "events" ) || {} )[ event.type ] || [], + special = jQuery.event.special[ event.type ] || {}; + + // Use the fix-ed jQuery.Event rather than the (read-only) native event + args[ 0 ] = event; + + for ( i = 1; i < arguments.length; i++ ) { + args[ i ] = arguments[ i ]; + } + + event.delegateTarget = this; + + // Call the preDispatch hook for the mapped type, and let it bail if desired + if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) { + return; + } + + // Determine handlers + handlerQueue = jQuery.event.handlers.call( this, event, handlers ); + + // Run delegates first; they may want to stop propagation beneath us + i = 0; + while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) { + event.currentTarget = matched.elem; + + j = 0; + while ( ( handleObj = matched.handlers[ j++ ] ) && + !event.isImmediatePropagationStopped() ) { + + // Triggered event must either 1) have no namespace, or 2) have namespace(s) + // a subset or equal to those in the bound event (both can have no namespace). + if ( !event.rnamespace || event.rnamespace.test( handleObj.namespace ) ) { + + event.handleObj = handleObj; + event.data = handleObj.data; + + ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle || + handleObj.handler ).apply( matched.elem, args ); + + if ( ret !== undefined ) { + if ( ( event.result = ret ) === false ) { + event.preventDefault(); + event.stopPropagation(); + } + } + } + } + } + + // Call the postDispatch hook for the mapped type + if ( special.postDispatch ) { + special.postDispatch.call( this, event ); + } + + return event.result; + }, + + handlers: function( event, handlers ) { + var i, matches, sel, handleObj, + handlerQueue = [], + delegateCount = handlers.delegateCount, + cur = event.target; + + // Support: IE <=9 + // Find delegate handlers + // Black-hole SVG instance trees (#13180) + // + // Support: Firefox <=42 + // Avoid non-left-click in FF but don't block IE radio events (#3861, gh-2343) + if ( delegateCount && cur.nodeType && + ( event.type !== "click" || isNaN( event.button ) || event.button < 1 ) ) { + + for ( ; cur !== this; cur = cur.parentNode || this ) { + + // Don't check non-elements (#13208) + // Don't process clicks on disabled elements (#6911, #8165, #11382, #11764) + if ( cur.nodeType === 1 && ( cur.disabled !== true || event.type !== "click" ) ) { + matches = []; + for ( i = 0; i < delegateCount; i++ ) { + handleObj = handlers[ i ]; + + // Don't conflict with Object.prototype properties (#13203) + sel = handleObj.selector + " "; + + if ( matches[ sel ] === undefined ) { + matches[ sel ] = handleObj.needsContext ? + jQuery( sel, this ).index( cur ) > -1 : + jQuery.find( sel, this, null, [ cur ] ).length; + } + if ( matches[ sel ] ) { + matches.push( handleObj ); + } + } + if ( matches.length ) { + handlerQueue.push( { elem: cur, handlers: matches } ); + } + } + } + } + + // Add the remaining (directly-bound) handlers + if ( delegateCount < handlers.length ) { + handlerQueue.push( { elem: this, handlers: handlers.slice( delegateCount ) } ); + } + + return handlerQueue; + }, + + addProp: function( name, hook ) { + Object.defineProperty( jQuery.Event.prototype, name, { + enumerable: true, + configurable: true, + + get: jQuery.isFunction( hook ) ? + function() { + if ( this.originalEvent ) { + return hook( this.originalEvent ); + } + } : + function() { + if ( this.originalEvent ) { + return this.originalEvent[ name ]; + } + }, + + set: function( value ) { + Object.defineProperty( this, name, { + enumerable: true, + configurable: true, + writable: true, + value: value + } ); + } + } ); + }, + + fix: function( originalEvent ) { + return originalEvent[ jQuery.expando ] ? + originalEvent : + new jQuery.Event( originalEvent ); + }, + + special: { + load: { + + // Prevent triggered image.load events from bubbling to window.load + noBubble: true + }, + focus: { + + // Fire native event if possible so blur/focus sequence is correct + trigger: function() { + if ( this !== safeActiveElement() && this.focus ) { + this.focus(); + return false; + } + }, + delegateType: "focusin" + }, + blur: { + trigger: function() { + if ( this === safeActiveElement() && this.blur ) { + this.blur(); + return false; + } + }, + delegateType: "focusout" + }, + click: { + + // For checkbox, fire native event so checked state will be right + trigger: function() { + if ( this.type === "checkbox" && this.click && jQuery.nodeName( this, "input" ) ) { + this.click(); + return false; + } + }, + + // For cross-browser consistency, don't fire native .click() on links + _default: function( event ) { + return jQuery.nodeName( event.target, "a" ); + } + }, + + beforeunload: { + postDispatch: function( event ) { + + // Support: Firefox 20+ + // Firefox doesn't alert if the returnValue field is not set. + if ( event.result !== undefined && event.originalEvent ) { + event.originalEvent.returnValue = event.result; + } + } + } + } +}; + +jQuery.removeEvent = function( elem, type, handle ) { + + // This "if" is needed for plain objects + if ( elem.removeEventListener ) { + elem.removeEventListener( type, handle ); + } +}; + +jQuery.Event = function( src, props ) { + + // Allow instantiation without the 'new' keyword + if ( !( this instanceof jQuery.Event ) ) { + return new jQuery.Event( src, props ); + } + + // Event object + if ( src && src.type ) { + this.originalEvent = src; + this.type = src.type; + + // Events bubbling up the document may have been marked as prevented + // by a handler lower down the tree; reflect the correct value. + this.isDefaultPrevented = src.defaultPrevented || + src.defaultPrevented === undefined && + + // Support: Android <=2.3 only + src.returnValue === false ? + returnTrue : + returnFalse; + + // Create target properties + // Support: Safari <=6 - 7 only + // Target should not be a text node (#504, #13143) + this.target = ( src.target && src.target.nodeType === 3 ) ? + src.target.parentNode : + src.target; + + this.currentTarget = src.currentTarget; + this.relatedTarget = src.relatedTarget; + + // Event type + } else { + this.type = src; + } + + // Put explicitly provided properties onto the event object + if ( props ) { + jQuery.extend( this, props ); + } + + // Create a timestamp if incoming event doesn't have one + this.timeStamp = src && src.timeStamp || jQuery.now(); + + // Mark it as fixed + this[ jQuery.expando ] = true; +}; + +// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding +// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html +jQuery.Event.prototype = { + constructor: jQuery.Event, + isDefaultPrevented: returnFalse, + isPropagationStopped: returnFalse, + isImmediatePropagationStopped: returnFalse, + isSimulated: false, + + preventDefault: function() { + var e = this.originalEvent; + + this.isDefaultPrevented = returnTrue; + + if ( e && !this.isSimulated ) { + e.preventDefault(); + } + }, + stopPropagation: function() { + var e = this.originalEvent; + + this.isPropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopPropagation(); + } + }, + stopImmediatePropagation: function() { + var e = this.originalEvent; + + this.isImmediatePropagationStopped = returnTrue; + + if ( e && !this.isSimulated ) { + e.stopImmediatePropagation(); + } + + this.stopPropagation(); + } +}; + +// Includes all common event props including KeyEvent and MouseEvent specific props +jQuery.each( { + altKey: true, + bubbles: true, + cancelable: true, + changedTouches: true, + ctrlKey: true, + detail: true, + eventPhase: true, + metaKey: true, + pageX: true, + pageY: true, + shiftKey: true, + view: true, + "char": true, + charCode: true, + key: true, + keyCode: true, + button: true, + buttons: true, + clientX: true, + clientY: true, + offsetX: true, + offsetY: true, + pointerId: true, + pointerType: true, + screenX: true, + screenY: true, + targetTouches: true, + toElement: true, + touches: true, + + which: function( event ) { + var button = event.button; + + // Add which for key events + if ( event.which == null && rkeyEvent.test( event.type ) ) { + return event.charCode != null ? event.charCode : event.keyCode; + } + + // Add which for click: 1 === left; 2 === middle; 3 === right + if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) { + return ( button & 1 ? 1 : ( button & 2 ? 3 : ( button & 4 ? 2 : 0 ) ) ); + } + + return event.which; + } +}, jQuery.event.addProp ); + +// Create mouseenter/leave events using mouseover/out and event-time checks +// so that event delegation works in jQuery. +// Do the same for pointerenter/pointerleave and pointerover/pointerout +// +// Support: Safari 7 only +// Safari sends mouseenter too often; see: +// https://bugs.chromium.org/p/chromium/issues/detail?id=470258 +// for the description of the bug (it existed in older Chrome versions as well). +jQuery.each( { + mouseenter: "mouseover", + mouseleave: "mouseout", + pointerenter: "pointerover", + pointerleave: "pointerout" +}, function( orig, fix ) { + jQuery.event.special[ orig ] = { + delegateType: fix, + bindType: fix, + + handle: function( event ) { + var ret, + target = this, + related = event.relatedTarget, + handleObj = event.handleObj; + + // For mouseenter/leave call the handler if related is outside the target. + // NB: No relatedTarget if the mouse left/entered the browser window + if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) { + event.type = handleObj.origType; + ret = handleObj.handler.apply( this, arguments ); + event.type = fix; + } + return ret; + } + }; +} ); + +jQuery.fn.extend( { + + on: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn ); + }, + one: function( types, selector, data, fn ) { + return on( this, types, selector, data, fn, 1 ); + }, + off: function( types, selector, fn ) { + var handleObj, type; + if ( types && types.preventDefault && types.handleObj ) { + + // ( event ) dispatched jQuery.Event + handleObj = types.handleObj; + jQuery( types.delegateTarget ).off( + handleObj.namespace ? + handleObj.origType + "." + handleObj.namespace : + handleObj.origType, + handleObj.selector, + handleObj.handler + ); + return this; + } + if ( typeof types === "object" ) { + + // ( types-object [, selector] ) + for ( type in types ) { + this.off( type, selector, types[ type ] ); + } + return this; + } + if ( selector === false || typeof selector === "function" ) { + + // ( types [, fn] ) + fn = selector; + selector = undefined; + } + if ( fn === false ) { + fn = returnFalse; + } + return this.each( function() { + jQuery.event.remove( this, types, fn, selector ); + } ); + } +} ); + + +var + + /* eslint-disable max-len */ + + // See https://github.com/eslint/eslint/issues/3229 + rxhtmlTag = /<(?!area|br|col|embed|hr|img|input|link|meta|param)(([a-z][^\/\0>\x20\t\r\n\f]*)[^>]*)\/>/gi, + + /* eslint-enable */ + + // Support: IE <=10 - 11, Edge 12 - 13 + // In IE/Edge using regex groups here causes severe slowdowns. + // See https://connect.microsoft.com/IE/feedback/details/1736512/ + rnoInnerhtml = /\s*$/g; + +function manipulationTarget( elem, content ) { + if ( jQuery.nodeName( elem, "table" ) && + jQuery.nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) { + + return elem.getElementsByTagName( "tbody" )[ 0 ] || elem; + } + + return elem; +} + +// Replace/restore the type attribute of script elements for safe DOM manipulation +function disableScript( elem ) { + elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type; + return elem; +} +function restoreScript( elem ) { + var match = rscriptTypeMasked.exec( elem.type ); + + if ( match ) { + elem.type = match[ 1 ]; + } else { + elem.removeAttribute( "type" ); + } + + return elem; +} + +function cloneCopyEvent( src, dest ) { + var i, l, type, pdataOld, pdataCur, udataOld, udataCur, events; + + if ( dest.nodeType !== 1 ) { + return; + } + + // 1. Copy private data: events, handlers, etc. + if ( dataPriv.hasData( src ) ) { + pdataOld = dataPriv.access( src ); + pdataCur = dataPriv.set( dest, pdataOld ); + events = pdataOld.events; + + if ( events ) { + delete pdataCur.handle; + pdataCur.events = {}; + + for ( type in events ) { + for ( i = 0, l = events[ type ].length; i < l; i++ ) { + jQuery.event.add( dest, type, events[ type ][ i ] ); + } + } + } + } + + // 2. Copy user data + if ( dataUser.hasData( src ) ) { + udataOld = dataUser.access( src ); + udataCur = jQuery.extend( {}, udataOld ); + + dataUser.set( dest, udataCur ); + } +} + +// Fix IE bugs, see support tests +function fixInput( src, dest ) { + var nodeName = dest.nodeName.toLowerCase(); + + // Fails to persist the checked state of a cloned checkbox or radio button. + if ( nodeName === "input" && rcheckableType.test( src.type ) ) { + dest.checked = src.checked; + + // Fails to return the selected option to the default selected state when cloning options + } else if ( nodeName === "input" || nodeName === "textarea" ) { + dest.defaultValue = src.defaultValue; + } +} + +function domManip( collection, args, callback, ignored ) { + + // Flatten any nested arrays + args = concat.apply( [], args ); + + var fragment, first, scripts, hasScripts, node, doc, + i = 0, + l = collection.length, + iNoClone = l - 1, + value = args[ 0 ], + isFunction = jQuery.isFunction( value ); + + // We can't cloneNode fragments that contain checked, in WebKit + if ( isFunction || + ( l > 1 && typeof value === "string" && + !support.checkClone && rchecked.test( value ) ) ) { + return collection.each( function( index ) { + var self = collection.eq( index ); + if ( isFunction ) { + args[ 0 ] = value.call( this, index, self.html() ); + } + domManip( self, args, callback, ignored ); + } ); + } + + if ( l ) { + fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored ); + first = fragment.firstChild; + + if ( fragment.childNodes.length === 1 ) { + fragment = first; + } + + // Require either new content or an interest in ignored elements to invoke the callback + if ( first || ignored ) { + scripts = jQuery.map( getAll( fragment, "script" ), disableScript ); + hasScripts = scripts.length; + + // Use the original fragment for the last item + // instead of the first because it can end up + // being emptied incorrectly in certain situations (#8070). + for ( ; i < l; i++ ) { + node = fragment; + + if ( i !== iNoClone ) { + node = jQuery.clone( node, true, true ); + + // Keep references to cloned scripts for later restoration + if ( hasScripts ) { + + // Support: Android <=4.0 only, PhantomJS 1 only + // push.apply(_, arraylike) throws on ancient WebKit + jQuery.merge( scripts, getAll( node, "script" ) ); + } + } + + callback.call( collection[ i ], node, i ); + } + + if ( hasScripts ) { + doc = scripts[ scripts.length - 1 ].ownerDocument; + + // Reenable scripts + jQuery.map( scripts, restoreScript ); + + // Evaluate executable scripts on first document insertion + for ( i = 0; i < hasScripts; i++ ) { + node = scripts[ i ]; + if ( rscriptType.test( node.type || "" ) && + !dataPriv.access( node, "globalEval" ) && + jQuery.contains( doc, node ) ) { + + if ( node.src ) { + + // Optional AJAX dependency, but won't run scripts if not present + if ( jQuery._evalUrl ) { + jQuery._evalUrl( node.src ); + } + } else { + DOMEval( node.textContent.replace( rcleanScript, "" ), doc ); + } + } + } + } + } + } + + return collection; +} + +function remove( elem, selector, keepData ) { + var node, + nodes = selector ? jQuery.filter( selector, elem ) : elem, + i = 0; + + for ( ; ( node = nodes[ i ] ) != null; i++ ) { + if ( !keepData && node.nodeType === 1 ) { + jQuery.cleanData( getAll( node ) ); + } + + if ( node.parentNode ) { + if ( keepData && jQuery.contains( node.ownerDocument, node ) ) { + setGlobalEval( getAll( node, "script" ) ); + } + node.parentNode.removeChild( node ); + } + } + + return elem; +} + +jQuery.extend( { + htmlPrefilter: function( html ) { + return html.replace( rxhtmlTag, "<$1>" ); + }, + + clone: function( elem, dataAndEvents, deepDataAndEvents ) { + var i, l, srcElements, destElements, + clone = elem.cloneNode( true ), + inPage = jQuery.contains( elem.ownerDocument, elem ); + + // Fix IE cloning issues + if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) && + !jQuery.isXMLDoc( elem ) ) { + + // We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2 + destElements = getAll( clone ); + srcElements = getAll( elem ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + fixInput( srcElements[ i ], destElements[ i ] ); + } + } + + // Copy the events from the original to the clone + if ( dataAndEvents ) { + if ( deepDataAndEvents ) { + srcElements = srcElements || getAll( elem ); + destElements = destElements || getAll( clone ); + + for ( i = 0, l = srcElements.length; i < l; i++ ) { + cloneCopyEvent( srcElements[ i ], destElements[ i ] ); + } + } else { + cloneCopyEvent( elem, clone ); + } + } + + // Preserve script evaluation history + destElements = getAll( clone, "script" ); + if ( destElements.length > 0 ) { + setGlobalEval( destElements, !inPage && getAll( elem, "script" ) ); + } + + // Return the cloned set + return clone; + }, + + cleanData: function( elems ) { + var data, elem, type, + special = jQuery.event.special, + i = 0; + + for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) { + if ( acceptData( elem ) ) { + if ( ( data = elem[ dataPriv.expando ] ) ) { + if ( data.events ) { + for ( type in data.events ) { + if ( special[ type ] ) { + jQuery.event.remove( elem, type ); + + // This is a shortcut to avoid jQuery.event.remove's overhead + } else { + jQuery.removeEvent( elem, type, data.handle ); + } + } + } + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataPriv.expando ] = undefined; + } + if ( elem[ dataUser.expando ] ) { + + // Support: Chrome <=35 - 45+ + // Assign undefined instead of using delete, see Data#remove + elem[ dataUser.expando ] = undefined; + } + } + } + } +} ); + +jQuery.fn.extend( { + detach: function( selector ) { + return remove( this, selector, true ); + }, + + remove: function( selector ) { + return remove( this, selector ); + }, + + text: function( value ) { + return access( this, function( value ) { + return value === undefined ? + jQuery.text( this ) : + this.empty().each( function() { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + this.textContent = value; + } + } ); + }, null, value, arguments.length ); + }, + + append: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.appendChild( elem ); + } + } ); + }, + + prepend: function() { + return domManip( this, arguments, function( elem ) { + if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) { + var target = manipulationTarget( this, elem ); + target.insertBefore( elem, target.firstChild ); + } + } ); + }, + + before: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this ); + } + } ); + }, + + after: function() { + return domManip( this, arguments, function( elem ) { + if ( this.parentNode ) { + this.parentNode.insertBefore( elem, this.nextSibling ); + } + } ); + }, + + empty: function() { + var elem, + i = 0; + + for ( ; ( elem = this[ i ] ) != null; i++ ) { + if ( elem.nodeType === 1 ) { + + // Prevent memory leaks + jQuery.cleanData( getAll( elem, false ) ); + + // Remove any remaining nodes + elem.textContent = ""; + } + } + + return this; + }, + + clone: function( dataAndEvents, deepDataAndEvents ) { + dataAndEvents = dataAndEvents == null ? false : dataAndEvents; + deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents; + + return this.map( function() { + return jQuery.clone( this, dataAndEvents, deepDataAndEvents ); + } ); + }, + + html: function( value ) { + return access( this, function( value ) { + var elem = this[ 0 ] || {}, + i = 0, + l = this.length; + + if ( value === undefined && elem.nodeType === 1 ) { + return elem.innerHTML; + } + + // See if we can take a shortcut and just use innerHTML + if ( typeof value === "string" && !rnoInnerhtml.test( value ) && + !wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) { + + value = jQuery.htmlPrefilter( value ); + + try { + for ( ; i < l; i++ ) { + elem = this[ i ] || {}; + + // Remove element nodes and prevent memory leaks + if ( elem.nodeType === 1 ) { + jQuery.cleanData( getAll( elem, false ) ); + elem.innerHTML = value; + } + } + + elem = 0; + + // If using innerHTML throws an exception, use the fallback method + } catch ( e ) {} + } + + if ( elem ) { + this.empty().append( value ); + } + }, null, value, arguments.length ); + }, + + replaceWith: function() { + var ignored = []; + + // Make the changes, replacing each non-ignored context element with the new content + return domManip( this, arguments, function( elem ) { + var parent = this.parentNode; + + if ( jQuery.inArray( this, ignored ) < 0 ) { + jQuery.cleanData( getAll( this ) ); + if ( parent ) { + parent.replaceChild( elem, this ); + } + } + + // Force callback invocation + }, ignored ); + } +} ); + +jQuery.each( { + appendTo: "append", + prependTo: "prepend", + insertBefore: "before", + insertAfter: "after", + replaceAll: "replaceWith" +}, function( name, original ) { + jQuery.fn[ name ] = function( selector ) { + var elems, + ret = [], + insert = jQuery( selector ), + last = insert.length - 1, + i = 0; + + for ( ; i <= last; i++ ) { + elems = i === last ? this : this.clone( true ); + jQuery( insert[ i ] )[ original ]( elems ); + + // Support: Android <=4.0 only, PhantomJS 1 only + // .get() because push.apply(_, arraylike) throws on ancient WebKit + push.apply( ret, elems.get() ); + } + + return this.pushStack( ret ); + }; +} ); +var rmargin = ( /^margin/ ); + +var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" ); + +var getStyles = function( elem ) { + + // Support: IE <=11 only, Firefox <=30 (#15098, #14150) + // IE throws on elements created in popups + // FF meanwhile throws on frame elements through "defaultView.getComputedStyle" + var view = elem.ownerDocument.defaultView; + + if ( !view || !view.opener ) { + view = window; + } + + return view.getComputedStyle( elem ); + }; + + + +( function() { + + // Executing both pixelPosition & boxSizingReliable tests require only one layout + // so they're executed at the same time to save the second computation. + function computeStyleTests() { + + // This is a singleton, we need to execute it only once + if ( !div ) { + return; + } + + div.style.cssText = + "box-sizing:border-box;" + + "position:relative;display:block;" + + "margin:auto;border:1px;padding:1px;" + + "top:1%;width:50%"; + div.innerHTML = ""; + documentElement.appendChild( container ); + + var divStyle = window.getComputedStyle( div ); + pixelPositionVal = divStyle.top !== "1%"; + + // Support: Android 4.0 - 4.3 only, Firefox <=3 - 44 + reliableMarginLeftVal = divStyle.marginLeft === "2px"; + boxSizingReliableVal = divStyle.width === "4px"; + + // Support: Android 4.0 - 4.3 only + // Some styles come back with percentage values, even though they shouldn't + div.style.marginRight = "50%"; + pixelMarginRightVal = divStyle.marginRight === "4px"; + + documentElement.removeChild( container ); + + // Nullify the div so it wouldn't be stored in the memory and + // it will also be a sign that checks already performed + div = null; + } + + var pixelPositionVal, boxSizingReliableVal, pixelMarginRightVal, reliableMarginLeftVal, + container = document.createElement( "div" ), + div = document.createElement( "div" ); + + // Finish early in limited (non-browser) environments + if ( !div.style ) { + return; + } + + // Support: IE <=9 - 11 only + // Style of cloned element affects source element cloned (#8908) + div.style.backgroundClip = "content-box"; + div.cloneNode( true ).style.backgroundClip = ""; + support.clearCloneStyle = div.style.backgroundClip === "content-box"; + + container.style.cssText = "border:0;width:8px;height:0;top:0;left:-9999px;" + + "padding:0;margin-top:1px;position:absolute"; + container.appendChild( div ); + + jQuery.extend( support, { + pixelPosition: function() { + computeStyleTests(); + return pixelPositionVal; + }, + boxSizingReliable: function() { + computeStyleTests(); + return boxSizingReliableVal; + }, + pixelMarginRight: function() { + computeStyleTests(); + return pixelMarginRightVal; + }, + reliableMarginLeft: function() { + computeStyleTests(); + return reliableMarginLeftVal; + } + } ); +} )(); + + +function curCSS( elem, name, computed ) { + var width, minWidth, maxWidth, ret, + style = elem.style; + + computed = computed || getStyles( elem ); + + // Support: IE <=9 only + // getPropertyValue is only needed for .css('filter') (#12537) + if ( computed ) { + ret = computed.getPropertyValue( name ) || computed[ name ]; + + if ( ret === "" && !jQuery.contains( elem.ownerDocument, elem ) ) { + ret = jQuery.style( elem, name ); + } + + // A tribute to the "awesome hack by Dean Edwards" + // Android Browser returns percentage for some values, + // but width seems to be reliably pixels. + // This is against the CSSOM draft spec: + // https://drafts.csswg.org/cssom/#resolved-values + if ( !support.pixelMarginRight() && rnumnonpx.test( ret ) && rmargin.test( name ) ) { + + // Remember the original values + width = style.width; + minWidth = style.minWidth; + maxWidth = style.maxWidth; + + // Put in the new values to get a computed value out + style.minWidth = style.maxWidth = style.width = ret; + ret = computed.width; + + // Revert the changed values + style.width = width; + style.minWidth = minWidth; + style.maxWidth = maxWidth; + } + } + + return ret !== undefined ? + + // Support: IE <=9 - 11 only + // IE returns zIndex value as an integer. + ret + "" : + ret; +} + + +function addGetHookIf( conditionFn, hookFn ) { + + // Define the hook, we'll check on the first run if it's really needed. + return { + get: function() { + if ( conditionFn() ) { + + // Hook not needed (or it's not possible to use it due + // to missing dependency), remove it. + delete this.get; + return; + } + + // Hook needed; redefine it so that the support test is not executed again. + return ( this.get = hookFn ).apply( this, arguments ); + } + }; +} + + +var + + // Swappable if display is none or starts with table + // except "table", "table-cell", or "table-caption" + // See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display + rdisplayswap = /^(none|table(?!-c[ea]).+)/, + cssShow = { position: "absolute", visibility: "hidden", display: "block" }, + cssNormalTransform = { + letterSpacing: "0", + fontWeight: "400" + }, + + cssPrefixes = [ "Webkit", "Moz", "ms" ], + emptyStyle = document.createElement( "div" ).style; + +// Return a css property mapped to a potentially vendor prefixed property +function vendorPropName( name ) { + + // Shortcut for names that are not vendor prefixed + if ( name in emptyStyle ) { + return name; + } + + // Check for vendor prefixed names + var capName = name[ 0 ].toUpperCase() + name.slice( 1 ), + i = cssPrefixes.length; + + while ( i-- ) { + name = cssPrefixes[ i ] + capName; + if ( name in emptyStyle ) { + return name; + } + } +} + +function setPositiveNumber( elem, value, subtract ) { + + // Any relative (+/-) values have already been + // normalized at this point + var matches = rcssNum.exec( value ); + return matches ? + + // Guard against undefined "subtract", e.g., when used as in cssHooks + Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) : + value; +} + +function augmentWidthOrHeight( elem, name, extra, isBorderBox, styles ) { + var i = extra === ( isBorderBox ? "border" : "content" ) ? + + // If we already have the right measurement, avoid augmentation + 4 : + + // Otherwise initialize for horizontal or vertical properties + name === "width" ? 1 : 0, + + val = 0; + + for ( ; i < 4; i += 2 ) { + + // Both box models exclude margin, so add it if we want it + if ( extra === "margin" ) { + val += jQuery.css( elem, extra + cssExpand[ i ], true, styles ); + } + + if ( isBorderBox ) { + + // border-box includes padding, so remove it if we want content + if ( extra === "content" ) { + val -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + } + + // At this point, extra isn't border nor margin, so remove border + if ( extra !== "margin" ) { + val -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } else { + + // At this point, extra isn't content, so add padding + val += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles ); + + // At this point, extra isn't content nor padding, so add border + if ( extra !== "padding" ) { + val += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles ); + } + } + } + + return val; +} + +function getWidthOrHeight( elem, name, extra ) { + + // Start with offset property, which is equivalent to the border-box value + var val, + valueIsBorderBox = true, + styles = getStyles( elem ), + isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box"; + + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + if ( elem.getClientRects().length ) { + val = elem.getBoundingClientRect()[ name ]; + } + + // Some non-html elements return undefined for offsetWidth, so check for null/undefined + // svg - https://bugzilla.mozilla.org/show_bug.cgi?id=649285 + // MathML - https://bugzilla.mozilla.org/show_bug.cgi?id=491668 + if ( val <= 0 || val == null ) { + + // Fall back to computed then uncomputed css if necessary + val = curCSS( elem, name, styles ); + if ( val < 0 || val == null ) { + val = elem.style[ name ]; + } + + // Computed unit is not pixels. Stop here and return. + if ( rnumnonpx.test( val ) ) { + return val; + } + + // Check for style in case a browser which returns unreliable values + // for getComputedStyle silently falls back to the reliable elem.style + valueIsBorderBox = isBorderBox && + ( support.boxSizingReliable() || val === elem.style[ name ] ); + + // Normalize "", auto, and prepare for extra + val = parseFloat( val ) || 0; + } + + // Use the active box-sizing model to add/subtract irrelevant styles + return ( val + + augmentWidthOrHeight( + elem, + name, + extra || ( isBorderBox ? "border" : "content" ), + valueIsBorderBox, + styles + ) + ) + "px"; +} + +jQuery.extend( { + + // Add in style property hooks for overriding the default + // behavior of getting and setting a style property + cssHooks: { + opacity: { + get: function( elem, computed ) { + if ( computed ) { + + // We should always get a number back from opacity + var ret = curCSS( elem, "opacity" ); + return ret === "" ? "1" : ret; + } + } + } + }, + + // Don't automatically add "px" to these possibly-unitless properties + cssNumber: { + "animationIterationCount": true, + "columnCount": true, + "fillOpacity": true, + "flexGrow": true, + "flexShrink": true, + "fontWeight": true, + "lineHeight": true, + "opacity": true, + "order": true, + "orphans": true, + "widows": true, + "zIndex": true, + "zoom": true + }, + + // Add in properties whose names you wish to fix before + // setting or getting the value + cssProps: { + "float": "cssFloat" + }, + + // Get and set the style property on a DOM Node + style: function( elem, name, value, extra ) { + + // Don't set styles on text and comment nodes + if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) { + return; + } + + // Make sure that we're working with the right name + var ret, type, hooks, + origName = jQuery.camelCase( name ), + style = elem.style; + + name = jQuery.cssProps[ origName ] || + ( jQuery.cssProps[ origName ] = vendorPropName( origName ) || origName ); + + // Gets hook for the prefixed version, then unprefixed version + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // Check if we're setting a value + if ( value !== undefined ) { + type = typeof value; + + // Convert "+=" or "-=" to relative numbers (#7345) + if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) { + value = adjustCSS( elem, name, ret ); + + // Fixes bug #9237 + type = "number"; + } + + // Make sure that null and NaN values aren't set (#7116) + if ( value == null || value !== value ) { + return; + } + + // If a number was passed in, add the unit (except for certain CSS properties) + if ( type === "number" ) { + value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" ); + } + + // background-* props affect original clone's values + if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) { + style[ name ] = "inherit"; + } + + // If a hook was provided, use that value, otherwise just set the specified value + if ( !hooks || !( "set" in hooks ) || + ( value = hooks.set( elem, value, extra ) ) !== undefined ) { + + style[ name ] = value; + } + + } else { + + // If a hook was provided get the non-computed value from there + if ( hooks && "get" in hooks && + ( ret = hooks.get( elem, false, extra ) ) !== undefined ) { + + return ret; + } + + // Otherwise just get the value from the style object + return style[ name ]; + } + }, + + css: function( elem, name, extra, styles ) { + var val, num, hooks, + origName = jQuery.camelCase( name ); + + // Make sure that we're working with the right name + name = jQuery.cssProps[ origName ] || + ( jQuery.cssProps[ origName ] = vendorPropName( origName ) || origName ); + + // Try prefixed name followed by the unprefixed name + hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ]; + + // If a hook was provided get the computed value from there + if ( hooks && "get" in hooks ) { + val = hooks.get( elem, true, extra ); + } + + // Otherwise, if a way to get the computed value exists, use that + if ( val === undefined ) { + val = curCSS( elem, name, styles ); + } + + // Convert "normal" to computed value + if ( val === "normal" && name in cssNormalTransform ) { + val = cssNormalTransform[ name ]; + } + + // Make numeric if forced or a qualifier was provided and val looks numeric + if ( extra === "" || extra ) { + num = parseFloat( val ); + return extra === true || isFinite( num ) ? num || 0 : val; + } + return val; + } +} ); + +jQuery.each( [ "height", "width" ], function( i, name ) { + jQuery.cssHooks[ name ] = { + get: function( elem, computed, extra ) { + if ( computed ) { + + // Certain elements can have dimension info if we invisibly show them + // but it must have a current display style that would benefit + return rdisplayswap.test( jQuery.css( elem, "display" ) ) && + + // Support: Safari 8+ + // Table columns in Safari have non-zero offsetWidth & zero + // getBoundingClientRect().width unless display is changed. + // Support: IE <=11 only + // Running getBoundingClientRect on a disconnected node + // in IE throws an error. + ( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ? + swap( elem, cssShow, function() { + return getWidthOrHeight( elem, name, extra ); + } ) : + getWidthOrHeight( elem, name, extra ); + } + }, + + set: function( elem, value, extra ) { + var matches, + styles = extra && getStyles( elem ), + subtract = extra && augmentWidthOrHeight( + elem, + name, + extra, + jQuery.css( elem, "boxSizing", false, styles ) === "border-box", + styles + ); + + // Convert to pixels if value adjustment is needed + if ( subtract && ( matches = rcssNum.exec( value ) ) && + ( matches[ 3 ] || "px" ) !== "px" ) { + + elem.style[ name ] = value; + value = jQuery.css( elem, name ); + } + + return setPositiveNumber( elem, value, subtract ); + } + }; +} ); + +jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft, + function( elem, computed ) { + if ( computed ) { + return ( parseFloat( curCSS( elem, "marginLeft" ) ) || + elem.getBoundingClientRect().left - + swap( elem, { marginLeft: 0 }, function() { + return elem.getBoundingClientRect().left; + } ) + ) + "px"; + } + } +); + +// These hooks are used by animate to expand properties +jQuery.each( { + margin: "", + padding: "", + border: "Width" +}, function( prefix, suffix ) { + jQuery.cssHooks[ prefix + suffix ] = { + expand: function( value ) { + var i = 0, + expanded = {}, + + // Assumes a single number if not a string + parts = typeof value === "string" ? value.split( " " ) : [ value ]; + + for ( ; i < 4; i++ ) { + expanded[ prefix + cssExpand[ i ] + suffix ] = + parts[ i ] || parts[ i - 2 ] || parts[ 0 ]; + } + + return expanded; + } + }; + + if ( !rmargin.test( prefix ) ) { + jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber; + } +} ); + +jQuery.fn.extend( { + css: function( name, value ) { + return access( this, function( elem, name, value ) { + var styles, len, + map = {}, + i = 0; + + if ( jQuery.isArray( name ) ) { + styles = getStyles( elem ); + len = name.length; + + for ( ; i < len; i++ ) { + map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles ); + } + + return map; + } + + return value !== undefined ? + jQuery.style( elem, name, value ) : + jQuery.css( elem, name ); + }, name, value, arguments.length > 1 ); + } +} ); + + +function Tween( elem, options, prop, end, easing ) { + return new Tween.prototype.init( elem, options, prop, end, easing ); +} +jQuery.Tween = Tween; + +Tween.prototype = { + constructor: Tween, + init: function( elem, options, prop, end, easing, unit ) { + this.elem = elem; + this.prop = prop; + this.easing = easing || jQuery.easing._default; + this.options = options; + this.start = this.now = this.cur(); + this.end = end; + this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" ); + }, + cur: function() { + var hooks = Tween.propHooks[ this.prop ]; + + return hooks && hooks.get ? + hooks.get( this ) : + Tween.propHooks._default.get( this ); + }, + run: function( percent ) { + var eased, + hooks = Tween.propHooks[ this.prop ]; + + if ( this.options.duration ) { + this.pos = eased = jQuery.easing[ this.easing ]( + percent, this.options.duration * percent, 0, 1, this.options.duration + ); + } else { + this.pos = eased = percent; + } + this.now = ( this.end - this.start ) * eased + this.start; + + if ( this.options.step ) { + this.options.step.call( this.elem, this.now, this ); + } + + if ( hooks && hooks.set ) { + hooks.set( this ); + } else { + Tween.propHooks._default.set( this ); + } + return this; + } +}; + +Tween.prototype.init.prototype = Tween.prototype; + +Tween.propHooks = { + _default: { + get: function( tween ) { + var result; + + // Use a property on the element directly when it is not a DOM element, + // or when there is no matching style property that exists. + if ( tween.elem.nodeType !== 1 || + tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) { + return tween.elem[ tween.prop ]; + } + + // Passing an empty string as a 3rd parameter to .css will automatically + // attempt a parseFloat and fallback to a string if the parse fails. + // Simple values such as "10px" are parsed to Float; + // complex values such as "rotate(1rad)" are returned as-is. + result = jQuery.css( tween.elem, tween.prop, "" ); + + // Empty strings, null, undefined and "auto" are converted to 0. + return !result || result === "auto" ? 0 : result; + }, + set: function( tween ) { + + // Use step hook for back compat. + // Use cssHook if its there. + // Use .style if available and use plain properties where available. + if ( jQuery.fx.step[ tween.prop ] ) { + jQuery.fx.step[ tween.prop ]( tween ); + } else if ( tween.elem.nodeType === 1 && + ( tween.elem.style[ jQuery.cssProps[ tween.prop ] ] != null || + jQuery.cssHooks[ tween.prop ] ) ) { + jQuery.style( tween.elem, tween.prop, tween.now + tween.unit ); + } else { + tween.elem[ tween.prop ] = tween.now; + } + } + } +}; + +// Support: IE <=9 only +// Panic based approach to setting things on disconnected nodes +Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = { + set: function( tween ) { + if ( tween.elem.nodeType && tween.elem.parentNode ) { + tween.elem[ tween.prop ] = tween.now; + } + } +}; + +jQuery.easing = { + linear: function( p ) { + return p; + }, + swing: function( p ) { + return 0.5 - Math.cos( p * Math.PI ) / 2; + }, + _default: "swing" +}; + +jQuery.fx = Tween.prototype.init; + +// Back compat <1.8 extension point +jQuery.fx.step = {}; + + + + +var + fxNow, timerId, + rfxtypes = /^(?:toggle|show|hide)$/, + rrun = /queueHooks$/; + +function raf() { + if ( timerId ) { + window.requestAnimationFrame( raf ); + jQuery.fx.tick(); + } +} + +// Animations created synchronously will run synchronously +function createFxNow() { + window.setTimeout( function() { + fxNow = undefined; + } ); + return ( fxNow = jQuery.now() ); +} + +// Generate parameters to create a standard animation +function genFx( type, includeWidth ) { + var which, + i = 0, + attrs = { height: type }; + + // If we include width, step value is 1 to do all cssExpand values, + // otherwise step value is 2 to skip over Left and Right + includeWidth = includeWidth ? 1 : 0; + for ( ; i < 4; i += 2 - includeWidth ) { + which = cssExpand[ i ]; + attrs[ "margin" + which ] = attrs[ "padding" + which ] = type; + } + + if ( includeWidth ) { + attrs.opacity = attrs.width = type; + } + + return attrs; +} + +function createTween( value, prop, animation ) { + var tween, + collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ), + index = 0, + length = collection.length; + for ( ; index < length; index++ ) { + if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) { + + // We're done with this property + return tween; + } + } +} + +function defaultPrefilter( elem, props, opts ) { + var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display, + isBox = "width" in props || "height" in props, + anim = this, + orig = {}, + style = elem.style, + hidden = elem.nodeType && isHiddenWithinTree( elem ), + dataShow = dataPriv.get( elem, "fxshow" ); + + // Queue-skipping animations hijack the fx hooks + if ( !opts.queue ) { + hooks = jQuery._queueHooks( elem, "fx" ); + if ( hooks.unqueued == null ) { + hooks.unqueued = 0; + oldfire = hooks.empty.fire; + hooks.empty.fire = function() { + if ( !hooks.unqueued ) { + oldfire(); + } + }; + } + hooks.unqueued++; + + anim.always( function() { + + // Ensure the complete handler is called before this completes + anim.always( function() { + hooks.unqueued--; + if ( !jQuery.queue( elem, "fx" ).length ) { + hooks.empty.fire(); + } + } ); + } ); + } + + // Detect show/hide animations + for ( prop in props ) { + value = props[ prop ]; + if ( rfxtypes.test( value ) ) { + delete props[ prop ]; + toggle = toggle || value === "toggle"; + if ( value === ( hidden ? "hide" : "show" ) ) { + + // Pretend to be hidden if this is a "show" and + // there is still data from a stopped show/hide + if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) { + hidden = true; + + // Ignore all other no-op show/hide data + } else { + continue; + } + } + orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop ); + } + } + + // Bail out if this is a no-op like .hide().hide() + propTween = !jQuery.isEmptyObject( props ); + if ( !propTween && jQuery.isEmptyObject( orig ) ) { + return; + } + + // Restrict "overflow" and "display" styles during box animations + if ( isBox && elem.nodeType === 1 ) { + + // Support: IE <=9 - 11, Edge 12 - 13 + // Record all 3 overflow attributes because IE does not infer the shorthand + // from identically-valued overflowX and overflowY + opts.overflow = [ style.overflow, style.overflowX, style.overflowY ]; + + // Identify a display type, preferring old show/hide data over the CSS cascade + restoreDisplay = dataShow && dataShow.display; + if ( restoreDisplay == null ) { + restoreDisplay = dataPriv.get( elem, "display" ); + } + display = jQuery.css( elem, "display" ); + if ( display === "none" ) { + if ( restoreDisplay ) { + display = restoreDisplay; + } else { + + // Get nonempty value(s) by temporarily forcing visibility + showHide( [ elem ], true ); + restoreDisplay = elem.style.display || restoreDisplay; + display = jQuery.css( elem, "display" ); + showHide( [ elem ] ); + } + } + + // Animate inline elements as inline-block + if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) { + if ( jQuery.css( elem, "float" ) === "none" ) { + + // Restore the original display value at the end of pure show/hide animations + if ( !propTween ) { + anim.done( function() { + style.display = restoreDisplay; + } ); + if ( restoreDisplay == null ) { + display = style.display; + restoreDisplay = display === "none" ? "" : display; + } + } + style.display = "inline-block"; + } + } + } + + if ( opts.overflow ) { + style.overflow = "hidden"; + anim.always( function() { + style.overflow = opts.overflow[ 0 ]; + style.overflowX = opts.overflow[ 1 ]; + style.overflowY = opts.overflow[ 2 ]; + } ); + } + + // Implement show/hide animations + propTween = false; + for ( prop in orig ) { + + // General show/hide setup for this element animation + if ( !propTween ) { + if ( dataShow ) { + if ( "hidden" in dataShow ) { + hidden = dataShow.hidden; + } + } else { + dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } ); + } + + // Store hidden/visible for toggle so `.stop().toggle()` "reverses" + if ( toggle ) { + dataShow.hidden = !hidden; + } + + // Show elements before animating them + if ( hidden ) { + showHide( [ elem ], true ); + } + + /* eslint-disable no-loop-func */ + + anim.done( function() { + + /* eslint-enable no-loop-func */ + + // The final step of a "hide" animation is actually hiding the element + if ( !hidden ) { + showHide( [ elem ] ); + } + dataPriv.remove( elem, "fxshow" ); + for ( prop in orig ) { + jQuery.style( elem, prop, orig[ prop ] ); + } + } ); + } + + // Per-property setup + propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim ); + if ( !( prop in dataShow ) ) { + dataShow[ prop ] = propTween.start; + if ( hidden ) { + propTween.end = propTween.start; + propTween.start = 0; + } + } + } +} + +function propFilter( props, specialEasing ) { + var index, name, easing, value, hooks; + + // camelCase, specialEasing and expand cssHook pass + for ( index in props ) { + name = jQuery.camelCase( index ); + easing = specialEasing[ name ]; + value = props[ index ]; + if ( jQuery.isArray( value ) ) { + easing = value[ 1 ]; + value = props[ index ] = value[ 0 ]; + } + + if ( index !== name ) { + props[ name ] = value; + delete props[ index ]; + } + + hooks = jQuery.cssHooks[ name ]; + if ( hooks && "expand" in hooks ) { + value = hooks.expand( value ); + delete props[ name ]; + + // Not quite $.extend, this won't overwrite existing keys. + // Reusing 'index' because we have the correct "name" + for ( index in value ) { + if ( !( index in props ) ) { + props[ index ] = value[ index ]; + specialEasing[ index ] = easing; + } + } + } else { + specialEasing[ name ] = easing; + } + } +} + +function Animation( elem, properties, options ) { + var result, + stopped, + index = 0, + length = Animation.prefilters.length, + deferred = jQuery.Deferred().always( function() { + + // Don't match elem in the :animated selector + delete tick.elem; + } ), + tick = function() { + if ( stopped ) { + return false; + } + var currentTime = fxNow || createFxNow(), + remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ), + + // Support: Android 2.3 only + // Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497) + temp = remaining / animation.duration || 0, + percent = 1 - temp, + index = 0, + length = animation.tweens.length; + + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( percent ); + } + + deferred.notifyWith( elem, [ animation, percent, remaining ] ); + + if ( percent < 1 && length ) { + return remaining; + } else { + deferred.resolveWith( elem, [ animation ] ); + return false; + } + }, + animation = deferred.promise( { + elem: elem, + props: jQuery.extend( {}, properties ), + opts: jQuery.extend( true, { + specialEasing: {}, + easing: jQuery.easing._default + }, options ), + originalProperties: properties, + originalOptions: options, + startTime: fxNow || createFxNow(), + duration: options.duration, + tweens: [], + createTween: function( prop, end ) { + var tween = jQuery.Tween( elem, animation.opts, prop, end, + animation.opts.specialEasing[ prop ] || animation.opts.easing ); + animation.tweens.push( tween ); + return tween; + }, + stop: function( gotoEnd ) { + var index = 0, + + // If we are going to the end, we want to run all the tweens + // otherwise we skip this part + length = gotoEnd ? animation.tweens.length : 0; + if ( stopped ) { + return this; + } + stopped = true; + for ( ; index < length; index++ ) { + animation.tweens[ index ].run( 1 ); + } + + // Resolve when we played the last frame; otherwise, reject + if ( gotoEnd ) { + deferred.notifyWith( elem, [ animation, 1, 0 ] ); + deferred.resolveWith( elem, [ animation, gotoEnd ] ); + } else { + deferred.rejectWith( elem, [ animation, gotoEnd ] ); + } + return this; + } + } ), + props = animation.props; + + propFilter( props, animation.opts.specialEasing ); + + for ( ; index < length; index++ ) { + result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts ); + if ( result ) { + if ( jQuery.isFunction( result.stop ) ) { + jQuery._queueHooks( animation.elem, animation.opts.queue ).stop = + jQuery.proxy( result.stop, result ); + } + return result; + } + } + + jQuery.map( props, createTween, animation ); + + if ( jQuery.isFunction( animation.opts.start ) ) { + animation.opts.start.call( elem, animation ); + } + + jQuery.fx.timer( + jQuery.extend( tick, { + elem: elem, + anim: animation, + queue: animation.opts.queue + } ) + ); + + // attach callbacks from options + return animation.progress( animation.opts.progress ) + .done( animation.opts.done, animation.opts.complete ) + .fail( animation.opts.fail ) + .always( animation.opts.always ); +} + +jQuery.Animation = jQuery.extend( Animation, { + + tweeners: { + "*": [ function( prop, value ) { + var tween = this.createTween( prop, value ); + adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween ); + return tween; + } ] + }, + + tweener: function( props, callback ) { + if ( jQuery.isFunction( props ) ) { + callback = props; + props = [ "*" ]; + } else { + props = props.match( rnotwhite ); + } + + var prop, + index = 0, + length = props.length; + + for ( ; index < length; index++ ) { + prop = props[ index ]; + Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || []; + Animation.tweeners[ prop ].unshift( callback ); + } + }, + + prefilters: [ defaultPrefilter ], + + prefilter: function( callback, prepend ) { + if ( prepend ) { + Animation.prefilters.unshift( callback ); + } else { + Animation.prefilters.push( callback ); + } + } +} ); + +jQuery.speed = function( speed, easing, fn ) { + var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : { + complete: fn || !fn && easing || + jQuery.isFunction( speed ) && speed, + duration: speed, + easing: fn && easing || easing && !jQuery.isFunction( easing ) && easing + }; + + // Go to the end state if fx are off or if document is hidden + if ( jQuery.fx.off || document.hidden ) { + opt.duration = 0; + + } else { + opt.duration = typeof opt.duration === "number" ? + opt.duration : opt.duration in jQuery.fx.speeds ? + jQuery.fx.speeds[ opt.duration ] : jQuery.fx.speeds._default; + } + + // Normalize opt.queue - true/undefined/null -> "fx" + if ( opt.queue == null || opt.queue === true ) { + opt.queue = "fx"; + } + + // Queueing + opt.old = opt.complete; + + opt.complete = function() { + if ( jQuery.isFunction( opt.old ) ) { + opt.old.call( this ); + } + + if ( opt.queue ) { + jQuery.dequeue( this, opt.queue ); + } + }; + + return opt; +}; + +jQuery.fn.extend( { + fadeTo: function( speed, to, easing, callback ) { + + // Show any hidden elements after setting opacity to 0 + return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show() + + // Animate to the value specified + .end().animate( { opacity: to }, speed, easing, callback ); + }, + animate: function( prop, speed, easing, callback ) { + var empty = jQuery.isEmptyObject( prop ), + optall = jQuery.speed( speed, easing, callback ), + doAnimation = function() { + + // Operate on a copy of prop so per-property easing won't be lost + var anim = Animation( this, jQuery.extend( {}, prop ), optall ); + + // Empty animations, or finishing resolves immediately + if ( empty || dataPriv.get( this, "finish" ) ) { + anim.stop( true ); + } + }; + doAnimation.finish = doAnimation; + + return empty || optall.queue === false ? + this.each( doAnimation ) : + this.queue( optall.queue, doAnimation ); + }, + stop: function( type, clearQueue, gotoEnd ) { + var stopQueue = function( hooks ) { + var stop = hooks.stop; + delete hooks.stop; + stop( gotoEnd ); + }; + + if ( typeof type !== "string" ) { + gotoEnd = clearQueue; + clearQueue = type; + type = undefined; + } + if ( clearQueue && type !== false ) { + this.queue( type || "fx", [] ); + } + + return this.each( function() { + var dequeue = true, + index = type != null && type + "queueHooks", + timers = jQuery.timers, + data = dataPriv.get( this ); + + if ( index ) { + if ( data[ index ] && data[ index ].stop ) { + stopQueue( data[ index ] ); + } + } else { + for ( index in data ) { + if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) { + stopQueue( data[ index ] ); + } + } + } + + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && + ( type == null || timers[ index ].queue === type ) ) { + + timers[ index ].anim.stop( gotoEnd ); + dequeue = false; + timers.splice( index, 1 ); + } + } + + // Start the next in the queue if the last step wasn't forced. + // Timers currently will call their complete callbacks, which + // will dequeue but only if they were gotoEnd. + if ( dequeue || !gotoEnd ) { + jQuery.dequeue( this, type ); + } + } ); + }, + finish: function( type ) { + if ( type !== false ) { + type = type || "fx"; + } + return this.each( function() { + var index, + data = dataPriv.get( this ), + queue = data[ type + "queue" ], + hooks = data[ type + "queueHooks" ], + timers = jQuery.timers, + length = queue ? queue.length : 0; + + // Enable finishing flag on private data + data.finish = true; + + // Empty the queue first + jQuery.queue( this, type, [] ); + + if ( hooks && hooks.stop ) { + hooks.stop.call( this, true ); + } + + // Look for any active animations, and finish them + for ( index = timers.length; index--; ) { + if ( timers[ index ].elem === this && timers[ index ].queue === type ) { + timers[ index ].anim.stop( true ); + timers.splice( index, 1 ); + } + } + + // Look for any animations in the old queue and finish them + for ( index = 0; index < length; index++ ) { + if ( queue[ index ] && queue[ index ].finish ) { + queue[ index ].finish.call( this ); + } + } + + // Turn off finishing flag + delete data.finish; + } ); + } +} ); + +jQuery.each( [ "toggle", "show", "hide" ], function( i, name ) { + var cssFn = jQuery.fn[ name ]; + jQuery.fn[ name ] = function( speed, easing, callback ) { + return speed == null || typeof speed === "boolean" ? + cssFn.apply( this, arguments ) : + this.animate( genFx( name, true ), speed, easing, callback ); + }; +} ); + +// Generate shortcuts for custom animations +jQuery.each( { + slideDown: genFx( "show" ), + slideUp: genFx( "hide" ), + slideToggle: genFx( "toggle" ), + fadeIn: { opacity: "show" }, + fadeOut: { opacity: "hide" }, + fadeToggle: { opacity: "toggle" } +}, function( name, props ) { + jQuery.fn[ name ] = function( speed, easing, callback ) { + return this.animate( props, speed, easing, callback ); + }; +} ); + +jQuery.timers = []; +jQuery.fx.tick = function() { + var timer, + i = 0, + timers = jQuery.timers; + + fxNow = jQuery.now(); + + for ( ; i < timers.length; i++ ) { + timer = timers[ i ]; + + // Checks the timer has not already been removed + if ( !timer() && timers[ i ] === timer ) { + timers.splice( i--, 1 ); + } + } + + if ( !timers.length ) { + jQuery.fx.stop(); + } + fxNow = undefined; +}; + +jQuery.fx.timer = function( timer ) { + jQuery.timers.push( timer ); + if ( timer() ) { + jQuery.fx.start(); + } else { + jQuery.timers.pop(); + } +}; + +jQuery.fx.interval = 13; +jQuery.fx.start = function() { + if ( !timerId ) { + timerId = window.requestAnimationFrame ? + window.requestAnimationFrame( raf ) : + window.setInterval( jQuery.fx.tick, jQuery.fx.interval ); + } +}; + +jQuery.fx.stop = function() { + if ( window.cancelAnimationFrame ) { + window.cancelAnimationFrame( timerId ); + } else { + window.clearInterval( timerId ); + } + + timerId = null; +}; + +jQuery.fx.speeds = { + slow: 600, + fast: 200, + + // Default speed + _default: 400 +}; + + +// Based off of the plugin by Clint Helfers, with permission. +// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/ +jQuery.fn.delay = function( time, type ) { + time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time; + type = type || "fx"; + + return this.queue( type, function( next, hooks ) { + var timeout = window.setTimeout( next, time ); + hooks.stop = function() { + window.clearTimeout( timeout ); + }; + } ); +}; + + +( function() { + var input = document.createElement( "input" ), + select = document.createElement( "select" ), + opt = select.appendChild( document.createElement( "option" ) ); + + input.type = "checkbox"; + + // Support: Android <=4.3 only + // Default value for a checkbox should be "on" + support.checkOn = input.value !== ""; + + // Support: IE <=11 only + // Must access selectedIndex to make default options select + support.optSelected = opt.selected; + + // Support: IE <=11 only + // An input loses its value after becoming a radio + input = document.createElement( "input" ); + input.value = "t"; + input.type = "radio"; + support.radioValue = input.value === "t"; +} )(); + + +var boolHook, + attrHandle = jQuery.expr.attrHandle; + +jQuery.fn.extend( { + attr: function( name, value ) { + return access( this, jQuery.attr, name, value, arguments.length > 1 ); + }, + + removeAttr: function( name ) { + return this.each( function() { + jQuery.removeAttr( this, name ); + } ); + } +} ); + +jQuery.extend( { + attr: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set attributes on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + // Fallback to prop when attributes are not supported + if ( typeof elem.getAttribute === "undefined" ) { + return jQuery.prop( elem, name, value ); + } + + // Attribute hooks are determined by the lowercase version + // Grab necessary hook if one is defined + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + hooks = jQuery.attrHooks[ name.toLowerCase() ] || + ( jQuery.expr.match.bool.test( name ) ? boolHook : undefined ); + } + + if ( value !== undefined ) { + if ( value === null ) { + jQuery.removeAttr( elem, name ); + return; + } + + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + elem.setAttribute( name, value + "" ); + return value; + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + ret = jQuery.find.attr( elem, name ); + + // Non-existent attributes return null, we normalize to undefined + return ret == null ? undefined : ret; + }, + + attrHooks: { + type: { + set: function( elem, value ) { + if ( !support.radioValue && value === "radio" && + jQuery.nodeName( elem, "input" ) ) { + var val = elem.value; + elem.setAttribute( "type", value ); + if ( val ) { + elem.value = val; + } + return value; + } + } + } + }, + + removeAttr: function( elem, value ) { + var name, + i = 0, + attrNames = value && value.match( rnotwhite ); + + if ( attrNames && elem.nodeType === 1 ) { + while ( ( name = attrNames[ i++ ] ) ) { + elem.removeAttribute( name ); + } + } + } +} ); + +// Hooks for boolean attributes +boolHook = { + set: function( elem, value, name ) { + if ( value === false ) { + + // Remove boolean attributes when set to false + jQuery.removeAttr( elem, name ); + } else { + elem.setAttribute( name, name ); + } + return name; + } +}; + +jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( i, name ) { + var getter = attrHandle[ name ] || jQuery.find.attr; + + attrHandle[ name ] = function( elem, name, isXML ) { + var ret, handle, + lowercaseName = name.toLowerCase(); + + if ( !isXML ) { + + // Avoid an infinite loop by temporarily removing this function from the getter + handle = attrHandle[ lowercaseName ]; + attrHandle[ lowercaseName ] = ret; + ret = getter( elem, name, isXML ) != null ? + lowercaseName : + null; + attrHandle[ lowercaseName ] = handle; + } + return ret; + }; +} ); + + + + +var rfocusable = /^(?:input|select|textarea|button)$/i, + rclickable = /^(?:a|area)$/i; + +jQuery.fn.extend( { + prop: function( name, value ) { + return access( this, jQuery.prop, name, value, arguments.length > 1 ); + }, + + removeProp: function( name ) { + return this.each( function() { + delete this[ jQuery.propFix[ name ] || name ]; + } ); + } +} ); + +jQuery.extend( { + prop: function( elem, name, value ) { + var ret, hooks, + nType = elem.nodeType; + + // Don't get/set properties on text, comment and attribute nodes + if ( nType === 3 || nType === 8 || nType === 2 ) { + return; + } + + if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) { + + // Fix name and attach hooks + name = jQuery.propFix[ name ] || name; + hooks = jQuery.propHooks[ name ]; + } + + if ( value !== undefined ) { + if ( hooks && "set" in hooks && + ( ret = hooks.set( elem, value, name ) ) !== undefined ) { + return ret; + } + + return ( elem[ name ] = value ); + } + + if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) { + return ret; + } + + return elem[ name ]; + }, + + propHooks: { + tabIndex: { + get: function( elem ) { + + // Support: IE <=9 - 11 only + // elem.tabIndex doesn't always return the + // correct value when it hasn't been explicitly set + // https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/ + // Use proper attribute retrieval(#12072) + var tabindex = jQuery.find.attr( elem, "tabindex" ); + + return tabindex ? + parseInt( tabindex, 10 ) : + rfocusable.test( elem.nodeName ) || + rclickable.test( elem.nodeName ) && elem.href ? + 0 : + -1; + } + } + }, + + propFix: { + "for": "htmlFor", + "class": "className" + } +} ); + +// Support: IE <=11 only +// Accessing the selectedIndex property +// forces the browser to respect setting selected +// on the option +// The getter ensures a default option is selected +// when in an optgroup +if ( !support.optSelected ) { + jQuery.propHooks.selected = { + get: function( elem ) { + var parent = elem.parentNode; + if ( parent && parent.parentNode ) { + parent.parentNode.selectedIndex; + } + return null; + }, + set: function( elem ) { + var parent = elem.parentNode; + if ( parent ) { + parent.selectedIndex; + + if ( parent.parentNode ) { + parent.parentNode.selectedIndex; + } + } + } + }; +} + +jQuery.each( [ + "tabIndex", + "readOnly", + "maxLength", + "cellSpacing", + "cellPadding", + "rowSpan", + "colSpan", + "useMap", + "frameBorder", + "contentEditable" +], function() { + jQuery.propFix[ this.toLowerCase() ] = this; +} ); + + + + +var rclass = /[\t\r\n\f]/g; + +function getClass( elem ) { + return elem.getAttribute && elem.getAttribute( "class" ) || ""; +} + +jQuery.fn.extend( { + addClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( jQuery.isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).addClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( typeof value === "string" && value ) { + classes = value.match( rnotwhite ) || []; + + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + cur = elem.nodeType === 1 && + ( " " + curValue + " " ).replace( rclass, " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + if ( cur.indexOf( " " + clazz + " " ) < 0 ) { + cur += clazz + " "; + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = jQuery.trim( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + removeClass: function( value ) { + var classes, elem, cur, curValue, clazz, j, finalValue, + i = 0; + + if ( jQuery.isFunction( value ) ) { + return this.each( function( j ) { + jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) ); + } ); + } + + if ( !arguments.length ) { + return this.attr( "class", "" ); + } + + if ( typeof value === "string" && value ) { + classes = value.match( rnotwhite ) || []; + + while ( ( elem = this[ i++ ] ) ) { + curValue = getClass( elem ); + + // This expression is here for better compressibility (see addClass) + cur = elem.nodeType === 1 && + ( " " + curValue + " " ).replace( rclass, " " ); + + if ( cur ) { + j = 0; + while ( ( clazz = classes[ j++ ] ) ) { + + // Remove *all* instances + while ( cur.indexOf( " " + clazz + " " ) > -1 ) { + cur = cur.replace( " " + clazz + " ", " " ); + } + } + + // Only assign if different to avoid unneeded rendering. + finalValue = jQuery.trim( cur ); + if ( curValue !== finalValue ) { + elem.setAttribute( "class", finalValue ); + } + } + } + } + + return this; + }, + + toggleClass: function( value, stateVal ) { + var type = typeof value; + + if ( typeof stateVal === "boolean" && type === "string" ) { + return stateVal ? this.addClass( value ) : this.removeClass( value ); + } + + if ( jQuery.isFunction( value ) ) { + return this.each( function( i ) { + jQuery( this ).toggleClass( + value.call( this, i, getClass( this ), stateVal ), + stateVal + ); + } ); + } + + return this.each( function() { + var className, i, self, classNames; + + if ( type === "string" ) { + + // Toggle individual class names + i = 0; + self = jQuery( this ); + classNames = value.match( rnotwhite ) || []; + + while ( ( className = classNames[ i++ ] ) ) { + + // Check each className given, space separated list + if ( self.hasClass( className ) ) { + self.removeClass( className ); + } else { + self.addClass( className ); + } + } + + // Toggle whole class name + } else if ( value === undefined || type === "boolean" ) { + className = getClass( this ); + if ( className ) { + + // Store className if set + dataPriv.set( this, "__className__", className ); + } + + // If the element has a class name or if we're passed `false`, + // then remove the whole classname (if there was one, the above saved it). + // Otherwise bring back whatever was previously saved (if anything), + // falling back to the empty string if nothing was stored. + if ( this.setAttribute ) { + this.setAttribute( "class", + className || value === false ? + "" : + dataPriv.get( this, "__className__" ) || "" + ); + } + } + } ); + }, + + hasClass: function( selector ) { + var className, elem, + i = 0; + + className = " " + selector + " "; + while ( ( elem = this[ i++ ] ) ) { + if ( elem.nodeType === 1 && + ( " " + getClass( elem ) + " " ).replace( rclass, " " ) + .indexOf( className ) > -1 + ) { + return true; + } + } + + return false; + } +} ); + + + + +var rreturn = /\r/g, + rspaces = /[\x20\t\r\n\f]+/g; + +jQuery.fn.extend( { + val: function( value ) { + var hooks, ret, isFunction, + elem = this[ 0 ]; + + if ( !arguments.length ) { + if ( elem ) { + hooks = jQuery.valHooks[ elem.type ] || + jQuery.valHooks[ elem.nodeName.toLowerCase() ]; + + if ( hooks && + "get" in hooks && + ( ret = hooks.get( elem, "value" ) ) !== undefined + ) { + return ret; + } + + ret = elem.value; + + return typeof ret === "string" ? + + // Handle most common string cases + ret.replace( rreturn, "" ) : + + // Handle cases where value is null/undef or number + ret == null ? "" : ret; + } + + return; + } + + isFunction = jQuery.isFunction( value ); + + return this.each( function( i ) { + var val; + + if ( this.nodeType !== 1 ) { + return; + } + + if ( isFunction ) { + val = value.call( this, i, jQuery( this ).val() ); + } else { + val = value; + } + + // Treat null/undefined as ""; convert numbers to string + if ( val == null ) { + val = ""; + + } else if ( typeof val === "number" ) { + val += ""; + + } else if ( jQuery.isArray( val ) ) { + val = jQuery.map( val, function( value ) { + return value == null ? "" : value + ""; + } ); + } + + hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ]; + + // If set returns undefined, fall back to normal setting + if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) { + this.value = val; + } + } ); + } +} ); + +jQuery.extend( { + valHooks: { + option: { + get: function( elem ) { + + var val = jQuery.find.attr( elem, "value" ); + return val != null ? + val : + + // Support: IE <=10 - 11 only + // option.text throws exceptions (#14686, #14858) + // Strip and collapse whitespace + // https://html.spec.whatwg.org/#strip-and-collapse-whitespace + jQuery.trim( jQuery.text( elem ) ).replace( rspaces, " " ); + } + }, + select: { + get: function( elem ) { + var value, option, + options = elem.options, + index = elem.selectedIndex, + one = elem.type === "select-one", + values = one ? null : [], + max = one ? index + 1 : options.length, + i = index < 0 ? + max : + one ? index : 0; + + // Loop through all the selected options + for ( ; i < max; i++ ) { + option = options[ i ]; + + // Support: IE <=9 only + // IE8-9 doesn't update selected after form reset (#2551) + if ( ( option.selected || i === index ) && + + // Don't return options that are disabled or in a disabled optgroup + !option.disabled && + ( !option.parentNode.disabled || + !jQuery.nodeName( option.parentNode, "optgroup" ) ) ) { + + // Get the specific value for the option + value = jQuery( option ).val(); + + // We don't need an array for one selects + if ( one ) { + return value; + } + + // Multi-Selects return an array + values.push( value ); + } + } + + return values; + }, + + set: function( elem, value ) { + var optionSet, option, + options = elem.options, + values = jQuery.makeArray( value ), + i = options.length; + + while ( i-- ) { + option = options[ i ]; + + /* eslint-disable no-cond-assign */ + + if ( option.selected = + jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1 + ) { + optionSet = true; + } + + /* eslint-enable no-cond-assign */ + } + + // Force browsers to behave consistently when non-matching value is set + if ( !optionSet ) { + elem.selectedIndex = -1; + } + return values; + } + } + } +} ); + +// Radios and checkboxes getter/setter +jQuery.each( [ "radio", "checkbox" ], function() { + jQuery.valHooks[ this ] = { + set: function( elem, value ) { + if ( jQuery.isArray( value ) ) { + return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 ); + } + } + }; + if ( !support.checkOn ) { + jQuery.valHooks[ this ].get = function( elem ) { + return elem.getAttribute( "value" ) === null ? "on" : elem.value; + }; + } +} ); + + + + +// Return jQuery for attributes-only inclusion + + +var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/; + +jQuery.extend( jQuery.event, { + + trigger: function( event, data, elem, onlyHandlers ) { + + var i, cur, tmp, bubbleType, ontype, handle, special, + eventPath = [ elem || document ], + type = hasOwn.call( event, "type" ) ? event.type : event, + namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : []; + + cur = tmp = elem = elem || document; + + // Don't do events on text and comment nodes + if ( elem.nodeType === 3 || elem.nodeType === 8 ) { + return; + } + + // focus/blur morphs to focusin/out; ensure we're not firing them right now + if ( rfocusMorph.test( type + jQuery.event.triggered ) ) { + return; + } + + if ( type.indexOf( "." ) > -1 ) { + + // Namespaced trigger; create a regexp to match event type in handle() + namespaces = type.split( "." ); + type = namespaces.shift(); + namespaces.sort(); + } + ontype = type.indexOf( ":" ) < 0 && "on" + type; + + // Caller can pass in a jQuery.Event object, Object, or just an event type string + event = event[ jQuery.expando ] ? + event : + new jQuery.Event( type, typeof event === "object" && event ); + + // Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true) + event.isTrigger = onlyHandlers ? 2 : 3; + event.namespace = namespaces.join( "." ); + event.rnamespace = event.namespace ? + new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) : + null; + + // Clean up the event in case it is being reused + event.result = undefined; + if ( !event.target ) { + event.target = elem; + } + + // Clone any incoming data and prepend the event, creating the handler arg list + data = data == null ? + [ event ] : + jQuery.makeArray( data, [ event ] ); + + // Allow special events to draw outside the lines + special = jQuery.event.special[ type ] || {}; + if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) { + return; + } + + // Determine event propagation path in advance, per W3C events spec (#9951) + // Bubble up to document, then to window; watch for a global ownerDocument var (#9724) + if ( !onlyHandlers && !special.noBubble && !jQuery.isWindow( elem ) ) { + + bubbleType = special.delegateType || type; + if ( !rfocusMorph.test( bubbleType + type ) ) { + cur = cur.parentNode; + } + for ( ; cur; cur = cur.parentNode ) { + eventPath.push( cur ); + tmp = cur; + } + + // Only add window if we got to document (e.g., not plain obj or detached DOM) + if ( tmp === ( elem.ownerDocument || document ) ) { + eventPath.push( tmp.defaultView || tmp.parentWindow || window ); + } + } + + // Fire handlers on the event path + i = 0; + while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) { + + event.type = i > 1 ? + bubbleType : + special.bindType || type; + + // jQuery handler + handle = ( dataPriv.get( cur, "events" ) || {} )[ event.type ] && + dataPriv.get( cur, "handle" ); + if ( handle ) { + handle.apply( cur, data ); + } + + // Native handler + handle = ontype && cur[ ontype ]; + if ( handle && handle.apply && acceptData( cur ) ) { + event.result = handle.apply( cur, data ); + if ( event.result === false ) { + event.preventDefault(); + } + } + } + event.type = type; + + // If nobody prevented the default action, do it now + if ( !onlyHandlers && !event.isDefaultPrevented() ) { + + if ( ( !special._default || + special._default.apply( eventPath.pop(), data ) === false ) && + acceptData( elem ) ) { + + // Call a native DOM method on the target with the same name as the event. + // Don't do default actions on window, that's where global variables be (#6170) + if ( ontype && jQuery.isFunction( elem[ type ] ) && !jQuery.isWindow( elem ) ) { + + // Don't re-trigger an onFOO event when we call its FOO() method + tmp = elem[ ontype ]; + + if ( tmp ) { + elem[ ontype ] = null; + } + + // Prevent re-triggering of the same event, since we already bubbled it above + jQuery.event.triggered = type; + elem[ type ](); + jQuery.event.triggered = undefined; + + if ( tmp ) { + elem[ ontype ] = tmp; + } + } + } + } + + return event.result; + }, + + // Piggyback on a donor event to simulate a different one + // Used only for `focus(in | out)` events + simulate: function( type, elem, event ) { + var e = jQuery.extend( + new jQuery.Event(), + event, + { + type: type, + isSimulated: true + } + ); + + jQuery.event.trigger( e, null, elem ); + } + +} ); + +jQuery.fn.extend( { + + trigger: function( type, data ) { + return this.each( function() { + jQuery.event.trigger( type, data, this ); + } ); + }, + triggerHandler: function( type, data ) { + var elem = this[ 0 ]; + if ( elem ) { + return jQuery.event.trigger( type, data, elem, true ); + } + } +} ); + + +jQuery.each( ( "blur focus focusin focusout resize scroll click dblclick " + + "mousedown mouseup mousemove mouseover mouseout mouseenter mouseleave " + + "change select submit keydown keypress keyup contextmenu" ).split( " " ), + function( i, name ) { + + // Handle event binding + jQuery.fn[ name ] = function( data, fn ) { + return arguments.length > 0 ? + this.on( name, null, data, fn ) : + this.trigger( name ); + }; +} ); + +jQuery.fn.extend( { + hover: function( fnOver, fnOut ) { + return this.mouseenter( fnOver ).mouseleave( fnOut || fnOver ); + } +} ); + + + + +support.focusin = "onfocusin" in window; + + +// Support: Firefox <=44 +// Firefox doesn't have focus(in | out) events +// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787 +// +// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1 +// focus(in | out) events fire after focus & blur events, +// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order +// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857 +if ( !support.focusin ) { + jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) { + + // Attach a single capturing handler on the document while someone wants focusin/focusout + var handler = function( event ) { + jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) ); + }; + + jQuery.event.special[ fix ] = { + setup: function() { + var doc = this.ownerDocument || this, + attaches = dataPriv.access( doc, fix ); + + if ( !attaches ) { + doc.addEventListener( orig, handler, true ); + } + dataPriv.access( doc, fix, ( attaches || 0 ) + 1 ); + }, + teardown: function() { + var doc = this.ownerDocument || this, + attaches = dataPriv.access( doc, fix ) - 1; + + if ( !attaches ) { + doc.removeEventListener( orig, handler, true ); + dataPriv.remove( doc, fix ); + + } else { + dataPriv.access( doc, fix, attaches ); + } + } + }; + } ); +} +var location = window.location; + +var nonce = jQuery.now(); + +var rquery = ( /\?/ ); + + + +// Cross-browser xml parsing +jQuery.parseXML = function( data ) { + var xml; + if ( !data || typeof data !== "string" ) { + return null; + } + + // Support: IE 9 - 11 only + // IE throws on parseFromString with invalid input. + try { + xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" ); + } catch ( e ) { + xml = undefined; + } + + if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) { + jQuery.error( "Invalid XML: " + data ); + } + return xml; +}; + + +var + rbracket = /\[\]$/, + rCRLF = /\r?\n/g, + rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i, + rsubmittable = /^(?:input|select|textarea|keygen)/i; + +function buildParams( prefix, obj, traditional, add ) { + var name; + + if ( jQuery.isArray( obj ) ) { + + // Serialize array item. + jQuery.each( obj, function( i, v ) { + if ( traditional || rbracket.test( prefix ) ) { + + // Treat each array item as a scalar. + add( prefix, v ); + + } else { + + // Item is non-scalar (array or object), encode its numeric index. + buildParams( + prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]", + v, + traditional, + add + ); + } + } ); + + } else if ( !traditional && jQuery.type( obj ) === "object" ) { + + // Serialize object item. + for ( name in obj ) { + buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add ); + } + + } else { + + // Serialize scalar item. + add( prefix, obj ); + } +} + +// Serialize an array of form elements or a set of +// key/values into a query string +jQuery.param = function( a, traditional ) { + var prefix, + s = [], + add = function( key, valueOrFunction ) { + + // If value is a function, invoke it and use its return value + var value = jQuery.isFunction( valueOrFunction ) ? + valueOrFunction() : + valueOrFunction; + + s[ s.length ] = encodeURIComponent( key ) + "=" + + encodeURIComponent( value == null ? "" : value ); + }; + + // If an array was passed in, assume that it is an array of form elements. + if ( jQuery.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) { + + // Serialize the form elements + jQuery.each( a, function() { + add( this.name, this.value ); + } ); + + } else { + + // If traditional, encode the "old" way (the way 1.3.2 or older + // did it), otherwise encode params recursively. + for ( prefix in a ) { + buildParams( prefix, a[ prefix ], traditional, add ); + } + } + + // Return the resulting serialization + return s.join( "&" ); +}; + +jQuery.fn.extend( { + serialize: function() { + return jQuery.param( this.serializeArray() ); + }, + serializeArray: function() { + return this.map( function() { + + // Can add propHook for "elements" to filter or add form elements + var elements = jQuery.prop( this, "elements" ); + return elements ? jQuery.makeArray( elements ) : this; + } ) + .filter( function() { + var type = this.type; + + // Use .is( ":disabled" ) so that fieldset[disabled] works + return this.name && !jQuery( this ).is( ":disabled" ) && + rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) && + ( this.checked || !rcheckableType.test( type ) ); + } ) + .map( function( i, elem ) { + var val = jQuery( this ).val(); + + return val == null ? + null : + jQuery.isArray( val ) ? + jQuery.map( val, function( val ) { + return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ) : + { name: elem.name, value: val.replace( rCRLF, "\r\n" ) }; + } ).get(); + } +} ); + + +var + r20 = /%20/g, + rhash = /#.*$/, + rts = /([?&])_=[^&]*/, + rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg, + + // #7653, #8125, #8152: local protocol detection + rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/, + rnoContent = /^(?:GET|HEAD)$/, + rprotocol = /^\/\//, + + /* Prefilters + * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example) + * 2) These are called: + * - BEFORE asking for a transport + * - AFTER param serialization (s.data is a string if s.processData is true) + * 3) key is the dataType + * 4) the catchall symbol "*" can be used + * 5) execution will start with transport dataType and THEN continue down to "*" if needed + */ + prefilters = {}, + + /* Transports bindings + * 1) key is the dataType + * 2) the catchall symbol "*" can be used + * 3) selection will start with transport dataType and THEN go to "*" if needed + */ + transports = {}, + + // Avoid comment-prolog char sequence (#10098); must appease lint and evade compression + allTypes = "*/".concat( "*" ), + + // Anchor tag for parsing the document origin + originAnchor = document.createElement( "a" ); + originAnchor.href = location.href; + +// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport +function addToPrefiltersOrTransports( structure ) { + + // dataTypeExpression is optional and defaults to "*" + return function( dataTypeExpression, func ) { + + if ( typeof dataTypeExpression !== "string" ) { + func = dataTypeExpression; + dataTypeExpression = "*"; + } + + var dataType, + i = 0, + dataTypes = dataTypeExpression.toLowerCase().match( rnotwhite ) || []; + + if ( jQuery.isFunction( func ) ) { + + // For each dataType in the dataTypeExpression + while ( ( dataType = dataTypes[ i++ ] ) ) { + + // Prepend if requested + if ( dataType[ 0 ] === "+" ) { + dataType = dataType.slice( 1 ) || "*"; + ( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func ); + + // Otherwise append + } else { + ( structure[ dataType ] = structure[ dataType ] || [] ).push( func ); + } + } + } + }; +} + +// Base inspection function for prefilters and transports +function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) { + + var inspected = {}, + seekingTransport = ( structure === transports ); + + function inspect( dataType ) { + var selected; + inspected[ dataType ] = true; + jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) { + var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR ); + if ( typeof dataTypeOrTransport === "string" && + !seekingTransport && !inspected[ dataTypeOrTransport ] ) { + + options.dataTypes.unshift( dataTypeOrTransport ); + inspect( dataTypeOrTransport ); + return false; + } else if ( seekingTransport ) { + return !( selected = dataTypeOrTransport ); + } + } ); + return selected; + } + + return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" ); +} + +// A special extend for ajax options +// that takes "flat" options (not to be deep extended) +// Fixes #9887 +function ajaxExtend( target, src ) { + var key, deep, + flatOptions = jQuery.ajaxSettings.flatOptions || {}; + + for ( key in src ) { + if ( src[ key ] !== undefined ) { + ( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ]; + } + } + if ( deep ) { + jQuery.extend( true, target, deep ); + } + + return target; +} + +/* Handles responses to an ajax request: + * - finds the right dataType (mediates between content-type and expected dataType) + * - returns the corresponding response + */ +function ajaxHandleResponses( s, jqXHR, responses ) { + + var ct, type, finalDataType, firstDataType, + contents = s.contents, + dataTypes = s.dataTypes; + + // Remove auto dataType and get content-type in the process + while ( dataTypes[ 0 ] === "*" ) { + dataTypes.shift(); + if ( ct === undefined ) { + ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" ); + } + } + + // Check if we're dealing with a known content-type + if ( ct ) { + for ( type in contents ) { + if ( contents[ type ] && contents[ type ].test( ct ) ) { + dataTypes.unshift( type ); + break; + } + } + } + + // Check to see if we have a response for the expected dataType + if ( dataTypes[ 0 ] in responses ) { + finalDataType = dataTypes[ 0 ]; + } else { + + // Try convertible dataTypes + for ( type in responses ) { + if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) { + finalDataType = type; + break; + } + if ( !firstDataType ) { + firstDataType = type; + } + } + + // Or just use first one + finalDataType = finalDataType || firstDataType; + } + + // If we found a dataType + // We add the dataType to the list if needed + // and return the corresponding response + if ( finalDataType ) { + if ( finalDataType !== dataTypes[ 0 ] ) { + dataTypes.unshift( finalDataType ); + } + return responses[ finalDataType ]; + } +} + +/* Chain conversions given the request and the original response + * Also sets the responseXXX fields on the jqXHR instance + */ +function ajaxConvert( s, response, jqXHR, isSuccess ) { + var conv2, current, conv, tmp, prev, + converters = {}, + + // Work with a copy of dataTypes in case we need to modify it for conversion + dataTypes = s.dataTypes.slice(); + + // Create converters map with lowercased keys + if ( dataTypes[ 1 ] ) { + for ( conv in s.converters ) { + converters[ conv.toLowerCase() ] = s.converters[ conv ]; + } + } + + current = dataTypes.shift(); + + // Convert to each sequential dataType + while ( current ) { + + if ( s.responseFields[ current ] ) { + jqXHR[ s.responseFields[ current ] ] = response; + } + + // Apply the dataFilter if provided + if ( !prev && isSuccess && s.dataFilter ) { + response = s.dataFilter( response, s.dataType ); + } + + prev = current; + current = dataTypes.shift(); + + if ( current ) { + + // There's only work to do if current dataType is non-auto + if ( current === "*" ) { + + current = prev; + + // Convert response if prev dataType is non-auto and differs from current + } else if ( prev !== "*" && prev !== current ) { + + // Seek a direct converter + conv = converters[ prev + " " + current ] || converters[ "* " + current ]; + + // If none found, seek a pair + if ( !conv ) { + for ( conv2 in converters ) { + + // If conv2 outputs current + tmp = conv2.split( " " ); + if ( tmp[ 1 ] === current ) { + + // If prev can be converted to accepted input + conv = converters[ prev + " " + tmp[ 0 ] ] || + converters[ "* " + tmp[ 0 ] ]; + if ( conv ) { + + // Condense equivalence converters + if ( conv === true ) { + conv = converters[ conv2 ]; + + // Otherwise, insert the intermediate dataType + } else if ( converters[ conv2 ] !== true ) { + current = tmp[ 0 ]; + dataTypes.unshift( tmp[ 1 ] ); + } + break; + } + } + } + } + + // Apply converter (if not an equivalence) + if ( conv !== true ) { + + // Unless errors are allowed to bubble, catch and return them + if ( conv && s.throws ) { + response = conv( response ); + } else { + try { + response = conv( response ); + } catch ( e ) { + return { + state: "parsererror", + error: conv ? e : "No conversion from " + prev + " to " + current + }; + } + } + } + } + } + } + + return { state: "success", data: response }; +} + +jQuery.extend( { + + // Counter for holding the number of active queries + active: 0, + + // Last-Modified header cache for next request + lastModified: {}, + etag: {}, + + ajaxSettings: { + url: location.href, + type: "GET", + isLocal: rlocalProtocol.test( location.protocol ), + global: true, + processData: true, + async: true, + contentType: "application/x-www-form-urlencoded; charset=UTF-8", + + /* + timeout: 0, + data: null, + dataType: null, + username: null, + password: null, + cache: null, + throws: false, + traditional: false, + headers: {}, + */ + + accepts: { + "*": allTypes, + text: "text/plain", + html: "text/html", + xml: "application/xml, text/xml", + json: "application/json, text/javascript" + }, + + contents: { + xml: /\bxml\b/, + html: /\bhtml/, + json: /\bjson\b/ + }, + + responseFields: { + xml: "responseXML", + text: "responseText", + json: "responseJSON" + }, + + // Data converters + // Keys separate source (or catchall "*") and destination types with a single space + converters: { + + // Convert anything to text + "* text": String, + + // Text to html (true = no transformation) + "text html": true, + + // Evaluate text as a json expression + "text json": JSON.parse, + + // Parse text as xml + "text xml": jQuery.parseXML + }, + + // For options that shouldn't be deep extended: + // you can add your own custom options here if + // and when you create one that shouldn't be + // deep extended (see ajaxExtend) + flatOptions: { + url: true, + context: true + } + }, + + // Creates a full fledged settings object into target + // with both ajaxSettings and settings fields. + // If target is omitted, writes into ajaxSettings. + ajaxSetup: function( target, settings ) { + return settings ? + + // Building a settings object + ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) : + + // Extending ajaxSettings + ajaxExtend( jQuery.ajaxSettings, target ); + }, + + ajaxPrefilter: addToPrefiltersOrTransports( prefilters ), + ajaxTransport: addToPrefiltersOrTransports( transports ), + + // Main method + ajax: function( url, options ) { + + // If url is an object, simulate pre-1.5 signature + if ( typeof url === "object" ) { + options = url; + url = undefined; + } + + // Force options to be an object + options = options || {}; + + var transport, + + // URL without anti-cache param + cacheURL, + + // Response headers + responseHeadersString, + responseHeaders, + + // timeout handle + timeoutTimer, + + // Url cleanup var + urlAnchor, + + // Request state (becomes false upon send and true upon completion) + completed, + + // To know if global events are to be dispatched + fireGlobals, + + // Loop variable + i, + + // uncached part of the url + uncached, + + // Create the final options object + s = jQuery.ajaxSetup( {}, options ), + + // Callbacks context + callbackContext = s.context || s, + + // Context for global events is callbackContext if it is a DOM node or jQuery collection + globalEventContext = s.context && + ( callbackContext.nodeType || callbackContext.jquery ) ? + jQuery( callbackContext ) : + jQuery.event, + + // Deferreds + deferred = jQuery.Deferred(), + completeDeferred = jQuery.Callbacks( "once memory" ), + + // Status-dependent callbacks + statusCode = s.statusCode || {}, + + // Headers (they are sent all at once) + requestHeaders = {}, + requestHeadersNames = {}, + + // Default abort message + strAbort = "canceled", + + // Fake xhr + jqXHR = { + readyState: 0, + + // Builds headers hashtable if needed + getResponseHeader: function( key ) { + var match; + if ( completed ) { + if ( !responseHeaders ) { + responseHeaders = {}; + while ( ( match = rheaders.exec( responseHeadersString ) ) ) { + responseHeaders[ match[ 1 ].toLowerCase() ] = match[ 2 ]; + } + } + match = responseHeaders[ key.toLowerCase() ]; + } + return match == null ? null : match; + }, + + // Raw string + getAllResponseHeaders: function() { + return completed ? responseHeadersString : null; + }, + + // Caches the header + setRequestHeader: function( name, value ) { + if ( completed == null ) { + name = requestHeadersNames[ name.toLowerCase() ] = + requestHeadersNames[ name.toLowerCase() ] || name; + requestHeaders[ name ] = value; + } + return this; + }, + + // Overrides response content-type header + overrideMimeType: function( type ) { + if ( completed == null ) { + s.mimeType = type; + } + return this; + }, + + // Status-dependent callbacks + statusCode: function( map ) { + var code; + if ( map ) { + if ( completed ) { + + // Execute the appropriate callbacks + jqXHR.always( map[ jqXHR.status ] ); + } else { + + // Lazy-add the new callbacks in a way that preserves old ones + for ( code in map ) { + statusCode[ code ] = [ statusCode[ code ], map[ code ] ]; + } + } + } + return this; + }, + + // Cancel the request + abort: function( statusText ) { + var finalText = statusText || strAbort; + if ( transport ) { + transport.abort( finalText ); + } + done( 0, finalText ); + return this; + } + }; + + // Attach deferreds + deferred.promise( jqXHR ); + + // Add protocol if not provided (prefilters might expect it) + // Handle falsy url in the settings object (#10093: consistency with old signature) + // We also use the url parameter if available + s.url = ( ( url || s.url || location.href ) + "" ) + .replace( rprotocol, location.protocol + "//" ); + + // Alias method option to type as per ticket #12004 + s.type = options.method || options.type || s.method || s.type; + + // Extract dataTypes list + s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnotwhite ) || [ "" ]; + + // A cross-domain request is in order when the origin doesn't match the current origin. + if ( s.crossDomain == null ) { + urlAnchor = document.createElement( "a" ); + + // Support: IE <=8 - 11, Edge 12 - 13 + // IE throws exception on accessing the href property if url is malformed, + // e.g. http://example.com:80x/ + try { + urlAnchor.href = s.url; + + // Support: IE <=8 - 11 only + // Anchor's host property isn't correctly set when s.url is relative + urlAnchor.href = urlAnchor.href; + s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !== + urlAnchor.protocol + "//" + urlAnchor.host; + } catch ( e ) { + + // If there is an error parsing the URL, assume it is crossDomain, + // it can be rejected by the transport if it is invalid + s.crossDomain = true; + } + } + + // Convert data if not already a string + if ( s.data && s.processData && typeof s.data !== "string" ) { + s.data = jQuery.param( s.data, s.traditional ); + } + + // Apply prefilters + inspectPrefiltersOrTransports( prefilters, s, options, jqXHR ); + + // If request was aborted inside a prefilter, stop there + if ( completed ) { + return jqXHR; + } + + // We can fire global events as of now if asked to + // Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118) + fireGlobals = jQuery.event && s.global; + + // Watch for a new set of requests + if ( fireGlobals && jQuery.active++ === 0 ) { + jQuery.event.trigger( "ajaxStart" ); + } + + // Uppercase the type + s.type = s.type.toUpperCase(); + + // Determine if request has content + s.hasContent = !rnoContent.test( s.type ); + + // Save the URL in case we're toying with the If-Modified-Since + // and/or If-None-Match header later on + // Remove hash to simplify url manipulation + cacheURL = s.url.replace( rhash, "" ); + + // More options handling for requests with no content + if ( !s.hasContent ) { + + // Remember the hash so we can put it back + uncached = s.url.slice( cacheURL.length ); + + // If data is available, append data to url + if ( s.data ) { + cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data; + + // #9682: remove data so that it's not used in an eventual retry + delete s.data; + } + + // Add anti-cache in uncached url if needed + if ( s.cache === false ) { + cacheURL = cacheURL.replace( rts, "" ); + uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce++ ) + uncached; + } + + // Put hash and anti-cache on the URL that will be requested (gh-1732) + s.url = cacheURL + uncached; + + // Change '%20' to '+' if this is encoded form body content (gh-2658) + } else if ( s.data && s.processData && + ( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) { + s.data = s.data.replace( r20, "+" ); + } + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + if ( jQuery.lastModified[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] ); + } + if ( jQuery.etag[ cacheURL ] ) { + jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] ); + } + } + + // Set the correct header, if data is being sent + if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) { + jqXHR.setRequestHeader( "Content-Type", s.contentType ); + } + + // Set the Accepts header for the server, depending on the dataType + jqXHR.setRequestHeader( + "Accept", + s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ? + s.accepts[ s.dataTypes[ 0 ] ] + + ( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) : + s.accepts[ "*" ] + ); + + // Check for headers option + for ( i in s.headers ) { + jqXHR.setRequestHeader( i, s.headers[ i ] ); + } + + // Allow custom headers/mimetypes and early abort + if ( s.beforeSend && + ( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) { + + // Abort if not done already and return + return jqXHR.abort(); + } + + // Aborting is no longer a cancellation + strAbort = "abort"; + + // Install callbacks on deferreds + completeDeferred.add( s.complete ); + jqXHR.done( s.success ); + jqXHR.fail( s.error ); + + // Get transport + transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR ); + + // If no transport, we auto-abort + if ( !transport ) { + done( -1, "No Transport" ); + } else { + jqXHR.readyState = 1; + + // Send global event + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] ); + } + + // If request was aborted inside ajaxSend, stop there + if ( completed ) { + return jqXHR; + } + + // Timeout + if ( s.async && s.timeout > 0 ) { + timeoutTimer = window.setTimeout( function() { + jqXHR.abort( "timeout" ); + }, s.timeout ); + } + + try { + completed = false; + transport.send( requestHeaders, done ); + } catch ( e ) { + + // Rethrow post-completion exceptions + if ( completed ) { + throw e; + } + + // Propagate others as results + done( -1, e ); + } + } + + // Callback for when everything is done + function done( status, nativeStatusText, responses, headers ) { + var isSuccess, success, error, response, modified, + statusText = nativeStatusText; + + // Ignore repeat invocations + if ( completed ) { + return; + } + + completed = true; + + // Clear timeout if it exists + if ( timeoutTimer ) { + window.clearTimeout( timeoutTimer ); + } + + // Dereference transport for early garbage collection + // (no matter how long the jqXHR object will be used) + transport = undefined; + + // Cache response headers + responseHeadersString = headers || ""; + + // Set readyState + jqXHR.readyState = status > 0 ? 4 : 0; + + // Determine if successful + isSuccess = status >= 200 && status < 300 || status === 304; + + // Get response data + if ( responses ) { + response = ajaxHandleResponses( s, jqXHR, responses ); + } + + // Convert no matter what (that way responseXXX fields are always set) + response = ajaxConvert( s, response, jqXHR, isSuccess ); + + // If successful, handle type chaining + if ( isSuccess ) { + + // Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode. + if ( s.ifModified ) { + modified = jqXHR.getResponseHeader( "Last-Modified" ); + if ( modified ) { + jQuery.lastModified[ cacheURL ] = modified; + } + modified = jqXHR.getResponseHeader( "etag" ); + if ( modified ) { + jQuery.etag[ cacheURL ] = modified; + } + } + + // if no content + if ( status === 204 || s.type === "HEAD" ) { + statusText = "nocontent"; + + // if not modified + } else if ( status === 304 ) { + statusText = "notmodified"; + + // If we have data, let's convert it + } else { + statusText = response.state; + success = response.data; + error = response.error; + isSuccess = !error; + } + } else { + + // Extract error from statusText and normalize for non-aborts + error = statusText; + if ( status || !statusText ) { + statusText = "error"; + if ( status < 0 ) { + status = 0; + } + } + } + + // Set data for the fake xhr object + jqXHR.status = status; + jqXHR.statusText = ( nativeStatusText || statusText ) + ""; + + // Success/Error + if ( isSuccess ) { + deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] ); + } else { + deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] ); + } + + // Status-dependent callbacks + jqXHR.statusCode( statusCode ); + statusCode = undefined; + + if ( fireGlobals ) { + globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError", + [ jqXHR, s, isSuccess ? success : error ] ); + } + + // Complete + completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] ); + + if ( fireGlobals ) { + globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] ); + + // Handle the global AJAX counter + if ( !( --jQuery.active ) ) { + jQuery.event.trigger( "ajaxStop" ); + } + } + } + + return jqXHR; + }, + + getJSON: function( url, data, callback ) { + return jQuery.get( url, data, callback, "json" ); + }, + + getScript: function( url, callback ) { + return jQuery.get( url, undefined, callback, "script" ); + } +} ); + +jQuery.each( [ "get", "post" ], function( i, method ) { + jQuery[ method ] = function( url, data, callback, type ) { + + // Shift arguments if data argument was omitted + if ( jQuery.isFunction( data ) ) { + type = type || callback; + callback = data; + data = undefined; + } + + // The url can be an options object (which then must have .url) + return jQuery.ajax( jQuery.extend( { + url: url, + type: method, + dataType: type, + data: data, + success: callback + }, jQuery.isPlainObject( url ) && url ) ); + }; +} ); + + +jQuery._evalUrl = function( url ) { + return jQuery.ajax( { + url: url, + + // Make this explicit, since user can override this through ajaxSetup (#11264) + type: "GET", + dataType: "script", + cache: true, + async: false, + global: false, + "throws": true + } ); +}; + + +jQuery.fn.extend( { + wrapAll: function( html ) { + var wrap; + + if ( this[ 0 ] ) { + if ( jQuery.isFunction( html ) ) { + html = html.call( this[ 0 ] ); + } + + // The elements to wrap the target around + wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true ); + + if ( this[ 0 ].parentNode ) { + wrap.insertBefore( this[ 0 ] ); + } + + wrap.map( function() { + var elem = this; + + while ( elem.firstElementChild ) { + elem = elem.firstElementChild; + } + + return elem; + } ).append( this ); + } + + return this; + }, + + wrapInner: function( html ) { + if ( jQuery.isFunction( html ) ) { + return this.each( function( i ) { + jQuery( this ).wrapInner( html.call( this, i ) ); + } ); + } + + return this.each( function() { + var self = jQuery( this ), + contents = self.contents(); + + if ( contents.length ) { + contents.wrapAll( html ); + + } else { + self.append( html ); + } + } ); + }, + + wrap: function( html ) { + var isFunction = jQuery.isFunction( html ); + + return this.each( function( i ) { + jQuery( this ).wrapAll( isFunction ? html.call( this, i ) : html ); + } ); + }, + + unwrap: function( selector ) { + this.parent( selector ).not( "body" ).each( function() { + jQuery( this ).replaceWith( this.childNodes ); + } ); + return this; + } +} ); + + +jQuery.expr.pseudos.hidden = function( elem ) { + return !jQuery.expr.pseudos.visible( elem ); +}; +jQuery.expr.pseudos.visible = function( elem ) { + return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length ); +}; + + + + +jQuery.ajaxSettings.xhr = function() { + try { + return new window.XMLHttpRequest(); + } catch ( e ) {} +}; + +var xhrSuccessStatus = { + + // File protocol always yields status code 0, assume 200 + 0: 200, + + // Support: IE <=9 only + // #1450: sometimes IE returns 1223 when it should be 204 + 1223: 204 + }, + xhrSupported = jQuery.ajaxSettings.xhr(); + +support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported ); +support.ajax = xhrSupported = !!xhrSupported; + +jQuery.ajaxTransport( function( options ) { + var callback, errorCallback; + + // Cross domain only allowed if supported through XMLHttpRequest + if ( support.cors || xhrSupported && !options.crossDomain ) { + return { + send: function( headers, complete ) { + var i, + xhr = options.xhr(); + + xhr.open( + options.type, + options.url, + options.async, + options.username, + options.password + ); + + // Apply custom fields if provided + if ( options.xhrFields ) { + for ( i in options.xhrFields ) { + xhr[ i ] = options.xhrFields[ i ]; + } + } + + // Override mime type if needed + if ( options.mimeType && xhr.overrideMimeType ) { + xhr.overrideMimeType( options.mimeType ); + } + + // X-Requested-With header + // For cross-domain requests, seeing as conditions for a preflight are + // akin to a jigsaw puzzle, we simply never set it to be sure. + // (it can always be set on a per-request basis or even using ajaxSetup) + // For same-domain requests, won't change header if already provided. + if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) { + headers[ "X-Requested-With" ] = "XMLHttpRequest"; + } + + // Set headers + for ( i in headers ) { + xhr.setRequestHeader( i, headers[ i ] ); + } + + // Callback + callback = function( type ) { + return function() { + if ( callback ) { + callback = errorCallback = xhr.onload = + xhr.onerror = xhr.onabort = xhr.onreadystatechange = null; + + if ( type === "abort" ) { + xhr.abort(); + } else if ( type === "error" ) { + + // Support: IE <=9 only + // On a manual native abort, IE9 throws + // errors on any property access that is not readyState + if ( typeof xhr.status !== "number" ) { + complete( 0, "error" ); + } else { + complete( + + // File: protocol always yields status 0; see #8605, #14207 + xhr.status, + xhr.statusText + ); + } + } else { + complete( + xhrSuccessStatus[ xhr.status ] || xhr.status, + xhr.statusText, + + // Support: IE <=9 only + // IE9 has no XHR2 but throws on binary (trac-11426) + // For XHR2 non-text, let the caller handle it (gh-2498) + ( xhr.responseType || "text" ) !== "text" || + typeof xhr.responseText !== "string" ? + { binary: xhr.response } : + { text: xhr.responseText }, + xhr.getAllResponseHeaders() + ); + } + } + }; + }; + + // Listen to events + xhr.onload = callback(); + errorCallback = xhr.onerror = callback( "error" ); + + // Support: IE 9 only + // Use onreadystatechange to replace onabort + // to handle uncaught aborts + if ( xhr.onabort !== undefined ) { + xhr.onabort = errorCallback; + } else { + xhr.onreadystatechange = function() { + + // Check readyState before timeout as it changes + if ( xhr.readyState === 4 ) { + + // Allow onerror to be called first, + // but that will not handle a native abort + // Also, save errorCallback to a variable + // as xhr.onerror cannot be accessed + window.setTimeout( function() { + if ( callback ) { + errorCallback(); + } + } ); + } + }; + } + + // Create the abort callback + callback = callback( "abort" ); + + try { + + // Do send the request (this may raise an exception) + xhr.send( options.hasContent && options.data || null ); + } catch ( e ) { + + // #14683: Only rethrow if this hasn't been notified as an error yet + if ( callback ) { + throw e; + } + } + }, + + abort: function() { + if ( callback ) { + callback(); + } + } + }; + } +} ); + + + + +// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432) +jQuery.ajaxPrefilter( function( s ) { + if ( s.crossDomain ) { + s.contents.script = false; + } +} ); + +// Install script dataType +jQuery.ajaxSetup( { + accepts: { + script: "text/javascript, application/javascript, " + + "application/ecmascript, application/x-ecmascript" + }, + contents: { + script: /\b(?:java|ecma)script\b/ + }, + converters: { + "text script": function( text ) { + jQuery.globalEval( text ); + return text; + } + } +} ); + +// Handle cache's special case and crossDomain +jQuery.ajaxPrefilter( "script", function( s ) { + if ( s.cache === undefined ) { + s.cache = false; + } + if ( s.crossDomain ) { + s.type = "GET"; + } +} ); + +// Bind script tag hack transport +jQuery.ajaxTransport( "script", function( s ) { + + // This transport only deals with cross domain requests + if ( s.crossDomain ) { + var script, callback; + return { + send: function( _, complete ) { + script = jQuery( " + + + + + + +

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+ +
+

mujoco-py Documentation

+
+ +
+

MuJoCo is a physics engine for detailed, efficient rigid body simulations with contacts. mujoco-py allows using MuJoCo from Python.

+

See the README for installation instructions and example usage.

+

mujoco-py allows access to MuJoCo on a number of different levels of abstraction:

+
    +
  • Directly from Cython (low-level): Raw Cython declarations are provided for using the MuJoCo C structs and functions directly in your own Cython code.
    • +
  • Using PyMjData: Time-dependent data (medium-level): These wrappers are lightweight Cython cdef classes that expose MuJuCo data to Python space. The data in the MuJoCo structs is exposed as NumPy arrays bound to Mujoco-allocated memory, so there is no copying overhead when accessing or modifying MuJoCo state from Python. For more information on how this works internally, see [this document](./doc/cython_wrappers.md).
    • +
  • Using mujoco_py.MjSim (high-level): mujoco_py.MjSim manages a stateful simulation similar to the MujocoEnv class found in Gym
    • +
+

.

+
+ + +
+
+ +
+
+ + +
+
+ +
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/docs/build/html/internals.html b/docs/build/html/internals.html new file mode 100644 index 00000000..4e5c62d1 --- /dev/null +++ b/docs/build/html/internals.html @@ -0,0 +1,282 @@ + + + + + + + + + + + Internals — mujoco-py 1.50.0.14 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + + +
+ + + + + + +
+
+ + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +
+

Internals

+
+

Autogenerated wrappers

+

The Cython struct wrappers are generated by scripts/gen_wrappers.py. To illustrate how the wrappers work, let’s consider a toy C structure and the corresponding generated Cython cdef class. Here’s a stripped down version of mjData with a scalar member and a pointer (array) member:

+
typedef struct _mjData {
+    int ne;
+    mjtNum* qpos;  // (nq x 1)
+} mjData;
+
+
+

Here’s the corresponding generated Cython wrapper code:

+
cdef class PyMjData(object):
+    cdef mjData* ptr
+    cdef mjModel* _model
+    cdef np.ndarray _qpos
+
+    cdef void _set(self, mjData* p, mjModel* model):
+        self.ptr = p
+        self._model = model
+        self._qpos = _wrap_mjtNum_1d(p.qpos, model.nq)
+
+    @property
+    def ne(self): return self.ptr.ne
+
+    @ne.setter
+    def ne(self, int x): self.ptr.ne = x
+
+    @property
+    def qpos(self): return self._qpos
+
+cdef PyMjData WrapMjData(mjData* p, mjModel* model):
+    cdef PyMjData o = PyMjData()
+    o._set(p, model)
+    return o
+
+
+

PyMjData is the wrapper class for exposing the underlying Mujoco structure to Python; it doesn’t perform any memory mangement. A user writing Cython code can create this wrapper using WrapMjData. A mjModel pointer must be passed because the shape of a mjData member, namely qpos, depends on model->nq.

+

Each field of mjData corresponds to some generated piece of code in PyMjData that depends on the type of that field. For example, ne is a scalar integer, so it gets exposed as a pair of getter and setter methods in PyMjData. qpos is an array represented as a pointer to its first element, so it’s wrapped with a NumPy array by _wrap_mjtNum_1d and is exposed with a getter for that NumPy array.

+

The function _wrap_mjtNum_1d creates a Cython memoryview from the data pointer and converts it to a NumPy array pointing to the same memory:

+
cdef inline np.ndarray _wrap_mjtNum_1d(mjtNum* a, int shape0):
+    if shape0 == 0: return None
+    cdef mjtNum[:] b = <mjtNum[:shape0]> a
+    return np.asarray(b)
+
+
+

Similar functions for other types are also generated as required.

+

Keep in mind that the only reason to use these autogenerated wrappers is to allow Python users of the Cython code to easily access Mujoco data (for instance the MjSim Cython class, found in ``cymj/cymj.pyx`). If you’re writing Cython code and you don’t need the user to access Mujoco data from Python, then there is no reason to use these wrappers.

+
+
+ + +
+
+ +
+
+ + +
+
+ +
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/docs/build/html/objects.inv b/docs/build/html/objects.inv new file mode 100644 index 0000000000000000000000000000000000000000..df9239d7effb668be1fedc8036dabf668647b217 GIT binary patch literal 1207 zcmV;o1W5ZMAX9K?X>NERX>N99Zgg*Qc_4OWa&u{KZXhxWBOp+6Z)#;@bUGkyb!u;8 zZ!K_n3L_v^WpZMd?av*PJAarPHb0B7E zY-J#6b0A}HZE$jBb8}^6Aa!$TZf78RY-wUH3V7P3nahsjHV{Sk{t5xf)&^$VyB_qW z2Wg;@9%L&}WJ#t+e3+#Cn6FRi<*_tDt1eOTr3h40 zAS-FNPp19t_hP#dGL_1Kq&`t8olX2PmQ>5qyND?}kz6Qi7bN8fTCz>r=O~ObWK)jf zM6HuLT>(wy)U`Ya=`+}XvKJ!~%wmoo*<+V6Fnh!2z{vEZkP^ZS>VyHsd?1ypK@407 zvJSGO3yf+gAEmYwAaGoO2pKAbN})wC4mN=GyTbFIFv#0UtF6NM;LbvYEZ*9mApZh# z-%##54CXn4`7B3_Jno2ZndW3#lV=Q?O@g0;Xa#agi{{z;;4Yv5J>dp6Xg*S%ZC#9@ zM57TgA~f29aO7AUkHfg1V-g8Xw-)9oUf>&hI9h`KfzwX`+AKLT^*$S@S5PCPnX)cKVD@31#{IjBvuZom%MNyox z&5MuD>n7wlHg0=w@yl6QG}fmYJ{K@jc-zf_lK} zhvGU2A8^yh99Gaze`z|8nVKc|Dx#LKN;lR8DyIkRMyqWzto6FH!;NZfgw_egM~I?! z45c|#|3~h{*rR+@e=+U4+*Vy(6S8SrYzMXkLC^+mkqe$im&mn_5`yZ z$B;n&4S}%!XOESf11QRwZ`e~%)9~0gBIlMj%zNKzQYc<&5mA;?G^QZ1*64BUqMj&3 zLUGR$|{89*_5t2peVTd?wS~@cinDzCrI?=%T=Cj}?8)9!o@2UTc{8VAMH}ZqpS$FmzRk^5 zx+*43-28fta&i>j-Y{07TYoKHob37)A^Mtga~pf9yMG~DH+|(>v-+30`0IB5VHCVM z)wMLu%3sZ4NWO*UAC7vzz8zi|dn&$jR&N#g{`SiYx7TiN_`R9SF^cE+*I$qLm=Zzm VmoFWkjr7O(`@3jp^EYAuvCyi7Nvr?> literal 0 HcmV?d00001 diff --git a/docs/build/html/reference.html b/docs/build/html/reference.html new file mode 100644 index 00000000..ba87f3fd --- /dev/null +++ b/docs/build/html/reference.html @@ -0,0 +1,1366 @@ + + + + + + + + + + + API reference — mujoco-py 1.50.0.14 documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + + +
+ + + + + + +
+
+ + + + + + + + + + + + + + + + +
+ + + + +
+
+
+
+ +
+

API reference

+ +
+

MjSim: Basic simulation

+
+
+mujoco_py.load_model_from_path(path)
+

Loads model from path.

+
+ +
+
+mujoco_py.load_model_from_xml(xml_string)
+

Loads and returns a PyMjModel model from a string containing XML markup. +Saves the XML string used to create the returned model in model.xml.

+
+ +
+
+mujoco_py.load_model_from_mjb(path)
+

Loads and returns a PyMjModel model from bytes encoded MJB. +MJB is a MuJoCo-custom format that includes assets like meshes/textures.

+
+ +
+
+class mujoco_py.MjSim(model, data=None, nsubsteps=1, udd_callback=None)
+

MjSim represents a running simulation including its state.

+

Similar to Gym’s MujocoEnv, it internally wraps a PyMjModel +and a PyMjData.

+ +++ + + + +
Parameters:

model : PyMjModel

+
+

The model to simulate.

+
+

data : PyMjData

+
+

Optional container for the simulation state. Will be created if None.

+
+

nsubsteps : int

+
+

Optional number of MuJoCo steps to run for every call to step(). +Buffers will be swapped only once per step.

+
+

udd_callback : fn(MjSim) -> dict

+
+

Optional callback for user-defined dynamics. At every call to +step(), it receives an MjSim object sim containing the +current user-defined dynamics state in sim.udd_state, and returns the +next udd_state after applying the user-defined dynamics. This is +useful e.g. for reward functions that operate over functions of historical +state.

+
+
+

Attributes

+

Methods

+
+
+get_state()
+

Returns a copy of the simulator state.

+
+ +
+
+render()
+

Renders view from a camera and returns image as an numpy.ndarray.

+

Args: +- width (int): desired image width. +- height (int): desired image height. +- camera_name (str): name of camera in model. If None, the free

+
+
camera will be used.
+
    +
  • depth (bool): if True, also return depth buffer
    • +
+

Returns: +- rgb (uint8 array): image buffer from camera +- depth (float array): depth buffer from camera (only returned

+
+
if depth=True)
+
+ +
+
+reset()
+

Resets the simulation data and clears buffers.

+
+ +
+
+save()
+

Saves the simulator model and state to a file as either +a MuJoCo XML or MJB file. The current state is saved as +a keyframe in the model file. This is useful for debugging +using MuJoCo’s simulate utility.

+

Note that this doesn’t save the UDD-state which is +part of MjSimState, since that’s not supported natively +by MuJoCo. If you want to save the model together with +the UDD-state, you should use the get_xml or get_mjb +methods on MjModel together with MjSim.get_state and +save them with e.g. pickle.

+

Args: +- file (IO stream): stream to write model to. +- format: format to use (either ‘xml’ or ‘mjb’) +- keep_inertials (bool): if False, removes all <inertial>

+
+
properties derived automatically for geoms by MuJoco. Note +that this removes ones that were provided by the user +as well.
+
+ +
+
+set_state()
+

Sets the state from an MjSimState. +If the MjSimState was previously unflattened from a numpy array, consider +set_state_from_flattened, as the defensive copy is a substantial overhead +in an inner loop.

+

Args: +- value (MjSimState): the desired state. +- call_forward: optionally call sim.forward(). Called by default if

+
+
the udd_callback is set.
+
+ +
+
+set_state_from_flattened()
+

This helper method sets the state from an array without requiring a defensive copy.

+
+ +
+
+step()
+

Advances the simulation by calling mj_step.

+

If qpos or qvel have been modified directly, the user is required to call +forward() before step() if their udd_callback requires access to MuJoCo state +set during the forward dynamics.

+
+ +
+ +
+
+class mujoco_py.MjSimState
+

Represents a snapshot of the simulator’s state.

+

This includes time, qpos, qvel, act, and udd_state.

+

Attributes

+

Methods

+
+ +
+
+mujoco_py.ignore_mujoco_warnings()[source]
+

Class to turn off mujoco warning exceptions within a scope. Useful for +large, vectorized rollouts.

+
+ +
+
+

PyMjData: Time-dependent data

+

PyMjData and related classes are automatically generated from the MuJoCo C header files. For more information on this process, see Autogenerated wrappers. Their structure therefore directly follows the MuJoCo structs.

+
+
+class mujoco_py.PyMjData
+
+

Attributes

+
+act
+
+ +
+
+act_dot
+
+ +
+
+active_contacts_efc_pos
+
+ +
+
+actuator_force
+
+ +
+
+actuator_length
+
+ +
+
+actuator_moment
+
+ +
+
+actuator_velocity
+
+ +
+
+body_jacp
+
+ +
+
+body_jacr
+
+ +
+
+body_xmat
+
+ +
+
+body_xpos
+
+ +
+
+body_xquat
+
+ +
+
+body_xvelp
+
+ +
+
+body_xvelr
+
+ +
+
+cacc
+
+ +
+
+cam_xmat
+
+ +
+
+cam_xpos
+
+ +
+
+cdof
+
+ +
+
+cdof_dot
+
+ +
+
+cfrc_ext
+
+ +
+
+cfrc_int
+
+ +
+
+cinert
+
+ +
+
+contact
+
+ +
+
+crb
+
+ +
+
+ctrl
+
+ +
+
+cvel
+
+ +
+
+efc_AR
+
+ +
+
+efc_AR_colind
+
+ +
+
+efc_AR_rowadr
+
+ +
+
+efc_AR_rownnz
+
+ +
+
+efc_D
+
+ +
+
+efc_J
+
+ +
+
+efc_JT
+
+ +
+
+efc_JT_colind
+
+ +
+
+efc_JT_rowadr
+
+ +
+
+efc_JT_rownnz
+
+ +
+
+efc_J_colind
+
+ +
+
+efc_J_rowadr
+
+ +
+
+efc_J_rownnz
+
+ +
+
+efc_R
+
+ +
+
+efc_aref
+
+ +
+
+efc_b
+
+ +
+
+efc_diagApprox
+
+ +
+
+efc_force
+
+ +
+
+efc_frictionloss
+
+ +
+
+efc_id
+
+ +
+
+efc_margin
+
+ +
+
+efc_solimp
+
+ +
+
+efc_solref
+
+ +
+
+efc_state
+
+ +
+
+efc_type
+
+ +
+
+efc_vel
+
+ +
+
+energy
+
+ +
+
+geom_jacp
+
+ +
+
+geom_jacr
+
+ +
+
+geom_xmat
+
+ +
+
+geom_xpos
+
+ +
+
+geom_xvelp
+
+ +
+
+geom_xvelr
+
+ +
+
+light_xdir
+
+ +
+
+light_xpos
+
+ +
+
+maxuse_con
+
+ +
+
+maxuse_efc
+
+ +
+
+maxuse_stack
+
+ +
+
+mocap_pos
+
+ +
+
+mocap_quat
+
+ +
+
+nbuffer
+
+ +
+
+ncon
+
+ +
+
+ne
+
+ +
+
+nefc
+
+ +
+
+nf
+
+ +
+
+nstack
+
+ +
+
+pstack
+
+ +
+
+qLD
+
+ +
+
+qLDiagInv
+
+ +
+
+qLDiagSqrtInv
+
+ +
+
+qM
+
+ +
+
+qacc
+
+ +
+
+qacc_unc
+
+ +
+
+qacc_warmstart
+
+ +
+
+qfrc_actuator
+
+ +
+
+qfrc_applied
+
+ +
+
+qfrc_bias
+
+ +
+
+qfrc_constraint
+
+ +
+
+qfrc_inverse
+
+ +
+
+qfrc_passive
+
+ +
+
+qfrc_unc
+
+ +
+
+qpos
+
+ +
+
+qvel
+
+ +
+
+sensordata
+
+ +
+
+set_joint_qpos
+
+ +
+
+set_joint_qvel
+
+ +
+
+set_mocap_pos
+
+ +
+
+set_mocap_quat
+
+ +
+
+site_jacp
+
+ +
+
+site_jacr
+
+ +
+
+site_xmat
+
+ +
+
+site_xpos
+
+ +
+
+site_xvelp
+
+ +
+
+site_xvelr
+
+ +
+
+solver
+
+ +
+
+solver_fwdinv
+
+ +
+
+solver_iter
+
+ +
+
+solver_nnz
+
+ +
+
+subtree_angmom
+
+ +
+
+subtree_com
+
+ +
+
+subtree_linvel
+
+ +
+
+ten_length
+
+ +
+
+ten_moment
+
+ +
+
+ten_velocity
+
+ +
+
+ten_wrapadr
+
+ +
+
+ten_wrapnum
+
+ +
+
+time
+
+ +
+
+timer
+
+ +
+
+userdata
+
+ +
+
+warning
+
+ +
+
+wrap_obj
+
+ +
+
+wrap_xpos
+
+ +
+
+xanchor
+
+ +
+
+xaxis
+
+ +
+
+xfrc_applied
+
+ +
+
+ximat
+
+ +
+
+xipos
+
+ +

Methods

+
+get_body_jacp(name)
+

Get the entry in jacp corresponding to the body with the given name

+
+ +
+
+get_body_jacr(name)
+

Get the entry in jacr corresponding to the body with the given name

+
+ +
+
+get_body_ximat(name)
+

Get the entry in ximat corresponding to the body with the given name

+
+ +
+
+get_body_xipos(name)
+

Get the entry in xipos corresponding to the body with the given name

+
+ +
+
+get_body_xmat(name)
+

Get the entry in xmat corresponding to the body with the given name

+
+ +
+
+get_body_xpos(name)
+

Get the entry in xpos corresponding to the body with the given name

+
+ +
+
+get_body_xquat(name)
+

Get the entry in xquat corresponding to the body with the given name

+
+ +
+
+get_body_xvelp(name)
+

Get the entry in xvelp corresponding to the body with the given name

+
+ +
+
+get_body_xvelr(name)
+

Get the entry in xvelr corresponding to the body with the given name

+
+ +
+
+get_cam_xmat(name)
+

Get the entry in xmat corresponding to the cam with the given name

+
+ +
+
+get_cam_xpos(name)
+

Get the entry in xpos corresponding to the cam with the given name

+
+ +
+
+get_camera_xmat(name)
+

Get the entry in xmat corresponding to the camera with the given name

+
+ +
+
+get_camera_xpos(name)
+

Get the entry in xpos corresponding to the camera with the given name

+
+ +
+
+get_geom_jacp(name)
+

Get the entry in jacp corresponding to the geom with the given name

+
+ +
+
+get_geom_jacr(name)
+

Get the entry in jacr corresponding to the geom with the given name

+
+ +
+
+get_geom_xmat(name)
+

Get the entry in xmat corresponding to the geom with the given name

+
+ +
+
+get_geom_xpos(name)
+

Get the entry in xpos corresponding to the geom with the given name

+
+ +
+
+get_geom_xvelp(name)
+

Get the entry in xvelp corresponding to the geom with the given name

+
+ +
+
+get_geom_xvelr(name)
+

Get the entry in xvelr corresponding to the geom with the given name

+
+ +
+
+get_joint_qpos(name)
+

Get the entry in qpos corresponding to the joint with the given name

+
+ +
+
+get_joint_qvel(name)
+

Get the entry in qvel corresponding to the joint with the given name

+
+ +
+
+get_joint_xanchor(name)
+

Get the entry in xanchor corresponding to the joint with the given name

+
+ +
+
+get_joint_xaxis(name)
+

Get the entry in xaxis corresponding to the joint with the given name

+
+ +
+
+get_light_xdir(name)
+

Get the entry in xdir corresponding to the light with the given name

+
+ +
+
+get_light_xpos(name)
+

Get the entry in xpos corresponding to the light with the given name

+
+ +
+
+get_mocap_pos(name)
+

Get the entry in pos corresponding to the mocap with the given name

+
+ +
+
+get_mocap_quat(name)
+

Get the entry in quat corresponding to the mocap with the given name

+
+ +
+
+get_site_jacp(name)
+

Get the entry in jacp corresponding to the site with the given name

+
+ +
+
+get_site_jacr(name)
+

Get the entry in jacr corresponding to the site with the given name

+
+ +
+
+get_site_xmat(name)
+

Get the entry in xmat corresponding to the site with the given name

+
+ +
+
+get_site_xpos(name)
+

Get the entry in xpos corresponding to the site with the given name

+
+ +
+
+get_site_xvelp(name)
+

Get the entry in xvelp corresponding to the site with the given name

+
+ +
+
+get_site_xvelr(name)
+

Get the entry in xvelr corresponding to the site with the given name

+
+ +
+
+

MjSimPool: Batched simulation

+
+
+class mujoco_py.MjSimPool
+

Keeps a pool of multiple MjSims and enables stepping them quickly +in parallel.

+ +++ + + + +
Parameters:

sims : list of MjSim

+
+

List of simulators that make up the pool.

+
+

nsubsteps:

+
+

Number of substeps to run on step(). The individual +simulators’ nsubstep will be ignored.

+
+
+

Attributes

+

Methods

+
+
+static create_from_sim()
+

Create an MjSimPool by cloning the provided sim a total of nsims times. +Returns the created MjSimPool.

+ +++ + + + +
Parameters:

sim : MjSim

+
+

The prototype to clone.

+
+

nsims : int

+
+

Number of clones to create.

+
+
+
+ +
+
+forward()
+

Calls mj_forward on all simulations in parallel. +If nsims is specified, than only the first nsims simulator are forwarded.

+
+ +
+
+reset()
+

Resets all simulations in pool. +If nsims is specified, than only the first nsims simulators are reset.

+
+ +
+
+step()
+

Calls mj_step on all simulations in parallel, with nsubsteps as +specified when the pool was created.

+

If nsims is specified, than only the first nsims simulator are stepped.

+
+ +
+ +
+
+

MjViewer: 3D rendering

+
+
+class mujoco_py.MjViewerBasic(sim)[source]
+

A simple display GUI showing the scene of an MjSim with a mouse-movable camera.

+

MjViewer extends this class to provide more sophisticated playback and interaction controls.

+ +++ + + + +
Parameters:

sim : MjSim

+
+

The simulator to display.

+
+
+

Attributes

+

Methods

+
+ +
+
+class mujoco_py.MjViewer(sim)[source]
+

Extends MjViewerBasic to add video recording, interactive time and interaction controls.

+

The key bindings are as follows:

+
    +
  • TAB: Switch between MuJoCo cameras.
    • +
  • H: Toggle hiding all GUI components.
    • +
  • SPACE: Pause/unpause the simulation.
    • +
  • RIGHT: Advance simulation by one step.
    • +
  • V: Start/stop video recording.
    • +
  • T: Capture screenshot.
    • +
  • I: Drop into ipdb debugger.
    • +
  • S/F: Decrease/Increase simulation playback speed.
    • +
  • C: Toggle visualization of contact forces (off by default).
    • +
  • D: Enable/disable frame skipping when rendering lags behind real time.
    • +
  • R: Toggle transparency of geoms.
    • +
  • M: Toggle display of mocap bodies.
    • +
+ +++ + + + +
Parameters:

sim : MjSim

+
+

The simulator to display.

+
+
+

Attributes

+

Methods

+
+ +
+
+ + +
+
+ +
+
+ + +
+
+ +
+ +
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Documentation","Internals","API reference"],titleterms:{api:2,autogener:1,basic:2,batch:2,data:2,depend:2,document:0,intern:1,mjsim:2,mjsimpool:2,mjviewer:2,mujoco:0,pymjdata:2,refer:2,render:2,simul:2,time:2,wrapper:1}}) \ No newline at end of file diff --git a/docs/conf.py b/docs/conf.py new file mode 100644 index 00000000..713811fb --- /dev/null +++ b/docs/conf.py @@ -0,0 +1,157 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +# +# mujoco-py documentation build configuration file, created by +# sphinx-quickstart on Tue Jun 27 15:21:11 2017. +# +# This file is execfile()d with the current directory set to its +# containing dir. +# +# Note that not all possible configuration values are present in this +# autogenerated file. +# +# All configuration values have a default; values that are commented out +# serve to show the default. + +# If extensions (or modules to document with autodoc) are in another directory, +# add these directories to sys.path here. If the directory is relative to the +# documentation root, use os.path.abspath to make it absolute, like shown here. +# +# import os +# import sys +# sys.path.insert(0, os.path.abspath('.')) + + +# -- General configuration ------------------------------------------------ + +# If your documentation needs a minimal Sphinx version, state it here. +# +# needs_sphinx = '1.0' + +# Add any Sphinx extension module names here, as strings. They can be +# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom +# ones. +extensions = ['sphinx.ext.autodoc', + 'sphinx.ext.viewcode', + 'numpydoc'] + +# Add any paths that contain templates here, relative to this directory. +templates_path = ['_templates'] + +# The suffix(es) of source filenames. +# You can specify multiple suffix as a list of string: +# +# source_suffix = ['.rst', '.md'] +source_suffix = '.rst' + +# The master toctree document. +master_doc = 'index' + +# General information about the project. +project = 'mujoco-py' +copyright = '2017, OpenAI' +author = 'OpenAI' + +# The version info for the project you're documenting, acts as replacement for +# |version| and |release|, also used in various other places throughout the +# built documents. +# +# The short X.Y version. +import mujoco_py +version = mujoco_py.__version__ +# The full version, including alpha/beta/rc tags. +release = mujoco_py.__version__ + +# The language for content autogenerated by Sphinx. Refer to documentation +# for a list of supported languages. +# +# This is also used if you do content translation via gettext catalogs. +# Usually you set "language" from the command line for these cases. +language = None + +# List of patterns, relative to source directory, that match files and +# directories to ignore when looking for source files. +# This patterns also effect to html_static_path and html_extra_path +exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store'] + +# The name of the Pygments (syntax highlighting) style to use. +pygments_style = 'sphinx' + +# If true, `todo` and `todoList` produce output, else they produce nothing. +todo_include_todos = False + + +# -- Options for HTML output ---------------------------------------------- + +# The theme to use for HTML and HTML Help pages. See the documentation for +# a list of builtin themes. +# +html_theme = "sphinx_rtd_theme" + +# Theme options are theme-specific and customize the look and feel of a theme +# further. For a list of options available for each theme, see the +# documentation. +# +# html_theme_options = {} + +# Add any paths that contain custom static files (such as style sheets) here, +# relative to this directory. They are copied after the builtin static files, +# so a file named "default.css" will overwrite the builtin "default.css". +html_static_path = ['_static'] + + +# -- Options for HTMLHelp output ------------------------------------------ + +# Output file base name for HTML help builder. +htmlhelp_basename = 'mujoco-pydoc' + + +# -- Options for LaTeX output --------------------------------------------- + +latex_elements = { + # The paper size ('letterpaper' or 'a4paper'). + # + # 'papersize': 'letterpaper', + + # The font size ('10pt', '11pt' or '12pt'). + # + # 'pointsize': '10pt', + + # Additional stuff for the LaTeX preamble. + # + # 'preamble': '', + + # Latex figure (float) alignment + # + # 'figure_align': 'htbp', +} + +# Grouping the document tree into LaTeX files. List of tuples +# (source start file, target name, title, +# author, documentclass [howto, manual, or own class]). +latex_documents = [ + (master_doc, 'mujoco-py.tex', 'mujoco-py Documentation', + 'OpenAI', 'manual'), +] + + +# -- Options for manual page output --------------------------------------- + +# One entry per manual page. List of tuples +# (source start file, name, description, authors, manual section). +man_pages = [ + (master_doc, 'mujoco-py', 'mujoco-py Documentation', + [author], 1) +] + + +# -- Options for Texinfo output ------------------------------------------- + +# Grouping the document tree into Texinfo files. List of tuples +# (source start file, target name, title, author, +# dir menu entry, description, category) +texinfo_documents = [ + (master_doc, 'mujoco-py', 'mujoco-py Documentation', + author, 'mujoco-py', 'One line description of project.', + 'Miscellaneous'), +] diff --git a/docs/index.html b/docs/index.html new file mode 100644 index 00000000..07071089 --- /dev/null +++ b/docs/index.html @@ -0,0 +1 @@ + diff --git a/docs/index.rst b/docs/index.rst new file mode 100644 index 00000000..d7ca05bf --- /dev/null +++ b/docs/index.rst @@ -0,0 +1,20 @@ +======================= +mujoco-py Documentation +======================= + +.. toctree:: + reference + internals + +`MuJoCo `_ is a physics engine for detailed, efficient rigid body simulations with contacts. ``mujoco-py`` allows using MuJoCo from Python. + +See the `README `_ for installation instructions and example usage. + +``mujoco-py`` allows access to MuJoCo on a number of different levels of abstraction: + +- Directly from Cython (low-level): `Raw Cython declarations `_ are provided for using the MuJoCo C structs and functions directly in your own Cython code. + +- Using :ref:`pymjdata` (medium-level): These wrappers are lightweight Cython ``cdef`` classes that expose MuJuCo data to Python space. The data in the MuJoCo structs is exposed as NumPy arrays bound to Mujoco-allocated memory, so there is no copying overhead when accessing or modifying MuJoCo state from Python. For more information on how this works internally, see [this document](./doc/cython_wrappers.md). + +- Using :class:`mujoco_py.MjSim` (high-level): :class:`mujoco_py.MjSim` manages a stateful simulation similar to the `MujocoEnv `_ class found in `Gym `_ +. diff --git a/docs/internals.rst b/docs/internals.rst new file mode 100644 index 00000000..60a91ae8 --- /dev/null +++ b/docs/internals.rst @@ -0,0 +1,55 @@ +Internals +========= + +.. _genwrapper: + +Autogenerated wrappers +---------------------- + +The Cython struct wrappers are generated by ``scripts/gen_wrappers.py``. To illustrate how the wrappers work, let's consider a toy C structure and the corresponding generated Cython cdef class. Here's a stripped down version of ``mjData`` with a scalar member and a pointer (array) member:: + + typedef struct _mjData { + int ne; + mjtNum* qpos; // (nq x 1) + } mjData; + +Here's the corresponding generated Cython wrapper code:: + + cdef class PyMjData(object): + cdef mjData* ptr + cdef mjModel* _model + cdef np.ndarray _qpos + + cdef void _set(self, mjData* p, mjModel* model): + self.ptr = p + self._model = model + self._qpos = _wrap_mjtNum_1d(p.qpos, model.nq) + + @property + def ne(self): return self.ptr.ne + + @ne.setter + def ne(self, int x): self.ptr.ne = x + + @property + def qpos(self): return self._qpos + + cdef PyMjData WrapMjData(mjData* p, mjModel* model): + cdef PyMjData o = PyMjData() + o._set(p, model) + return o + +``PyMjData`` is the wrapper class for exposing the underlying Mujoco structure to Python; it doesn't perform any memory mangement. A user writing Cython code can create this wrapper using ``WrapMjData``. A ``mjModel`` pointer must be passed because the shape of a ``mjData`` member, namely ``qpos``, depends on ``model->nq``. + +Each field of ``mjData`` corresponds to some generated piece of code in ``PyMjData`` that depends on the type of that field. For example, ``ne`` is a scalar integer, so it gets exposed as a pair of getter and setter methods in ``PyMjData``. ``qpos`` is an array represented as a pointer to its first element, so it's wrapped with a NumPy array by ``_wrap_mjtNum_1d`` and is exposed with a getter for that NumPy array. + +The function ``_wrap_mjtNum_1d`` creates a Cython memoryview from the data pointer and converts it to a NumPy array pointing to the same memory:: + + cdef inline np.ndarray _wrap_mjtNum_1d(mjtNum* a, int shape0): + if shape0 == 0: return None + cdef mjtNum[:] b = a + return np.asarray(b) + +Similar functions for other types are also generated as required. + +Keep in mind that the only reason to use these autogenerated wrappers is to allow Python users of the Cython code to easily access Mujoco data (for instance the ``MjSim`` Cython class, found in ``cymj/cymj.pyx`). If you're writing Cython code and you don't need the user to access Mujoco data from Python, then there is no reason to use these wrappers. diff --git a/docs/reference.rst b/docs/reference.rst new file mode 100644 index 00000000..0ec5a933 --- /dev/null +++ b/docs/reference.rst @@ -0,0 +1,313 @@ +API reference +============= + +.. contents:: :local: + +MjSim: Basic simulation +----------------------- + +.. autofunction:: mujoco_py.load_model_from_path(path) + +.. autofunction:: mujoco_py.load_model_from_xml(xml_string) + +.. autofunction:: mujoco_py.load_model_from_mjb(path) + +.. autoclass:: mujoco_py.MjSim(model, data=None, nsubsteps=1, udd_callback=None) + :members: model, data, step, render, get_state, set_state, set_state_from_flattened, save, reset + +.. autoclass:: mujoco_py.MjSimState + +.. autofunction:: mujoco_py.ignore_mujoco_warnings + +.. _pymjdata: + +PyMjData: Time-dependent data +----------------------------- + +``PyMjData`` and related classes are automatically generated from the MuJoCo C header files. For more information on this process, see :ref:`genwrapper`. Their structure therefore directly follows the MuJoCo structs. + +.. raw:: html + +
+
+ class mujoco_py.PyMjData
+
+

Attributes

+ +.. attribute:: act +.. attribute:: act_dot +.. attribute:: active_contacts_efc_pos +.. attribute:: actuator_force +.. attribute:: actuator_length +.. attribute:: actuator_moment +.. attribute:: actuator_velocity +.. attribute:: body_jacp +.. attribute:: body_jacr +.. attribute:: body_xmat +.. attribute:: body_xpos +.. attribute:: body_xquat +.. attribute:: body_xvelp +.. attribute:: body_xvelr +.. attribute:: cacc +.. attribute:: cam_xmat +.. attribute:: cam_xpos +.. attribute:: cdof +.. attribute:: cdof_dot +.. attribute:: cfrc_ext +.. attribute:: cfrc_int +.. attribute:: cinert +.. attribute:: contact +.. attribute:: crb +.. attribute:: ctrl +.. attribute:: cvel +.. attribute:: efc_AR +.. attribute:: efc_AR_colind +.. attribute:: efc_AR_rowadr +.. attribute:: efc_AR_rownnz +.. attribute:: efc_D +.. attribute:: efc_J +.. attribute:: efc_JT +.. attribute:: efc_JT_colind +.. attribute:: efc_JT_rowadr +.. attribute:: efc_JT_rownnz +.. attribute:: efc_J_colind +.. attribute:: efc_J_rowadr +.. attribute:: efc_J_rownnz +.. attribute:: efc_R +.. attribute:: efc_aref +.. attribute:: efc_b +.. attribute:: efc_diagApprox +.. attribute:: efc_force +.. attribute:: efc_frictionloss +.. attribute:: efc_id +.. attribute:: efc_margin +.. attribute:: efc_solimp +.. attribute:: efc_solref +.. attribute:: efc_state +.. attribute:: efc_type +.. attribute:: efc_vel +.. attribute:: energy +.. attribute:: geom_jacp +.. attribute:: geom_jacr +.. attribute:: geom_xmat +.. attribute:: geom_xpos +.. attribute:: geom_xvelp +.. attribute:: geom_xvelr +.. attribute:: light_xdir +.. attribute:: light_xpos +.. attribute:: maxuse_con +.. attribute:: maxuse_efc +.. attribute:: maxuse_stack +.. attribute:: mocap_pos +.. attribute:: mocap_quat +.. attribute:: nbuffer +.. attribute:: ncon +.. attribute:: ne +.. attribute:: nefc +.. attribute:: nf +.. attribute:: nstack +.. attribute:: pstack +.. attribute:: qLD +.. attribute:: qLDiagInv +.. attribute:: qLDiagSqrtInv +.. attribute:: qM +.. attribute:: qacc +.. attribute:: qacc_unc +.. attribute:: qacc_warmstart +.. attribute:: qfrc_actuator +.. attribute:: qfrc_applied +.. attribute:: qfrc_bias +.. attribute:: qfrc_constraint +.. attribute:: qfrc_inverse +.. attribute:: qfrc_passive +.. attribute:: qfrc_unc +.. attribute:: qpos +.. attribute:: qvel +.. attribute:: sensordata +.. attribute:: set_joint_qpos +.. attribute:: set_joint_qvel +.. attribute:: set_mocap_pos +.. attribute:: set_mocap_quat +.. attribute:: site_jacp +.. attribute:: site_jacr +.. attribute:: site_xmat +.. attribute:: site_xpos +.. attribute:: site_xvelp +.. attribute:: site_xvelr +.. attribute:: solver +.. attribute:: solver_fwdinv +.. attribute:: solver_iter +.. attribute:: solver_nnz +.. attribute:: subtree_angmom +.. attribute:: subtree_com +.. attribute:: subtree_linvel +.. attribute:: ten_length +.. attribute:: ten_moment +.. attribute:: ten_velocity +.. attribute:: ten_wrapadr +.. attribute:: ten_wrapnum +.. attribute:: time +.. attribute:: timer +.. attribute:: userdata +.. attribute:: warning +.. attribute:: wrap_obj +.. attribute:: wrap_xpos +.. attribute:: xanchor +.. attribute:: xaxis +.. attribute:: xfrc_applied +.. attribute:: ximat +.. attribute:: xipos + +.. raw:: html + +

Methods

+ + +.. method:: get_body_jacp(name) + + Get the entry in ``jacp`` corresponding to the body with the given `name` + +.. method:: get_body_jacr(name) + + Get the entry in ``jacr`` corresponding to the body with the given `name` + +.. method:: get_body_ximat(name) + + Get the entry in ``ximat`` corresponding to the body with the given `name` + +.. method:: get_body_xipos(name) + + Get the entry in ``xipos`` corresponding to the body with the given `name` + +.. method:: get_body_xmat(name) + + Get the entry in ``xmat`` corresponding to the body with the given `name` + +.. method:: get_body_xpos(name) + + Get the entry in ``xpos`` corresponding to the body with the given `name` + +.. method:: get_body_xquat(name) + + Get the entry in ``xquat`` corresponding to the body with the given `name` + +.. method:: get_body_xvelp(name) + + Get the entry in ``xvelp`` corresponding to the body with the given `name` + +.. method:: get_body_xvelr(name) + + Get the entry in ``xvelr`` corresponding to the body with the given `name` + +.. method:: get_cam_xmat(name) + + Get the entry in ``xmat`` corresponding to the cam with the given `name` + +.. method:: get_cam_xpos(name) + + Get the entry in ``xpos`` corresponding to the cam with the given `name` + +.. method:: get_camera_xmat(name) + + Get the entry in ``xmat`` corresponding to the camera with the given `name` + +.. method:: get_camera_xpos(name) + + Get the entry in ``xpos`` corresponding to the camera with the given `name` + +.. method:: get_geom_jacp(name) + + Get the entry in ``jacp`` corresponding to the geom with the given `name` + +.. method:: get_geom_jacr(name) + + Get the entry in ``jacr`` corresponding to the geom with the given `name` + +.. method:: get_geom_xmat(name) + + Get the entry in ``xmat`` corresponding to the geom with the given `name` + +.. method:: get_geom_xpos(name) + + Get the entry in ``xpos`` corresponding to the geom with the given `name` + +.. method:: get_geom_xvelp(name) + + Get the entry in ``xvelp`` corresponding to the geom with the given `name` + +.. method:: get_geom_xvelr(name) + + Get the entry in ``xvelr`` corresponding to the geom with the given `name` + +.. method:: get_joint_qpos(name) + + Get the entry in ``qpos`` corresponding to the joint with the given `name` + +.. method:: get_joint_qvel(name) + + Get the entry in ``qvel`` corresponding to the joint with the given `name` + +.. method:: get_joint_xanchor(name) + + Get the entry in ``xanchor`` corresponding to the joint with the given `name` + +.. method:: get_joint_xaxis(name) + + Get the entry in ``xaxis`` corresponding to the joint with the given `name` + +.. method:: get_light_xdir(name) + + Get the entry in ``xdir`` corresponding to the light with the given `name` + +.. method:: get_light_xpos(name) + + Get the entry in ``xpos`` corresponding to the light with the given `name` + +.. method:: get_mocap_pos(name) + + Get the entry in ``pos`` corresponding to the mocap with the given `name` + +.. method:: get_mocap_quat(name) + + Get the entry in ``quat`` corresponding to the mocap with the given `name` + +.. method:: get_site_jacp(name) + + Get the entry in ``jacp`` corresponding to the site with the given `name` + +.. method:: get_site_jacr(name) + + Get the entry in ``jacr`` corresponding to the site with the given `name` + +.. method:: get_site_xmat(name) + + Get the entry in ``xmat`` corresponding to the site with the given `name` + +.. method:: get_site_xpos(name) + + Get the entry in ``xpos`` corresponding to the site with the given `name` + +.. method:: get_site_xvelp(name) + + Get the entry in ``xvelp`` corresponding to the site with the given `name` + +.. method:: get_site_xvelr(name) + + Get the entry in ``xvelr`` corresponding to the site with the given `name` + +.. raw:: html + +
+ +MjSimPool: Batched simulation +----------------------------- + +.. autoclass:: mujoco_py.MjSimPool + :members: reset, forward, step, sims, create_from_sim + +MjViewer: 3D rendering +----------------------------- + +.. autoclass:: mujoco_py.MjViewerBasic + +.. autoclass:: mujoco_py.MjViewer diff --git a/examples/body_interaction.py b/examples/body_interaction.py new file mode 100644 index 00000000..3864c11c --- /dev/null +++ b/examples/body_interaction.py @@ -0,0 +1,60 @@ +#!/usr/bin/env python3 +""" +Example of how bodies interact with each other. For a body to be able to +move it needs to have joints. In this example, the "robot" is a red ball +with X and Y slide joints (and a Z slide joint that isn't controlled). +On the floor, there's a cylinder with X and Y slide joints, so it can +be pushed around with the robot. There's also a box without joints. Since +the box doesn't have joints, it's fixed and can't be pushed around. +""" +from mujoco_py import load_model_from_xml, MjSim, MjViewer +import math +import os + +MODEL_XML = """ + + + +""" + +model = load_model_from_xml(MODEL_XML) +sim = MjSim(model) +viewer = MjViewer(sim) +t = 0 +while True: + sim.data.ctrl[0] = math.cos(t / 10.) * 0.01 + sim.data.ctrl[1] = math.sin(t / 10.) * 0.01 + t += 1 + sim.step() + viewer.render() + if t > 100 and os.getenv('TESTING') is not None: + break diff --git a/examples/disco_fetch.py b/examples/disco_fetch.py new file mode 100644 index 00000000..a287ff7e --- /dev/null +++ b/examples/disco_fetch.py @@ -0,0 +1,24 @@ +#!/usr/bin/env python3 +""" +Displays robot fetch at a disco party. +""" +from mujoco_py import load_model_from_path, MjSim, MjViewer +from mujoco_py.modder import TextureModder +import os + +model = load_model_from_path("xmls/fetch/main.xml") +sim = MjSim(model) + +viewer = MjViewer(sim) +modder = TextureModder(sim) + +t = 0 + +while True: + for name in sim.model.geom_names: + modder.rand_all(name) + + viewer.render() + t += 1 + if t > 100 and os.getenv('TESTING') is not None: + break diff --git a/examples/internal_functions.py b/examples/internal_functions.py new file mode 100644 index 00000000..c8ed86c9 --- /dev/null +++ b/examples/internal_functions.py @@ -0,0 +1,49 @@ +#!/usr/bin/env python3 +""" +Shows how to access internal functions from MuJoCo. +""" +from mujoco_py import load_model_from_xml, MjSim, functions +import numpy as np + +MODEL_XML = """ + + + +""" + +model = load_model_from_xml(MODEL_XML) +sim = MjSim(model) + +print("Nicely exposed function:\n") +print(sim.model.get_xml()) + +print("\nversus MuJoCo internals:\n\n") + +functions.mj_saveLastXML("/tmp/saved.xml", model, "", 0) +with open("/tmp/saved.xml", "r") as f: + print(f.read()) + +sim.render(100, 100) + +modelpos = np.zeros(3) +modelquat = np.zeros(4) +roompos = np.ones(3) +roomquat = np.array([1., 0., 1., 0.]) + +functions.mjv_room2model(modelpos, modelquat, roompos, + roomquat, sim.render_contexts[0].scn) + +print("\n\nAnother internal function, mjv_room2model:") +print("modelpos = %s, modelquat = %s" % (str(modelpos), str(modelquat))) + + +res = np.zeros(9) +functions.mju_quat2Mat(res, roomquat) +print("\n\nAnother internal function, mju_quat2Mat:\n%s" % res) diff --git a/examples/markers_demo.py b/examples/markers_demo.py new file mode 100644 index 00000000..9191ed8b --- /dev/null +++ b/examples/markers_demo.py @@ -0,0 +1,39 @@ +#!/usr/bin/env python +# demonstration of markers (visual-only geoms) + +import math +import time +import os +import numpy as np +from mujoco_py import load_model_from_xml, MjSim, MjViewer + +MODEL_XML = """ + + + + + + + + + + + + + +""" + +model = load_model_from_xml(MODEL_XML) +sim = MjSim(model) +viewer = MjViewer(sim) +step = 0 +while True: + t = time.time() + x, y = math.cos(t), math.sin(t) + viewer.add_marker(pos=np.array([x, y, 1]), + label=str(t)) + viewer.render() + + step += 1 + if step > 100 and os.getenv('TESTING') is not None: + break diff --git a/examples/mjvive.py b/examples/mjvive.py new file mode 100644 index 00000000..ee49715e --- /dev/null +++ b/examples/mjvive.py @@ -0,0 +1,172 @@ +# Displays MuJoCo model in VR. +# Based on http://www.mujoco.org/book/source/mjvive.cpp +# requires HTC vive, microsoft windows, and openvr python library. +# Install openvr with: +# pip install openvr + +import math +import sys +import glfw +import OpenGL.GL as gl +import openvr +import numpy as np +import OpenGL.GL as gl +import os +from mujoco_py import MjSim, load_model_from_xml, const, functions +from mujoco_py.builder import cymj + + +class MjViewerVR(cymj.MjRenderContext): + def __init__(self, sim): + self.FPS = 90 + print("bbb") + self.v_initPre() + print("aaa") + super().__init__(sim) + print("ccc") + self.initMuJoCo() + self.v_initPost() + self.lasttm = glfw.get_time() + self.frametime = self.sim.data.time + + # def _setup_opengl_context(self, *args): + # print("_setup_opengl_context") + + # def _set_mujoco_buffers(self): + # print("_set_mujoco_buffers") + + def _init_camera(self, *args): + print("_init_camera") + + + def v_initPre(self): + self.system = openvr.init(openvr.VRApplication_Scene) + self.roompos = np.zeros(3) + self.roommat = np.eye(3) + self.eyeoffset = np.zeros((2, 3)) + openvr.VRCompositor().setTrackingSpace(openvr.TrackingUniverseStanding) + self.width, self.height = self.system.getRecommendedRenderTargetSize() + for n in range(2): + self.eyeoffset[n] = np.array(self.system.getEyeToHeadTransform(n).m)[0:3, 3] + self.rect = cymj.mujoco_pyrRect() + self.rect.left, self.rect.bottom = 0, 0 + self.rect.width, self.rect.height = 2 * self.width, self.height + + def initMuJoCo(self): + assert glfw.init(), 'Could not initialize GLFW' + glfw.window_hint(glfw.SAMPLES, 0) + glfw.window_hint(glfw.DOUBLEBUFFER, 1) + glfw.window_hint(glfw.RESIZABLE, 0) + self._window = glfw.create_window(self.width // 2, self.height // 2, "MuJoCo VR", None, None) + assert self._window, "Could not create GLFW window" + glfw.make_context_current(self._window) + glfw.swap_interval(0) + # GLEW init required on windows, not in python + self.sim.forward() + self.sim.model.vis.global_.offwidth = self.width * 2 + self.sim.model.vis.global_.offheight = self.height + self.sim.model.vis.quality.offsamples = 8 + self.scn.enabletransform = 1 + self.scn.translate[1:3] = -0.5 + self.scn.rotate[0:2] = math.cos(-0.25 * math.pi), math.sin(-0.25 * math.pi) + self.scn.scale = 1 + self.scn.stereo = const.STEREO_SIDEBYSIDE + + def v_initPost(self): + for n in range(2): + znear, zfar = 0.05, 50.0 + left, right, top, bottom = self.system.getProjectionRaw(n) + self.scn.camera[n].frustum_bottom = -bottom * znear + self.scn.camera[n].frustum_top = -top * znear + self.scn.camera[n].frustum_center = 0.5 * (left + right) * znear + self.scn.camera[n].frustum_near = znear + self.scn.camera[n].frustum_far = zfar + gl.glActiveTexture(gl.GL_TEXTURE2) + self.idtex = gl.glGenTextures(1) + gl.glBindTexture(gl.GL_TEXTURE_2D, self.idtex) + gl.glTexParameteri(gl.GL_TEXTURE_2D, gl.GL_TEXTURE_MAG_FILTER, gl.GL_NEAREST) + gl.glTexParameteri(gl.GL_TEXTURE_2D, gl.GL_TEXTURE_MIN_FILTER, gl.GL_NEAREST) + gl.glTexParameteri(gl.GL_TEXTURE_2D, gl.GL_TEXTURE_WRAP_S, gl.GL_CLAMP_TO_EDGE) + gl.glTexParameteri(gl.GL_TEXTURE_2D, gl.GL_TEXTURE_WRAP_T, gl.GL_CLAMP_TO_EDGE) + gl.glTexImage2D(gl.GL_TEXTURE_2D, 0, gl.GL_RGBA8, 2 * self.width, self.height, 0, gl.GL_RGBA, gl.GL_UNSIGNED_BYTE, None) + + def v_update(self): + poses = (openvr.TrackedDevicePose_t * openvr.k_unMaxTrackedDeviceCount)() + openvr.VRCompositor().waitGetPoses(poses, openvr.k_unMaxTrackedDeviceCount, None, 0) + m = np.array(poses[openvr.k_unTrackedDeviceIndex_Hmd].mDeviceToAbsoluteTracking.m) + self.roompos, self.roommat = m[0:3, 3], m[0:3, 0:3] + for n in range(2): + self.scn.camera[n].pos[:] = self.roompos + np.matmul(self.roommat, self.eyeoffset[n]) + self.scn.camera[n].forward[0:3] = -self.roommat[:, 2] + self.scn.camera[n].up[0:3] = self.roommat[:, 1] + + def v_render(self): + # resolve multi-sample offscreen buffer + gl.glBindFramebuffer(gl.GL_READ_FRAMEBUFFER, self.con.offFBO) + gl.glReadBuffer(gl.GL_COLOR_ATTACHMENT0) + gl.glBindFramebuffer(gl.GL_DRAW_FRAMEBUFFER, self.con.offFBO_r) + gl.glDrawBuffer(gl.GL_COLOR_ATTACHMENT0) + gl.glBlitFramebuffer(0, 0, 2 * self.width, self.height, + 0, 0, 2 * self.width, self.height, + gl.GL_COLOR_BUFFER_BIT, gl.GL_NEAREST) + # blit to window, left only, window is half-size + gl.glBindFramebuffer(gl.GL_READ_FRAMEBUFFER, self.con.offFBO_r) + gl.glReadBuffer(gl.GL_COLOR_ATTACHMENT0) + gl.glBindFramebuffer(gl.GL_DRAW_FRAMEBUFFER, 0) + gl.glDrawBuffer(gl.GL_BACK if self.con.windowDoublebuffer else gl.glDrawBuffer(gl.GL_FRONT)) + gl.glBlitFramebuffer(0, 0, self.width, self.height, + 0, 0, self.width // 2, self.height // 2, + gl.GL_COLOR_BUFFER_BIT, gl.GL_NEAREST) + # blit to vr texture + gl.glActiveTexture(gl.GL_TEXTURE2) + gl.glBindFramebuffer(gl.GL_DRAW_FRAMEBUFFER, self.con.offFBO_r) + gl.glFramebufferTexture2D(gl.GL_FRAMEBUFFER, gl.GL_COLOR_ATTACHMENT1, gl.GL_TEXTURE_2D, self.idtex, 0) + gl.glDrawBuffer(gl.GL_COLOR_ATTACHMENT1) + gl.glBlitFramebuffer(0, 0, 2 * self.width, self.height, + 0, 0, 2 * self.width, self.height, + gl.GL_COLOR_BUFFER_BIT, gl.GL_NEAREST) + gl.glFramebufferTexture2D(gl.GL_FRAMEBUFFER, gl.GL_COLOR_ATTACHMENT1, gl.GL_TEXTURE_2D, 0, 0) + gl.glDrawBuffer(gl.GL_COLOR_ATTACHMENT0) + # submit to vr + boundLeft = openvr.VRTextureBounds_t(0., 0., 0.5, 1.) + boundRight = openvr.VRTextureBounds_t(0.5, 0., 1., 1.) + vTex = openvr.Texture_t(self.idtex, openvr.TextureType_OpenGL, openvr.ColorSpace_Gamma) + openvr.VRCompositor().submit(openvr.Eye_Left, vTex, boundLeft) + openvr.VRCompositor().submit(openvr.Eye_Right, vTex, boundRight) + # swap if window is double-buffered, flush just in case + if self.con.windowDoublebuffer: + glfw.swap_buffers(self._window) + gl.glFlush() + + def render(self): + while not glfw.window_should_close(self._window): + if self.sim.data.time - self.frametime > 1 / self.FPS or self.sim.data.time < self.frametime: + print("aaa") + functions.mjv_updateScene(self.sim.model, self.sim.data, self.vopt, self.pert, self.cam, const.CAT_ALL, self.scn) + print("qqqwe") + self.v_update() + print("dasdasdsaasd") + functions.mjr_setBuffer(const.FB_OFFSCREEN, self.con) + self._opengl_context.set_buffer_size(self.width, self.height) + print("111") + functions.mjr_render(self.rect, self.scn, self.con) + print("222") + self.FPS = .9 * self.FPS + .1 / (glfw.get_time() - self.lasttm) + self.lasttm = glfw.get_time() + self.v_render() + self.frametime = self.sim.data.time + self.sim.step() + glfw.poll_events() + + +if __name__ == '__main__': + if len(sys.argv) >= 2: + fname = sys.argv[1] + else: + fname = os.path.join(os.path.expanduser("~"), ".mujoco", "mjpro150", "model", "humanoid100.xml") + + sim = MjSim(load_model_from_xml(open(fname).read())) + viewer = MjViewerVR(sim) + + # XXX: here should be while loop. + viewer.render() diff --git a/examples/serialize_model.py b/examples/serialize_model.py new file mode 100644 index 00000000..50f299aa --- /dev/null +++ b/examples/serialize_model.py @@ -0,0 +1,20 @@ +""" +# Serialization/Deserialization of Models + +Sometimes its useful to send a mujoco model over the network, or save it +to a file with all assets embedded. +""" +import mujoco_py + +# The binary MJB format is preferable, since it includes assets like +# textures and meshes. +model = mujoco_py.load_model_from_path("xmls/claw.xml") +mjb_bytestring = model.get_mjb() +model_from_binary = mujoco_py.load_model_from_mjb(mjb_bytestring) +assert model.nbody == model_from_binary.nbody + +# XML is preferable to MJB when readability and backward compatibility are +# important. +xml_string = model.get_xml() +model_from_xml = mujoco_py.load_model_from_xml(xml_string) +assert model.nbody == model_from_xml.nbody diff --git a/examples/setting_state.py b/examples/setting_state.py new file mode 100644 index 00000000..42904750 --- /dev/null +++ b/examples/setting_state.py @@ -0,0 +1,59 @@ +#!/usr/bin/env python3 +""" +Example for how to modifying the MuJoCo qpos during execution. +""" + +import os +from mujoco_py import load_model_from_xml, MjSim, MjViewer + +MODEL_XML = """ + + + + + + + + + + + + + +""" + + +def print_box_xpos(sim): + print("box xpos:", sim.data.get_body_xpos("box")) + + +model = load_model_from_xml(MODEL_XML) +sim = MjSim(model) +viewer = MjViewer(sim) + +states = [{'box:x': +0.8, 'box:y': +0.8}, + {'box:x': -0.8, 'box:y': +0.8}, + {'box:x': -0.8, 'box:y': -0.8}, + {'box:x': +0.8, 'box:y': -0.8}, + {'box:x': +0.0, 'box:y': +0.0}] + +# MjModel.joint_name2id returns the index of a joint in +# MjData.qpos. +x_joint_i = sim.model.get_joint_qpos_addr("box:x") +y_joint_i = sim.model.get_joint_qpos_addr("box:y") + +print_box_xpos(sim) + +while True: + for state in states: + sim_state = sim.get_state() + sim_state.qpos[x_joint_i] = state["box:x"] + sim_state.qpos[y_joint_i] = state["box:y"] + sim.set_state(sim_state) + sim.forward() + print("updated state to", state) + print_box_xpos(sim) + viewer.render() + + if os.getenv('TESTING') is not None: + break diff --git a/examples/simpool.py b/examples/simpool.py new file mode 100644 index 00000000..40c2cd70 --- /dev/null +++ b/examples/simpool.py @@ -0,0 +1,38 @@ +#!/usr/bin/env python +# Runs several simulations in parallel. + +from mujoco_py import load_model_from_xml, MjSim, MjSimPool + +MODEL_XML = """ + + + + + + + + + + + + + + + + + +""" + +model = load_model_from_xml(MODEL_XML) +pool = MjSimPool([MjSim(model) for _ in range(20)]) +for i, sim in enumerate(pool.sims): + sim.data.qpos[:] = 0.0 + sim.data.qvel[:] = 0.0 + sim.data.ctrl[:] = i + +# Advance all 20 simulations 100 times. +for _ in range(100): + pool.step() + +for i, sim in enumerate(pool.sims): + print("%d-th sim qpos=%s" % (i, str(sim.data.qpos))) diff --git a/examples/tosser.py b/examples/tosser.py new file mode 100644 index 00000000..791b8875 --- /dev/null +++ b/examples/tosser.py @@ -0,0 +1,28 @@ +#!/usr/bin/env python3 +""" +Shows how to toss a capsule to a container. +""" +from mujoco_py import load_model_from_path, MjSim, MjViewer +import os + +model = load_model_from_path("xmls/tosser.xml") +sim = MjSim(model) + +viewer = MjViewer(sim) + + +sim_state = sim.get_state() + +while True: + sim.set_state(sim_state) + + for i in range(1000): + if i < 150: + sim.data.ctrl[:] = 0.0 + else: + sim.data.ctrl[:] = -1.0 + sim.step() + viewer.render() + + if os.getenv('TESTING') is not None: + break diff --git a/mujoco_py/.ruby-version b/mujoco_py/.ruby-version deleted file mode 100644 index 93045150..00000000 --- a/mujoco_py/.ruby-version +++ /dev/null @@ -1 +0,0 @@ -ruby-2.1.0 diff --git a/mujoco_py/Gemfile b/mujoco_py/Gemfile deleted file mode 100644 index 60bd65d5..00000000 --- a/mujoco_py/Gemfile +++ /dev/null @@ -1,4 +0,0 @@ -source 'https://rubygems.org' - -gem 'pry' -gem 'activesupport' diff --git a/mujoco_py/Gemfile.lock b/mujoco_py/Gemfile.lock deleted file mode 100644 index 9847ad28..00000000 --- a/mujoco_py/Gemfile.lock +++ /dev/null @@ -1,29 +0,0 @@ -GEM - remote: https://rubygems.org/ - specs: - activesupport (4.1.8) - i18n (~> 0.6, >= 0.6.9) - json (~> 1.7, >= 1.7.7) - minitest (~> 5.1) - thread_safe (~> 0.1) - tzinfo (~> 1.1) - coderay (1.1.0) - i18n (0.7.0) - json (1.8.1) - method_source (0.8.2) - minitest (5.5.1) - pry (0.10.1) - coderay (~> 1.1.0) - method_source (~> 0.8.1) - slop (~> 3.4) - slop (3.6.0) - thread_safe (0.3.4) - tzinfo (1.2.2) - thread_safe (~> 0.1) - -PLATFORMS - ruby - -DEPENDENCIES - activesupport - pry diff --git a/mujoco_py/__init__.py b/mujoco_py/__init__.py index 4660e8b5..0e7704b3 100644 --- a/mujoco_py/__init__.py +++ b/mujoco_py/__init__.py @@ -1,10 +1,19 @@ -from .config import init_config, get_key_path -init_config() +from mujoco_py.builder import cymj, ignore_mujoco_warnings, functions, MujocoException +from mujoco_py.generated import const +from mujoco_py.mjviewer import MjViewer, MjViewerBasic +from mujoco_py.version import __version__, get_version -from .mjviewer import MjViewer -from .mjcore import MjModel -from .mjcore import register_license -from .mjconstants import * -from .platname_targdir import targdir +load_model_from_path = cymj.load_model_from_path +load_model_from_xml = cymj.load_model_from_xml +load_model_from_mjb = cymj.load_model_from_mjb +MjSim = cymj.MjSim +MjSimState = cymj.MjSimState +MjSimPool = cymj.MjSimPool +PyMjModel = cymj.PyMjModel +PyMjData = cymj.PyMjData -register_license(get_key_path()) +# Public API: +__all__ = ['MjSim', 'MjSimState', 'MjSimPool', 'MjViewer', "MjViewerBasic", "MujocoException", + 'load_model_from_path', 'load_model_from_xml', 'load_model_from_mjb', + 'ignore_mujoco_warnings', 'const', "functions", + "__version__", "get_version"] diff --git a/mujoco_py/builder.py b/mujoco_py/builder.py new file mode 100644 index 00000000..32ca5d9d --- /dev/null +++ b/mujoco_py/builder.py @@ -0,0 +1,299 @@ +import distutils +import imp +import os +import shutil +import subprocess +import sys +from distutils.core import Extension +from distutils.dist import Distribution +from distutils.sysconfig import customize_compiler +from os.path import abspath, dirname, exists, join, getmtime + +import numpy as np +from Cython.Build import cythonize +from Cython.Distutils.old_build_ext import old_build_ext as build_ext + +from mujoco_py.utils import discover_mujoco + + +def load_cython_ext(mjpro_path): + """ + Loads the cymj Cython extension. This is safe to be called from + multiple processes running on the same machine. + + Cython only gives us back the raw path, regardless of whether + it found a cached version or actually compiled. Since we do + non-idempotent postprocessing of the DLL, be extra careful + to only do that once and then atomically move to the final + location. + """ + if ('glfw' in sys.modules and + 'mujoco' in abspath(sys.modules["glfw"].__file__)): + print(''' +WARNING: Existing glfw python module detected! + +MuJoCo comes with its own version of GLFW, so it's preferable to use that one. + +The easy solution is to `import mujoco_py` _before_ `import glfw`. +''') + + if sys.platform == 'darwin': + Builder = MacExtensionBuilder + elif sys.platform == 'linux': + if exists('/usr/local/nvidia/lib64'): + Builder = LinuxGPUExtensionBuilder + else: + Builder = LinuxCPUExtensionBuilder + elif sys.platform.startswith("win"): + Builder = WindowsExtensionBuilder + else: + raise RuntimeError("Unsupported platform %s" % sys.platform) + + builder = Builder(mjpro_path) + + cext_so_path = builder.build() + mod = imp.load_dynamic("cymj", cext_so_path) + return mod + + +class custom_build_ext(build_ext): + """ + Custom build_ext to suppress the "-Wstrict-prototypes" warning. + It arises from the fact that we're using C++. This seems to be + the cleanest way to get rid of the extra flag. + + See http://stackoverflow.com/a/36293331/248400 + """ + + def build_extensions(self): + customize_compiler(self.compiler) + + try: + self.compiler.compiler_so.remove("-Wstrict-prototypes") + except (AttributeError, ValueError): + pass + build_ext.build_extensions(self) + + +def fix_shared_library(so_file, name, library_path): + ldd_output = subprocess.check_output( + ['ldd', so_file]).decode('utf-8') + + if name in ldd_output: + subprocess.check_call(['patchelf', + '--remove-needed', + name, + so_file]) + subprocess.check_call( + ['patchelf', '--add-needed', + library_path, + so_file]) + + +class MujocoExtensionBuilder(): + + CYMJ_DIR_PATH = abspath(dirname(__file__)) + + def __init__(self, mjpro_path): + self.mjpro_path = mjpro_path + self.extension = Extension( + 'mujoco_py.cymj', + sources=[join(self.CYMJ_DIR_PATH, "cymj.pyx")], + include_dirs=[ + self.CYMJ_DIR_PATH, + join(mjpro_path, 'include'), + np.get_include(), + ], + libraries=['mujoco150'], + library_dirs=[join(mjpro_path, 'bin')], + extra_compile_args=[ + '-fopenmp', # needed for OpenMP + '-w', # suppress numpy compilation warnings + ], + extra_link_args=['-fopenmp'], + language='c') + + def build(self): + dist = Distribution({ + "script_name": None, + "script_args": ["build_ext"] + }) + dist.ext_modules = cythonize([self.extension]) + dist.include_dirs = [] + dist.cmdclass = {'build_ext': custom_build_ext} + build = dist.get_command_obj('build') + # following the convention of cython's pyxbuild and naming + # base directory "_pyxbld" + build.build_base = join(self.CYMJ_DIR_PATH, 'generated', + '_pyxbld_%s' % self.__class__.__name__) + dist.parse_command_line() + obj_build_ext = dist.get_command_obj("build_ext") + dist.run_commands() + so_file_path, = obj_build_ext.get_outputs() + return so_file_path + + +class WindowsExtensionBuilder(MujocoExtensionBuilder): + + def __init__(self, mjpro_path): + super().__init__(mjpro_path) + os.environ["PATH"] += ";" + join(mjpro_path, "bin") + self.extension.sources.append(self.CYMJ_DIR_PATH + "/gl/dummyshim.c") + + +class LinuxCPUExtensionBuilder(MujocoExtensionBuilder): + + def __init__(self, mjpro_path): + super().__init__(mjpro_path) + + self.extension.sources.append( + join(self.CYMJ_DIR_PATH, "gl", "osmesashim.c")) + self.extension.libraries.extend(['glewosmesa', 'OSMesa']) + self.extension.runtime_library_dirs = [join(mjpro_path, 'bin')] + + +class LinuxGPUExtensionBuilder(MujocoExtensionBuilder): + + def __init__(self, mjpro_path): + super().__init__(mjpro_path) + + self.extension.sources.append(self.CYMJ_DIR_PATH + "/gl/eglshim.c") + self.extension.include_dirs.append(self.CYMJ_DIR_PATH + '/vendor/egl') + self.extension.libraries.extend(['glewegl']) + self.extension.runtime_library_dirs = [join(mjpro_path, 'bin')] + + def build(self): + so_file_path = super().build() + nvidia_lib_dir = '/usr/local/nvidia/lib64/' + fix_shared_library(so_file_path, 'libOpenGL.so', + join(nvidia_lib_dir, 'libOpenGL.so.0')) + fix_shared_library(so_file_path, 'libEGL.so', + join(nvidia_lib_dir, 'libEGL.so.1')) + return so_file_path + + +class MacExtensionBuilder(MujocoExtensionBuilder): + + def __init__(self, mjpro_path): + super().__init__(mjpro_path) + + self.extension.sources.append(self.CYMJ_DIR_PATH + "/gl/dummyshim.c") + self.extension.libraries.extend(['glfw.3']) + self.extension.define_macros = [('ONMAC', None)] + self.extension.runtime_library_dirs = [join(mjpro_path, 'bin')] + + def build(self): + # Prefer GCC 6 for now since GCC 7 may behave differently. + c_compilers = ['/usr/local/bin/gcc-6', '/usr/local/bin/gcc-7'] + available_c_compiler = None + for c_compiler in c_compilers: + if distutils.spawn.find_executable(c_compiler) is not None: + available_c_compiler = c_compiler + break + if available_c_compiler is None: + raise RuntimeError( + 'Could not find GCC 6 or GCC 7 executable.\n\n' + 'HINT: On OS X, install GCC 6 with ' + '`brew install gcc --without-multilib`.') + os.environ['CC'] = available_c_compiler + + so_file_path = super().build() + del os.environ['CC'] + return self.manually_link_libraries(so_file_path) + + def manually_link_libraries(self, raw_cext_dll_path): + root, ext = os.path.splitext(raw_cext_dll_path) + final_cext_dll_path = root + '_final' + ext + + # If someone else already built the final DLL, don't bother + # recreating it here, even though this should still be idempotent. + if (exists(final_cext_dll_path) and + getmtime(final_cext_dll_path) >= getmtime(raw_cext_dll_path)): + return final_cext_dll_path + + tmp_final_cext_dll_path = final_cext_dll_path + '~' + shutil.copyfile(raw_cext_dll_path, tmp_final_cext_dll_path) + + mj_bin_path = join(self.mjpro_path, 'bin') + + # Fix the rpath of the generated library -- i lost the Stackoverflow + # reference here + from_mujoco_path = '@executable_path/libmujoco150.dylib' + to_mujoco_path = '%s/libmujoco150.dylib' % mj_bin_path + subprocess.check_call(['install_name_tool', + '-change', + from_mujoco_path, + to_mujoco_path, + tmp_final_cext_dll_path]) + + from_glfw_path = 'libglfw.3.dylib' + to_glfw_path = os.path.join(mj_bin_path, 'libglfw.3.dylib') + subprocess.check_call(['install_name_tool', + '-change', + from_glfw_path, + to_glfw_path, + tmp_final_cext_dll_path]) + + os.rename(tmp_final_cext_dll_path, final_cext_dll_path) + return final_cext_dll_path + + +class MujocoException(Exception): + pass + + +def user_warning_raise_exception(warn_bytes): + ''' + User-defined warning callback, which is called by mujoco on warnings. + Here we have two primary jobs: + - Detect known warnings and suggest fixes (with code) + - Decide whether to raise an Exception and raise if needed + More cases should be added as we find new failures. + ''' + # TODO: look through test output to see MuJoCo warnings to catch + # and recommend. Also fix those tests + warn = warn_bytes.decode() # Convert bytes to string + if 'Pre-allocated constraint buffer is full' in warn: + raise MujocoException(warn + 'Increase njmax in mujoco XML') + if 'Pre-allocated contact buffer is full' in warn: + raise MujocoException(warn + 'Increase njconmax in mujoco XML') + raise MujocoException('Got MuJoCo Warning: {}'.format(warn)) + + +def user_warning_ignore_exception(warn_bytes): + pass + + +class ignore_mujoco_warnings: + """ + Class to turn off mujoco warning exceptions within a scope. Useful for + large, vectorized rollouts. + """ + + def __enter__(self): + self.prev_user_warning = cymj.get_warning_callback() + cymj.set_warning_callback(user_warning_ignore_exception) + return self + + def __exit__(self, type, value, traceback): + cymj.set_warning_callback(self.prev_user_warning) + + +mjpro_path, key_path = discover_mujoco() +cymj = load_cython_ext(mjpro_path) + + +# Trick to expose all mj* functions from mujoco in mujoco_py.* +class dict2(object): + pass + + +functions = dict2() +for func_name in dir(cymj): + if func_name.startswith("_mj"): + setattr(functions, func_name[1:], getattr(cymj, func_name)) + +functions.mj_activate(key_path) + +# Set user-defined callbacks that raise assertion with message +cymj.set_warning_callback(user_warning_raise_exception) diff --git a/mujoco_py/codegen.rb b/mujoco_py/codegen.rb deleted file mode 100644 index 07641a11..00000000 --- a/mujoco_py/codegen.rb +++ /dev/null @@ -1,383 +0,0 @@ -require 'pry' -require 'active_support/all' - -CTYPES_MAP = { - 'int' => 'c_int', - # 'mjContact' => 'c_void_p', - 'double' => 'c_double', - 'float' => 'c_float', - 'char' => 'c_char', - 'unsigned char' => 'c_ubyte', - 'unsigned int' => 'c_uint', -} - -CTYPES_PTR_MAP = { - 'void' => 'c_void_p', - # 'char' => 'c_char_p', -} - -DEDEF_MAP = { - 'mjtNum' => 'double', - 'mjtByte' => 'unsigned char', - # 'mjNREF' => '2', - # 'mjNDYN' => '3', - # 'mjNGAIN' => '3', - # 'mjNBIAS' => '3', - # 'mjNIMP' => '3', - # 'mjNEQDATA' => '7', - # 'mjNTRN' => '1', -} - -NP_DTYPE_MAP = { - 'double' => 'double', - 'float' => 'float', - 'int' => 'int', - 'unsigned char' => 'uint8', - # 'char' => 'uint8', -} - -RESERVED = %w[global map buffer] - -def dereserve(name) - if RESERVED.include? name - "#{name}_" - else - name - end -end - -def dedef(type) - DEDEF_MAP[type] || type -end - -def process_dedefs(source) - def_lines = source.lines.map(&:strip).select{|x| x =~ /^#define \w+\s+\d+/} - defs = def_lines.map {|x| - x, y = x.gsub(/\/\/.*/, "").gsub(/^#define/, "").split.map(&:strip) - [x, y.to_i] - } - DEDEF_MAP.merge!(Hash[defs]) -end - -class String - def blank_or_comment? - self.strip.size == 0 || self.strip =~ /^\/\// - end -end - -def struct_regex(name) - /struct #{name}(\s+[^\n]*)?\n\{(.*?)\};/ms -end - -def anon_struct_regex - /struct(.*?)\{(.*?)\}(.*?);/ms -end - -def parse_struct(source, name, hints) - source =~ struct_regex(name) - content = $2 - subs = [] - # note that this won't work in general; luckily for us, the _mjVisual struct - # only has anonymous struct fields and nothing else - subprops = [] - hint_name = "#{name[1..-1].upcase}_POINTERS" - struct_hint = hints[hint_name] || {} - content.scan(anon_struct_regex) { - subcontent = $2 - subname = $3 - subs << { - props: subcontent.lines.map(&:strip).reject(&:blank_or_comment?).map{|x| parse_struct_line(source, x, struct_hint)}, - name: "ANON_#{subname.strip.gsub(/^_/,'').upcase}", - source: source - } - subprops << { - kind: :anonstruct, - type: "ANON_#{subname.strip.gsub(/^_/,'').upcase}", - name: dereserve(subname.strip), - } - } - rest = content.gsub(anon_struct_regex, '') - rest = rest.lines.map(&:strip).reject(&:blank_or_comment?) - parsed = rest.map {|x| parse_struct_line(source, x, struct_hint)} - { - props: subprops + parsed, - name: dereserve(name), - source: source, - subs: subs, - } -end - -def parse_struct_line(source, line, hints) - if line =~ /^(\w+)\s+(\w+)\s+(\w+);/ - { - kind: :value, - type: dedef($1 + " " + $2), - name: $3 - } - elsif line =~ /^(\w+)\s+(\w+);/ - { - kind: :value, - type: dedef($1), - name: $2 - } - elsif line =~ /^(\w+?)\*\s+(\w+?);/ - ret = { - kind: :pointer, - type: dedef($1), - name: $2 - } - # special case - if ret[:name] == "buffer" && ret[:type] == "void" - ret[:type] = "unsigned char" - end - if hints.size > 0 - match = hints.find{|x| x[1] == $2} - if match - ret[:hint] = match[2..-1].map{|x| dedef(x)} - # binding.pry - end - end - unless ret[:hint] - if line =~ /\/\/.*\((\w+)\s+(\w+)\)$/ # size hint - ret[:hint] = [dedef($1)] - elsif line =~ /\/\/.*\(([\w\*]+)\s+x\s+(\w+)\)$/ # size hint - ret[:hint] = [dedef($1), dedef($2)] - elsif line =~ /\/\/.*\((\w+)\)$/ # size hint - ret[:hint] = [dedef($1)] - end - end - ret - elsif line =~ /(\w+)\s+(\w+)\[\s*(\w+)\s*\];/ - ret = { - kind: :array, - type: dedef($1), - name: $2, - } - size = $3 - if size !~ /\d+/ - size = resolve_id_value(source, size) - end - ret[:size] = size - ret - elsif line =~ /(\w+)\s+(\w+)\[\s*(\w+)\s*\]\[\s*(\w+)\s*\];/ - ret = { - kind: :double_array, - type: dedef($1), - name: $2, - } - size1 = $3 - size2 = $4 - if size1 !~ /\d+/ - size1 = resolve_id_value(source, size1) - end - if size2 !~ /\d+/ - size2 = resolve_id_value(source, size2) - end - ret[:size] = [size1, size2] - ret - else - binding.pry - end -end - -def resolve_id_value(source, id) - if DEDEF_MAP.include?(id) - return DEDEF_MAP[id] - end - source =~ /enum\s+.*\{(.*?)\s+#{id}\s+(.*?)\}/ms - if $1.nil? - if source =~ /#define\s+#{id}\s+(\d+)/ - $1.to_i - else - binding.pry - end - else - $1.lines.reject(&:blank_or_comment?).size - end -end - -def to_ctypes_type(prop) - case prop[:kind] - when :pointer - CTYPES_PTR_MAP[prop[:type]] || \ - "POINTER(#{to_ctypes_type(prop.merge(kind: :value))})" - when :anonstruct - prop[:type] - when :array - "#{to_ctypes_type(prop.merge(kind: :value))} * #{prop[:size]}" - when :value - CTYPES_MAP[prop[:type]] || prop[:type].upcase - when :double_array - typ = "#{to_ctypes_type(prop.merge(kind: :value))} * #{prop[:size][-1]}" - prop[:size].reverse[1..-1].each do |s| - typ = "(#{typ}) * #{s}" - end - typ - else - puts prop - raise :wtf - end -end - - -def gen_ctypes_src(source, struct) -%Q{ -class #{struct[:name].gsub(/^_/,'').upcase}(Structure): - #{(struct[:subs] || []).map{|subs| gen_ctypes_src(source, subs).split("\n").join("\n ")}.join("\n ")} - _fields_ = [ - #{struct[:props].map{|prop| - "(\"#{prop[:name]}\", #{to_ctypes_type(prop)})," - }.join("\n ")} - ] -} -end - - - -def gen_wrapper_src(source, struct) - - def to_size_factor(source, struct, hint_elem) - hint_elem = hint_elem.to_s - if hint_elem.to_s != hint_elem.to_s.downcase && hint_elem.to_s.size > 3 - if source =~ /#define\s+#{hint_elem}\s+(\d+)/ - $1.to_i - else - binding.pry - end - end - if hint_elem =~ /\*/ - hint_elem.split("*").map{|x| to_size_factor(source, struct, x)}.join("*") - elsif hint_elem =~ /^\d+$/ - hint_elem - else - if struct[:props].any?{|x| x[:name] == hint_elem} - "self.#{hint_elem}" - else - "self._size_src.#{hint_elem}" - end - end - end - -%Q{ -class #{struct[:name].gsub(/^_/,'').camelize}Wrapper(object): - - def __init__(self, wrapped, size_src=None): - self._wrapped = wrapped - self._size_src = size_src - - @property - def ptr(self): - return self._wrapped - - @property - def obj(self): - return self._wrapped.contents - - #{struct[:props].map{|prop| - if ([:array, :pointer].include?(prop[:kind]) && NP_DTYPE_MAP.include?(prop[:type])) \ - || prop[:kind] == :pointer && prop[:name] == "buffer" - dtype = - if NP_DTYPE_MAP.include? prop[:type] - NP_DTYPE_MAP[prop[:type]] - elsif prop[:name] == "buffer" - "uint8" - else - nil - end - - if prop[:kind] == :pointer && dtype && prop[:hint] - count = prop[:hint].map{|hint_elem| to_size_factor(source, struct, hint_elem)}.join("*") - shape = "(" + prop[:hint].map{|hint_elem| to_size_factor(source, struct, hint_elem)}.join(", ") + ", )" - ctype_type = to_ctypes_type(prop.merge(kind: :value)) - elsif prop[:kind] == :array - count = prop[:size] - shape = "(#{count}, )" - ctype_type = to_ctypes_type(prop.merge(kind: :value)) - else - $stderr.puts "ignoring #{prop}" - next - end -%Q{ -@property -def #{prop[:name]}(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.#{prop[:name]}, dtype=np.#{dtype}, count=(#{count})), #{shape}) - arr.setflags(write=False) - return arr - -@#{prop[:name]}.setter -def #{prop[:name]}(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(#{ctype_type})) - memmove(self._wrapped.contents.#{prop[:name]}, val_ptr, #{count} * sizeof(#{ctype_type})) -} - - elsif prop[:kind] == :value || prop[:kind] == :anonstruct || prop[:kind] == :array -%Q{ -@property -def #{prop[:name]}(self): - return self._wrapped.contents.#{prop[:name]} - -@#{prop[:name]}.setter -def #{prop[:name]}(self, value): - self._wrapped.contents.#{prop[:name]} = value -} - elsif prop[:kind] == :pointer && prop[:type] == 'char' -%Q{ -@property -def #{prop[:name]}(self): - return self._wrapped.contents.#{prop[:name]} -} - elsif prop[:kind] == :pointer && prop[:type] == 'mjContact' - # count = prop[:hint].map{|hint_elem| to_size_factor(source, struct, hint_elem)}.join("*") - # binding.pry - else - # move on - # binding.pry - end - }.compact.map{|propsrc| propsrc.split("\n").join("\n ")}.join("\n ")} -} -end - - -def parse_hints(hint_source) - defs = [] - in_def = false - cur_def = nil - cur_def_name = nil - hint_source.lines.each do |line| - if line.strip =~ /^#define (\w+)/ - in_def = true - cur_def_name = $1 - cur_def = [cur_def_name, []] - elsif in_def - filtered = line.strip.gsub(/^X\(/, "").gsub(/\)$/, "").gsub(/\)\s*\\$/, "") - parts = filtered.split(",").map(&:strip) - cur_def[1] << parts - if line.strip[-1] != '\\' - defs << cur_def - in_def = false - end - end - end - Hash[defs] -end - -source = open(ARGV.first, 'r').read -dim_hint_source = open(ARGV[1], 'r').read - -process_dedefs(source) - -hints = parse_hints(dim_hint_source) - -source = source.gsub(/\r/, '') -source = source.gsub(/\/\*.*?\*\//, '') - -puts %Q{ -# AUTO GENERATED. DO NOT CHANGE! -from ctypes import * -import numpy as np -} - -structs = %w[_mjContact _mjrRect _mjvCameraPose _mjrOption _mjrContext _mjvCamera _mjvOption _mjvGeom _mjvLight _mjvObjects _mjOption _mjVisual _mjStatistic _mjData _mjModel].map{|x| parse_struct(source, x, hints) } - -structs.each {|s| puts gen_ctypes_src(source, s) } -structs.each {|s| puts gen_wrapper_src(source, s) } diff --git a/mujoco_py/config.py b/mujoco_py/config.py deleted file mode 100644 index 86daf04a..00000000 --- a/mujoco_py/config.py +++ /dev/null @@ -1,49 +0,0 @@ -import distutils.version -import numpy -import os -import sys - -from . import error - -_key_path = None -mjpro_path = None - -def get_key_path(): - return _key_path - -def init_config(): - global _key_path, mjpro_path - - _key_path = os.environ.get('MUJOCO_PY_MJKEY_PATH') - if _key_path and not os.path.exists(_key_path): - raise error.MujocoDependencyError('MUJOCO_PY_MJKEY_PATH path does not exist: {}'.format(_key_path)) - - mjpro_path = os.environ.get('MUJOCO_PY_MJPRO_PATH') - if mjpro_path and not os.path.exists(mjpro_path): - raise error.MujocoDependencyError('MUJOCO_PY_MJPRO_PATH path does not exist: {}'.format(mjpro_path)) - - default__key_path = os.path.expanduser('~/.mujoco/mjkey.txt') - default_mjpro_path = os.path.expanduser('~/.mujoco/mjpro131') - if not _key_path and os.path.exists(default__key_path): - _key_path = default__key_path - if not mjpro_path and os.path.exists(default_mjpro_path): - mjpro_path = default_mjpro_path - - if not _key_path and not mjpro_path: - raise error.MujocoDependencyError('To use MuJoCo, you need to either populate ~/.mujoco/mjkey.txt and ~/.mujoco/mjpro131, or set the MUJOCO_PY_MJKEY_PATH and MUJOCO_PY_MJPRO_PATH environment variables appropriately. Follow the instructions on https://github.com/openai/mujoco-py for where to obtain these.') - elif not _key_path: - raise error.MujocoDependencyError('Found your MuJoCo binaries but not license key. Please put your key into ~/.mujoco/mjkey.txt or set MUJOCO_PY_MJKEY_PATH. Follow the instructions on https://github.com/openai/mujoco-py for setup.') - elif not mjpro_path: - raise error.MujocoDependencyError('Found your MuJoCo license key but not binaries. Please put your binaries into ~/.mujoco/mjpro131 or set MUJOCO_PY_MJPRO_PATH. Follow the instructions on https://github.com/openai/mujoco-py for setup.') - - check_mujoco_version() - check_numpy_version() - -def check_mujoco_version(): - mjpro = os.path.basename(mjpro_path) - if mjpro != 'mjpro131': - raise error.MujocoDependencyError("We expected your MUJOCO_PY_MJPRO_PATH final directory to be 'mjpro131', but you provided: {} ({}). MuJoCo often changes in incompatible ways between versions, so you must use MuJoCo 1.31. If you're using MuJoCo 1.31 but changed the directory name, simply change the name back.".format(mjpro, mjpro_path)) - -def check_numpy_version(): - if distutils.version.LooseVersion(numpy.__version__) < distutils.version.LooseVersion('1.10.4'): - raise error.MujocoDependencyError('You are running with numpy {}, but you must use >= 1.10.4. (In particular, earlier versions of numpy have been seen to cause mujoco-py to return different results from later ones.)'.format(numpy.__version__, '1.10.4')) diff --git a/mujoco_py/cymj.pyx b/mujoco_py/cymj.pyx new file mode 100644 index 00000000..e31bf207 --- /dev/null +++ b/mujoco_py/cymj.pyx @@ -0,0 +1,148 @@ +# cython: language_level=3 +import copy +import logging +import os +import platform +import tempfile +import sys +from collections import namedtuple +from libc.stdlib cimport malloc, free +from libc.string cimport strncpy +from numbers import Number +from tempfile import TemporaryDirectory + +import numpy as np +from cython cimport view +from cython.parallel import parallel, prange + +from mujoco_py.generated import const + +include "generated/wrappers.pxi" +include "opengl_context.pyx" +include "mjsim.pyx" +include "mjsimpool.pyx" +include "mjsimstate.pyx" +include "mjrendercontext.pyx" + +cdef extern from "gl/glshim.h": + + cdef int initOpenGL(int device_id) + cdef void closeOpenGL() + cdef int setOpenGLBufferSize(int width, int height) + +# TODO: make this function or class so these comments turn into doc strings: + +# Python warning callback function, which is set +# MuJoCo has a user-settable callback function for warnings: mju_user_warning() +# We want to supply a python function, and be able to raise exceptions. +# To do this we have to wrap two things: + +# This is the python callback function. We save it in the global() context +# so we can access it from a C wrapper function (c_warning_callback) +cdef object py_warning_callback +# This is the saved exception. Because the C callback can not propagate +# exceptions, this must be set to None before calling into MuJoCo, and then +# inspected afterwards. +# These are combined in a simple class which handles both: +# with wrap_mujoco_warning(): +# mj_somefunc() +cdef object py_warning_exception = None + + +cdef void c_warning_callback(const char *msg) with gil: + ''' + Wraps the warning callback so we can raise exceptions. + Because callbacks can't propagate exceptions, we set a global that has + to be inspected later. + Use wrap_mujoco_warning() to check for that saved exception and + re-raise it back to the caller. + ''' + global py_warning_callback + try: + ( py_warning_callback)(msg) + except Exception as e: + global py_warning_exception + py_warning_exception = e + + +def set_warning_callback(warn): + ''' + Set a user-defined warning callback. It should take in a string message + (the warning string) and raise an Exception. + See c_warning_callback, which is the C wrapper to the user defined function + ''' + global py_warning_callback + global mju_user_warning + py_warning_callback = warn + mju_user_warning = c_warning_callback + + +def get_warning_callback(): + ''' + Returns the user-defined warning callback, for use in e.g. a context + manager. + ''' + global py_warning_callback + return py_warning_callback + + +class wrap_mujoco_warning(object): + ''' + Class to wrap capturing exceptions raised during warning callbacks. + Use this to capture warnings in mujoco calls. Example: + with wrap_mujoco_warning(): + mj_somefunc() + ''' + def __enter__(self): + global py_warning_exception + py_warning_exception = None + def __exit__(self, type, value, traceback): + global py_warning_exception + if py_warning_exception is not None: + raise py_warning_exception + + +def load_model_from_path(str path): + """Loads model from path.""" + cdef char errstr[300] + cdef mjModel *model + with wrap_mujoco_warning(): + model = mj_loadXML(path.encode(), NULL, errstr, 300) + if model == NULL: + raise Exception('Failed to load XML file: %s. mj_loadXML error: %s' % (path, errstr,)) + return WrapMjModel(model) + +def load_model_from_xml(str xml_str): + """ + Loads and returns a PyMjModel model from a string containing XML markup. + Saves the XML string used to create the returned model in `model.xml`. + """ + cdef char errstr[300] + cdef mjModel *model + with wrap_mujoco_warning(): + with tempfile.NamedTemporaryFile(suffix=".xml", delete=False) as fp: + fp.write(xml_str.encode()) + fp.flush() + model = mj_loadXML(fp.name.encode(), NULL, errstr, 300) + if model == NULL: + raise Exception('%s\nFailed to load XML from file: %s. mj_loadXML error: %s' % (xml_str, fp.name, errstr,)) + return WrapMjModel(model) + + +def load_model_from_mjb(bytes mjb_bytes): + """ + Loads and returns a PyMjModel model from bytes encoded MJB. + MJB is a MuJoCo-custom format that includes assets like meshes/textures. + """ + cdef mjModel *model + with wrap_mujoco_warning(): + with TemporaryDirectory() as td: + filename = os.path.join(td, 'model.mjb') + with open(filename, 'wb') as f: + f.write(mjb_bytes) + model = mj_loadModel(filename.encode(), NULL) + if model == NULL: + raise Exception('%s\nFailed to load MJB') + return WrapMjModel(model) + + diff --git a/mujoco_py/error.py b/mujoco_py/error.py deleted file mode 100644 index 8915dbdd..00000000 --- a/mujoco_py/error.py +++ /dev/null @@ -1,5 +0,0 @@ -class Error(Exception): - pass - -class MujocoDependencyError(Error): - pass diff --git a/mujoco_py/gen_binding.sh b/mujoco_py/gen_binding.sh deleted file mode 100755 index 14f16b7f..00000000 --- a/mujoco_py/gen_binding.sh +++ /dev/null @@ -1,9 +0,0 @@ -#!/bin/sh -parent_path=$( cd "$(dirname "${BASH_SOURCE}")" ; pwd -P ) -mujoco_path=$MUJOCO_PY_BUNDLE_PATH/osx/mujoco -rm /tmp/code_gen_mujoco.h -cat $mujoco_path/mjdata.h >> /tmp/code_gen_mujoco.h && \ - cat $mujoco_path/mjmodel.h >> /tmp/code_gen_mujoco.h && \ - cat $mujoco_path/mjrender.h >> /tmp/code_gen_mujoco.h && \ - cat $mujoco_path/mjvisualize.h >> /tmp/code_gen_mujoco.h && \ - ruby $parent_path/codegen.rb /tmp/code_gen_mujoco.h $mujoco_path/mjxmacro.h > $parent_path/mjtypes.py diff --git a/mujoco_py/generated/README.md b/mujoco_py/generated/README.md new file mode 100644 index 00000000..357367a6 --- /dev/null +++ b/mujoco_py/generated/README.md @@ -0,0 +1,2 @@ +This directory contains files which are automatically generated. +Don't modify them directly. \ No newline at end of file diff --git a/mujoco_py/generated/__init__.py b/mujoco_py/generated/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/mujoco_py/generated/const.py b/mujoco_py/generated/const.py new file mode 100644 index 00000000..f2e8d6ff --- /dev/null +++ b/mujoco_py/generated/const.py @@ -0,0 +1,371 @@ +# Automatically generated. Do not modify! + +###### const from defines ###### +MINVAL = 1e-15 # minimum value in any denominator +PI = 3.141592653589793 # +MAXVAL = 10000000000.0 # maximum value in qpos, qvel, qacc +MINMU = 1e-05 # minimum friction coefficient +MINIMP = 0.0001 # minimum constraint impedance +MAXIMP = 0.9999 # maximum constraint impedance +MAXCONPAIR = 50.0 # maximum number of contacts per geom pair +MAXVFS = 200.0 # maximum number of files in virtual file system +MAXVFSNAME = 100.0 # maximum filename size in virtual file system +NEQDATA = 7.0 # number of eq_data fields +NDYN = 3.0 # number of actuator dynamics parameters +NGAIN = 3.0 # number of actuator gain parameters +NBIAS = 3.0 # number of actuator bias parameters +NREF = 2.0 # number of solver reference parameters +NIMP = 3.0 # number of solver impedance parameters +NSOLVER = 1000.0 # size of mjData.solver_XXX arrays +NGROUP = 5.0 # number of geom and site groups with visflags +MAXOVERLAY = 500.0 # maximum number of characters in overlay text +MAXLINE = 100.0 # maximum number of lines per plot +MAXLINEPNT = 500.0 # maximum number points per line +MAXPLANEGRID = 100.0 # maximum number of grid points for plane rendering + +###### const from enums ###### + + # _mjtDisableBit +DSBL_CONSTRAINT = 0 +DSBL_EQUALITY = 1 +DSBL_FRICTIONLOSS = 2 +DSBL_LIMIT = 3 +DSBL_CONTACT = 4 +DSBL_PASSIVE = 5 +DSBL_GRAVITY = 6 +DSBL_CLAMPCTRL = 7 +DSBL_WARMSTART = 8 +DSBL_FILTERPARENT = 9 +DSBL_ACTUATION = 10 +DSBL_REFSAFE = 11 +NDISABLE = 12 + + # _mjtEnableBit +ENBL_OVERRIDE = 0 +ENBL_ENERGY = 1 +ENBL_FWDINV = 2 +ENBL_SENSORNOISE = 3 +NENABLE = 4 + + # _mjtJoint +JNT_FREE = 0 +JNT_BALL = 1 +JNT_SLIDE = 2 +JNT_HINGE = 3 + + # _mjtGeom +GEOM_PLANE = 0 +GEOM_HFIELD = 1 +GEOM_SPHERE = 2 +GEOM_CAPSULE = 3 +GEOM_ELLIPSOID = 4 +GEOM_CYLINDER = 5 +GEOM_BOX = 6 +GEOM_MESH = 7 +NGEOMTYPES = 8 +GEOM_ARROW = 100 +GEOM_ARROW1 = 101 +GEOM_ARROW2 = 102 +GEOM_LABEL = 103 +GEOM_NONE = 1001 + + # _mjtCamLight +CAMLIGHT_FIXED = 0 +CAMLIGHT_TRACK = 1 +CAMLIGHT_TRACKCOM = 2 +CAMLIGHT_TARGETBODY = 3 +CAMLIGHT_TARGETBODYCOM = 4 + + # _mjtTexture +TEXTURE_2D = 0 +TEXTURE_CUBE = 1 +TEXTURE_SKYBOX = 2 + + # _mjtIntegrator +INT_EULER = 0 +INT_RK4 = 1 + + # _mjtCollision +COL_ALL = 0 +COL_PAIR = 1 +COL_DYNAMIC = 2 + + # _mjtCone +CONE_PYRAMIDAL = 0 +CONE_ELLIPTIC = 1 + + # _mjtJacobian +JAC_DENSE = 0 +JAC_SPARSE = 1 +JAC_AUTO = 2 + + # _mjtSolver +SOL_PGS = 0 +SOL_CG = 1 +SOL_NEWTON = 2 + + # _mjtImp +IMP_CONSTANT = 0 +IMP_SIGMOID = 1 +IMP_LINEAR = 2 +IMP_USER = 3 + + # _mjtRef +REF_SPRING = 0 +REF_USER = 1 + + # _mjtEq +EQ_CONNECT = 0 +EQ_WELD = 1 +EQ_JOINT = 2 +EQ_TENDON = 3 +EQ_DISTANCE = 4 + + # _mjtWrap +WRAP_NONE = 0 +WRAP_JOINT = 1 +WRAP_PULLEY = 2 +WRAP_SITE = 3 +WRAP_SPHERE = 4 +WRAP_CYLINDER = 5 + + # _mjtTrn +TRN_JOINT = 0 +TRN_JOINTINPARENT = 1 +TRN_SLIDERCRANK = 2 +TRN_TENDON = 3 +TRN_SITE = 4 +TRN_UNDEFINED = 1000 + + # _mjtDyn +DYN_NONE = 0 +DYN_INTEGRATOR = 1 +DYN_FILTER = 2 +DYN_USER = 3 + + # _mjtGain +GAIN_FIXED = 0 +GAIN_USER = 1 + + # _mjtBias +BIAS_NONE = 0 +BIAS_AFFINE = 1 +BIAS_USER = 2 + + # _mjtObj +OBJ_UNKNOWN = 0 +OBJ_BODY = 1 +OBJ_XBODY = 2 +OBJ_JOINT = 3 +OBJ_DOF = 4 +OBJ_GEOM = 5 +OBJ_SITE = 6 +OBJ_CAMERA = 7 +OBJ_LIGHT = 8 +OBJ_MESH = 9 +OBJ_HFIELD = 10 +OBJ_TEXTURE = 11 +OBJ_MATERIAL = 12 +OBJ_PAIR = 13 +OBJ_EXCLUDE = 14 +OBJ_EQUALITY = 15 +OBJ_TENDON = 16 +OBJ_ACTUATOR = 17 +OBJ_SENSOR = 18 +OBJ_NUMERIC = 19 +OBJ_TEXT = 20 +OBJ_TUPLE = 21 +OBJ_KEY = 22 + + # _mjtConstraint +CNSTR_EQUALITY = 0 +CNSTR_FRICTION_DOF = 1 +CNSTR_FRICTION_TENDON = 2 +CNSTR_LIMIT_JOINT = 3 +CNSTR_LIMIT_TENDON = 4 +CNSTR_CONTACT_FRICTIONLESS = 5 +CNSTR_CONTACT_PYRAMIDAL = 6 +CNSTR_CONTACT_ELLIPTIC = 7 + + # _mjtConstraintState +CNSTRSTATE_SATISFIED = 0 +CNSTRSTATE_QUADRATIC = 1 +CNSTRSTATE_LINEARNEG = 2 +CNSTRSTATE_LINEARPOS = 3 +CNSTRSTATE_CONE = 4 + + # _mjtSensor +SENS_TOUCH = 0 +SENS_ACCELEROMETER = 1 +SENS_VELOCIMETER = 2 +SENS_GYRO = 3 +SENS_FORCE = 4 +SENS_TORQUE = 5 +SENS_MAGNETOMETER = 6 +SENS_RANGEFINDER = 7 +SENS_JOINTPOS = 8 +SENS_JOINTVEL = 9 +SENS_TENDONPOS = 10 +SENS_TENDONVEL = 11 +SENS_ACTUATORPOS = 12 +SENS_ACTUATORVEL = 13 +SENS_ACTUATORFRC = 14 +SENS_BALLQUAT = 15 +SENS_BALLANGVEL = 16 +SENS_FRAMEPOS = 17 +SENS_FRAMEQUAT = 18 +SENS_FRAMEXAXIS = 19 +SENS_FRAMEYAXIS = 20 +SENS_FRAMEZAXIS = 21 +SENS_FRAMELINVEL = 22 +SENS_FRAMEANGVEL = 23 +SENS_FRAMELINACC = 24 +SENS_FRAMEANGACC = 25 +SENS_SUBTREECOM = 26 +SENS_SUBTREELINVEL = 27 +SENS_SUBTREEANGMOM = 28 +SENS_USER = 29 + + # _mjtStage +STAGE_NONE = 0 +STAGE_POS = 1 +STAGE_VEL = 2 +STAGE_ACC = 3 + + # _mjtDataType +DATATYPE_REAL = 0 +DATATYPE_POSITIVE = 1 +DATATYPE_AXIS = 2 +DATATYPE_QUATERNION = 3 + + # _mjtWarning +WARN_INERTIA = 0 +WARN_CONTACTFULL = 1 +WARN_CNSTRFULL = 2 +WARN_VGEOMFULL = 3 +WARN_BADQPOS = 4 +WARN_BADQVEL = 5 +WARN_BADQACC = 6 +WARN_BADCTRL = 7 +NWARNING = 8 + + # _mjtTimer +TIMER_STEP = 0 +TIMER_FORWARD = 1 +TIMER_INVERSE = 2 +TIMER_POSITION = 3 +TIMER_VELOCITY = 4 +TIMER_ACTUATION = 5 +TIMER_ACCELERATION = 6 +TIMER_CONSTRAINT = 7 +TIMER_POS_KINEMATICS = 8 +TIMER_POS_INERTIA = 9 +TIMER_POS_COLLISION = 10 +TIMER_POS_MAKE = 11 +TIMER_POS_PROJECT = 12 +NTIMER = 13 + + # _mjtCatBit +CAT_STATIC = 1 +CAT_DYNAMIC = 2 +CAT_DECOR = 4 +CAT_ALL = 7 + + # _mjtMouse +MOUSE_NONE = 0 +MOUSE_ROTATE_V = 1 +MOUSE_ROTATE_H = 2 +MOUSE_MOVE_V = 3 +MOUSE_MOVE_H = 4 +MOUSE_ZOOM = 5 +MOUSE_SELECT = 6 + + # _mjtPertBit +PERT_TRANSLATE = 1 +PERT_ROTATE = 2 + + # _mjtCamera +CAMERA_FREE = 0 +CAMERA_TRACKING = 1 +CAMERA_FIXED = 2 +CAMERA_USER = 3 + + # _mjtLabel +LABEL_NONE = 0 +LABEL_BODY = 1 +LABEL_JOINT = 2 +LABEL_GEOM = 3 +LABEL_SITE = 4 +LABEL_CAMERA = 5 +LABEL_LIGHT = 6 +LABEL_TENDON = 7 +LABEL_ACTUATOR = 8 +LABEL_CONSTRAINT = 9 +LABEL_SELECTION = 10 +LABEL_SELPNT = 11 +LABEL_CONTACTFORCE = 12 +NLABEL = 13 + + # _mjtFrame +FRAME_NONE = 0 +FRAME_BODY = 1 +FRAME_GEOM = 2 +FRAME_SITE = 3 +FRAME_CAMERA = 4 +FRAME_LIGHT = 5 +FRAME_WORLD = 6 +NFRAME = 7 + + # _mjtVisFlag +VIS_CONVEXHULL = 0 +VIS_TEXTURE = 1 +VIS_JOINT = 2 +VIS_ACTUATOR = 3 +VIS_CAMERA = 4 +VIS_LIGHT = 5 +VIS_CONSTRAINT = 6 +VIS_INERTIA = 7 +VIS_PERTFORCE = 8 +VIS_PERTOBJ = 9 +VIS_CONTACTPOINT = 10 +VIS_CONTACTFORCE = 11 +VIS_CONTACTSPLIT = 12 +VIS_TRANSPARENT = 13 +VIS_AUTOCONNECT = 14 +VIS_COM = 15 +VIS_SELECT = 16 +VIS_STATIC = 17 +NVISFLAG = 18 + + # _mjtRndFlag +RND_SHADOW = 0 +RND_WIREFRAME = 1 +RND_REFLECTION = 2 +RND_FOG = 3 +RND_SKYBOX = 4 +NRNDFLAG = 5 + + # _mjtStereo +STEREO_NONE = 0 +STEREO_QUADBUFFERED = 1 +STEREO_SIDEBYSIDE = 2 + + # _mjtGridPos +GRID_TOPLEFT = 0 +GRID_TOPRIGHT = 1 +GRID_BOTTOMLEFT = 2 +GRID_BOTTOMRIGHT = 3 + + # _mjtFramebuffer +FB_WINDOW = 0 +FB_OFFSCREEN = 1 + + # _mjtFontScale +FONTSCALE_100 = 100 +FONTSCALE_150 = 150 +FONTSCALE_200 = 200 + + # _mjtFont +FONT_NORMAL = 0 +FONT_SHADOW = 1 +FONT_BIG = 2 diff --git a/mujoco_py/generated/wrappers.pxi b/mujoco_py/generated/wrappers.pxi new file mode 100644 index 00000000..1fb3a216 --- /dev/null +++ b/mujoco_py/generated/wrappers.pxi @@ -0,0 +1,4359 @@ +# cython: language_level=3 +# Automatically generated. Do not modify! + +include "../pxd/mujoco.pxd" +from cpython.mem cimport PyMem_Malloc, PyMem_Free +cimport numpy as np +import numpy as np +from tempfile import TemporaryDirectory + +cdef class PyMjvFigure(object): + cdef mjvFigure* ptr + + + cdef np.ndarray _flg_ticklabel + cdef np.ndarray _gridsize + cdef np.ndarray _gridrgb + cdef np.ndarray _figurergba + cdef np.ndarray _legendrgba + cdef np.ndarray _textrgb + cdef np.ndarray _xlabel + cdef np.ndarray _title + cdef np.ndarray _xformat + cdef np.ndarray _yformat + cdef np.ndarray _minwidth + cdef np.ndarray _linepnt + cdef np.ndarray _linewidth + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjvFigure* p): + + self.ptr = p + + + self._flg_ticklabel = _wrap_int_1d(&p.flg_ticklabel[0], 2) + self._gridsize = _wrap_int_1d(&p.gridsize[0], 2) + self._gridrgb = _wrap_float_1d(&p.gridrgb[0], 3) + self._figurergba = _wrap_float_1d(&p.figurergba[0], 4) + self._legendrgba = _wrap_float_1d(&p.legendrgba[0], 4) + self._textrgb = _wrap_float_1d(&p.textrgb[0], 3) + self._xlabel = _wrap_char_1d(&p.xlabel[0], 100) + self._title = _wrap_char_1d(&p.title[0], 100) + self._xformat = _wrap_char_1d(&p.xformat[0], 20) + self._yformat = _wrap_char_1d(&p.yformat[0], 20) + self._minwidth = _wrap_char_1d(&p.minwidth[0], 20) + self._linepnt = _wrap_int_1d(&p.linepnt[0], 100) + self._linewidth = _wrap_float_1d(&p.linewidth[0], 100) + + @property + def flg_legend(self): return self.ptr.flg_legend + @flg_legend.setter + def flg_legend(self, int x): self.ptr.flg_legend = x + @property + def flg_extend(self): return self.ptr.flg_extend + @flg_extend.setter + def flg_extend(self, int x): self.ptr.flg_extend = x + @property + def flg_barplot(self): return self.ptr.flg_barplot + @flg_barplot.setter + def flg_barplot(self, int x): self.ptr.flg_barplot = x + @property + def gridwidth(self): return self.ptr.gridwidth + @gridwidth.setter + def gridwidth(self, float x): self.ptr.gridwidth = x + @property + def flg_ticklabel(self): return self._flg_ticklabel + @property + def gridsize(self): return self._gridsize + @property + def gridrgb(self): return self._gridrgb + @property + def figurergba(self): return self._figurergba + @property + def legendrgba(self): return self._legendrgba + @property + def textrgb(self): return self._textrgb + @property + def xlabel(self): return self._xlabel + @property + def title(self): return self._title + @property + def xformat(self): return self._xformat + @property + def yformat(self): return self._yformat + @property + def minwidth(self): return self._minwidth + @property + def linepnt(self): return self._linepnt + @property + def linewidth(self): return self._linewidth + +cdef PyMjvFigure WrapMjvFigure(mjvFigure* p): + cdef PyMjvFigure o = PyMjvFigure() + o._set(p) + return o + +cdef class PyMjvGLCamera(object): + cdef mjvGLCamera* ptr + + + cdef np.ndarray _pos + cdef np.ndarray _forward + cdef np.ndarray _up + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjvGLCamera* p): + + self.ptr = p + + + self._pos = _wrap_float_1d(&p.pos[0], 3) + self._forward = _wrap_float_1d(&p.forward[0], 3) + self._up = _wrap_float_1d(&p.up[0], 3) + + @property + def frustum_center(self): return self.ptr.frustum_center + @frustum_center.setter + def frustum_center(self, float x): self.ptr.frustum_center = x + @property + def frustum_bottom(self): return self.ptr.frustum_bottom + @frustum_bottom.setter + def frustum_bottom(self, float x): self.ptr.frustum_bottom = x + @property + def frustum_top(self): return self.ptr.frustum_top + @frustum_top.setter + def frustum_top(self, float x): self.ptr.frustum_top = x + @property + def frustum_near(self): return self.ptr.frustum_near + @frustum_near.setter + def frustum_near(self, float x): self.ptr.frustum_near = x + @property + def frustum_far(self): return self.ptr.frustum_far + @frustum_far.setter + def frustum_far(self, float x): self.ptr.frustum_far = x + @property + def pos(self): return self._pos + @property + def forward(self): return self._forward + @property + def up(self): return self._up + +cdef PyMjvGLCamera WrapMjvGLCamera(mjvGLCamera* p): + cdef PyMjvGLCamera o = PyMjvGLCamera() + o._set(p) + return o + +cdef class PyMjvPerturb(object): + cdef mjvPerturb* ptr + + + cdef np.ndarray _refpos + cdef np.ndarray _refquat + cdef np.ndarray _localpos + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjvPerturb* p): + + self.ptr = p + + + self._refpos = _wrap_mjtNum_1d(&p.refpos[0], 3) + self._refquat = _wrap_mjtNum_1d(&p.refquat[0], 4) + self._localpos = _wrap_mjtNum_1d(&p.localpos[0], 3) + + @property + def select(self): return self.ptr.select + @select.setter + def select(self, int x): self.ptr.select = x + @property + def active(self): return self.ptr.active + @active.setter + def active(self, int x): self.ptr.active = x + @property + def scale(self): return self.ptr.scale + @scale.setter + def scale(self, mjtNum x): self.ptr.scale = x + @property + def refpos(self): return self._refpos + @property + def refquat(self): return self._refquat + @property + def localpos(self): return self._localpos + +cdef PyMjvPerturb WrapMjvPerturb(mjvPerturb* p): + cdef PyMjvPerturb o = PyMjvPerturb() + o._set(p) + return o + +cdef class PyMjSolverStat(object): + cdef mjSolverStat* ptr + + + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjSolverStat* p): + + self.ptr = p + + + + @property + def improvement(self): return self.ptr.improvement + @improvement.setter + def improvement(self, mjtNum x): self.ptr.improvement = x + @property + def gradient(self): return self.ptr.gradient + @gradient.setter + def gradient(self, mjtNum x): self.ptr.gradient = x + @property + def lineslope(self): return self.ptr.lineslope + @lineslope.setter + def lineslope(self, mjtNum x): self.ptr.lineslope = x + @property + def nactive(self): return self.ptr.nactive + @nactive.setter + def nactive(self, int x): self.ptr.nactive = x + @property + def nchange(self): return self.ptr.nchange + @nchange.setter + def nchange(self, int x): self.ptr.nchange = x + @property + def neval(self): return self.ptr.neval + @neval.setter + def neval(self, int x): self.ptr.neval = x + @property + def nupdate(self): return self.ptr.nupdate + @nupdate.setter + def nupdate(self, int x): self.ptr.nupdate = x + +cdef PyMjSolverStat WrapMjSolverStat(mjSolverStat* p): + cdef PyMjSolverStat o = PyMjSolverStat() + o._set(p) + return o + +cdef class PyMjWarningStat(object): + cdef mjWarningStat* ptr + + + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjWarningStat* p): + + self.ptr = p + + + + @property + def lastinfo(self): return self.ptr.lastinfo + @lastinfo.setter + def lastinfo(self, int x): self.ptr.lastinfo = x + @property + def number(self): return self.ptr.number + @number.setter + def number(self, int x): self.ptr.number = x + +cdef PyMjWarningStat WrapMjWarningStat(mjWarningStat* p): + cdef PyMjWarningStat o = PyMjWarningStat() + o._set(p) + return o + +cdef class PyMjVisual(object): + cdef mjVisual* ptr + + + cdef PyMjVisual_global_ _global_ + cdef PyMjVisual_quality _quality + cdef PyMjVisual_headlight _headlight + cdef PyMjVisual_map _map + cdef PyMjVisual_scale _scale + cdef PyMjVisual_rgba _rgba + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjVisual* p): + + self.ptr = p + + + self._global_ = WrapMjVisual_global_(&p.global_) + self._quality = WrapMjVisual_quality(&p.quality) + self._headlight = WrapMjVisual_headlight(&p.headlight) + self._map = WrapMjVisual_map(&p.map) + self._scale = WrapMjVisual_scale(&p.scale) + self._rgba = WrapMjVisual_rgba(&p.rgba) + + @property + def global_(self): return self._global_ + @property + def quality(self): return self._quality + @property + def headlight(self): return self._headlight + @property + def map(self): return self._map + @property + def scale(self): return self._scale + @property + def rgba(self): return self._rgba + +cdef PyMjVisual WrapMjVisual(mjVisual* p): + cdef PyMjVisual o = PyMjVisual() + o._set(p) + return o + +cdef class PyMjVisual_quality(object): + cdef mjVisual_quality* ptr + + + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjVisual_quality* p): + + self.ptr = p + + + + @property + def shadowsize(self): return self.ptr.shadowsize + @shadowsize.setter + def shadowsize(self, int x): self.ptr.shadowsize = x + @property + def offsamples(self): return self.ptr.offsamples + @offsamples.setter + def offsamples(self, int x): self.ptr.offsamples = x + @property + def numslices(self): return self.ptr.numslices + @numslices.setter + def numslices(self, int x): self.ptr.numslices = x + @property + def numstacks(self): return self.ptr.numstacks + @numstacks.setter + def numstacks(self, int x): self.ptr.numstacks = x + @property + def numarrows(self): return self.ptr.numarrows + @numarrows.setter + def numarrows(self, int x): self.ptr.numarrows = x + @property + def numquads(self): return self.ptr.numquads + @numquads.setter + def numquads(self, int x): self.ptr.numquads = x + +cdef PyMjVisual_quality WrapMjVisual_quality(mjVisual_quality* p): + cdef PyMjVisual_quality o = PyMjVisual_quality() + o._set(p) + return o + +cdef class PyMjOption(object): + cdef mjOption* ptr + + + cdef np.ndarray _gravity + cdef np.ndarray _wind + cdef np.ndarray _magnetic + cdef np.ndarray _o_solref + cdef np.ndarray _o_solimp + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjOption* p): + + self.ptr = p + + + self._gravity = _wrap_mjtNum_1d(&p.gravity[0], 3) + self._wind = _wrap_mjtNum_1d(&p.wind[0], 3) + self._magnetic = _wrap_mjtNum_1d(&p.magnetic[0], 3) + self._o_solref = _wrap_mjtNum_1d(&p.o_solref[0], 2) + self._o_solimp = _wrap_mjtNum_1d(&p.o_solimp[0], 3) + + @property + def timestep(self): return self.ptr.timestep + @timestep.setter + def timestep(self, mjtNum x): self.ptr.timestep = x + @property + def apirate(self): return self.ptr.apirate + @apirate.setter + def apirate(self, mjtNum x): self.ptr.apirate = x + @property + def impratio(self): return self.ptr.impratio + @impratio.setter + def impratio(self, mjtNum x): self.ptr.impratio = x + @property + def tolerance(self): return self.ptr.tolerance + @tolerance.setter + def tolerance(self, mjtNum x): self.ptr.tolerance = x + @property + def noslip_tolerance(self): return self.ptr.noslip_tolerance + @noslip_tolerance.setter + def noslip_tolerance(self, mjtNum x): self.ptr.noslip_tolerance = x + @property + def mpr_tolerance(self): return self.ptr.mpr_tolerance + @mpr_tolerance.setter + def mpr_tolerance(self, mjtNum x): self.ptr.mpr_tolerance = x + @property + def density(self): return self.ptr.density + @density.setter + def density(self, mjtNum x): self.ptr.density = x + @property + def viscosity(self): return self.ptr.viscosity + @viscosity.setter + def viscosity(self, mjtNum x): self.ptr.viscosity = x + @property + def o_margin(self): return self.ptr.o_margin + @o_margin.setter + def o_margin(self, mjtNum x): self.ptr.o_margin = x + @property + def integrator(self): return self.ptr.integrator + @integrator.setter + def integrator(self, int x): self.ptr.integrator = x + @property + def collision(self): return self.ptr.collision + @collision.setter + def collision(self, int x): self.ptr.collision = x + @property + def impedance(self): return self.ptr.impedance + @impedance.setter + def impedance(self, int x): self.ptr.impedance = x + @property + def reference(self): return self.ptr.reference + @reference.setter + def reference(self, int x): self.ptr.reference = x + @property + def cone(self): return self.ptr.cone + @cone.setter + def cone(self, int x): self.ptr.cone = x + @property + def jacobian(self): return self.ptr.jacobian + @jacobian.setter + def jacobian(self, int x): self.ptr.jacobian = x + @property + def solver(self): return self.ptr.solver + @solver.setter + def solver(self, int x): self.ptr.solver = x + @property + def iterations(self): return self.ptr.iterations + @iterations.setter + def iterations(self, int x): self.ptr.iterations = x + @property + def noslip_iterations(self): return self.ptr.noslip_iterations + @noslip_iterations.setter + def noslip_iterations(self, int x): self.ptr.noslip_iterations = x + @property + def mpr_iterations(self): return self.ptr.mpr_iterations + @mpr_iterations.setter + def mpr_iterations(self, int x): self.ptr.mpr_iterations = x + @property + def disableflags(self): return self.ptr.disableflags + @disableflags.setter + def disableflags(self, int x): self.ptr.disableflags = x + @property + def enableflags(self): return self.ptr.enableflags + @enableflags.setter + def enableflags(self, int x): self.ptr.enableflags = x + @property + def gravity(self): return self._gravity + @property + def wind(self): return self._wind + @property + def magnetic(self): return self._magnetic + @property + def o_solref(self): return self._o_solref + @property + def o_solimp(self): return self._o_solimp + +cdef PyMjOption WrapMjOption(mjOption* p): + cdef PyMjOption o = PyMjOption() + o._set(p) + return o + +cdef class PyMjvOption(object): + cdef mjvOption* ptr + + + cdef np.ndarray _geomgroup + cdef np.ndarray _sitegroup + cdef np.ndarray _flags + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjvOption* p): + + self.ptr = p + + + self._geomgroup = _wrap_mjtByte_1d(&p.geomgroup[0], 5) + self._sitegroup = _wrap_mjtByte_1d(&p.sitegroup[0], 5) + self._flags = _wrap_mjtByte_1d(&p.flags[0], mjNVISFLAG) + + @property + def label(self): return self.ptr.label + @label.setter + def label(self, int x): self.ptr.label = x + @property + def frame(self): return self.ptr.frame + @frame.setter + def frame(self, int x): self.ptr.frame = x + @property + def geomgroup(self): return self._geomgroup + @property + def sitegroup(self): return self._sitegroup + @property + def flags(self): return self._flags + +cdef PyMjvOption WrapMjvOption(mjvOption* p): + cdef PyMjvOption o = PyMjvOption() + o._set(p) + return o + +cdef class PyMjVisual_headlight(object): + cdef mjVisual_headlight* ptr + + + cdef np.ndarray _ambient + cdef np.ndarray _diffuse + cdef np.ndarray _specular + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjVisual_headlight* p): + + self.ptr = p + + + self._ambient = _wrap_float_1d(&p.ambient[0], 3) + self._diffuse = _wrap_float_1d(&p.diffuse[0], 3) + self._specular = _wrap_float_1d(&p.specular[0], 3) + + @property + def active(self): return self.ptr.active + @active.setter + def active(self, int x): self.ptr.active = x + @property + def ambient(self): return self._ambient + @property + def diffuse(self): return self._diffuse + @property + def specular(self): return self._specular + +cdef PyMjVisual_headlight WrapMjVisual_headlight(mjVisual_headlight* p): + cdef PyMjVisual_headlight o = PyMjVisual_headlight() + o._set(p) + return o + +cdef class PyMjVisual_map(object): + cdef mjVisual_map* ptr + + + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjVisual_map* p): + + self.ptr = p + + + + @property + def stiffness(self): return self.ptr.stiffness + @stiffness.setter + def stiffness(self, float x): self.ptr.stiffness = x + @property + def stiffnessrot(self): return self.ptr.stiffnessrot + @stiffnessrot.setter + def stiffnessrot(self, float x): self.ptr.stiffnessrot = x + @property + def force(self): return self.ptr.force + @force.setter + def force(self, float x): self.ptr.force = x + @property + def torque(self): return self.ptr.torque + @torque.setter + def torque(self, float x): self.ptr.torque = x + @property + def alpha(self): return self.ptr.alpha + @alpha.setter + def alpha(self, float x): self.ptr.alpha = x + @property + def fogstart(self): return self.ptr.fogstart + @fogstart.setter + def fogstart(self, float x): self.ptr.fogstart = x + @property + def fogend(self): return self.ptr.fogend + @fogend.setter + def fogend(self, float x): self.ptr.fogend = x + @property + def znear(self): return self.ptr.znear + @znear.setter + def znear(self, float x): self.ptr.znear = x + @property + def zfar(self): return self.ptr.zfar + @zfar.setter + def zfar(self, float x): self.ptr.zfar = x + @property + def shadowclip(self): return self.ptr.shadowclip + @shadowclip.setter + def shadowclip(self, float x): self.ptr.shadowclip = x + @property + def shadowscale(self): return self.ptr.shadowscale + @shadowscale.setter + def shadowscale(self, float x): self.ptr.shadowscale = x + +cdef PyMjVisual_map WrapMjVisual_map(mjVisual_map* p): + cdef PyMjVisual_map o = PyMjVisual_map() + o._set(p) + return o + +cdef class PyMjrRect(object): + cdef mjrRect* ptr + + + + def __cinit__(self): + self.ptr = PyMem_Malloc(sizeof(mjrRect)) + if not self.ptr: + raise MemoryError() + + def __dealloc__(self): + PyMem_Free(self.ptr) + + cdef void _set(self, mjrRect* p): + + self.ptr = p + + + + @property + def left(self): return self.ptr.left + @left.setter + def left(self, int x): self.ptr.left = x + @property + def bottom(self): return self.ptr.bottom + @bottom.setter + def bottom(self, int x): self.ptr.bottom = x + @property + def width(self): return self.ptr.width + @width.setter + def width(self, int x): self.ptr.width = x + @property + def height(self): return self.ptr.height + @height.setter + def height(self, int x): self.ptr.height = x + +cdef PyMjrRect WrapMjrRect(mjrRect* p): + cdef PyMjrRect o = PyMjrRect() + o._set(p) + return o + +cdef class PyMjvCamera(object): + cdef mjvCamera* ptr + + + cdef np.ndarray _lookat + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjvCamera* p): + + self.ptr = p + + + self._lookat = _wrap_mjtNum_1d(&p.lookat[0], 3) + + @property + def type(self): return self.ptr.type + @type.setter + def type(self, int x): self.ptr.type = x + @property + def fixedcamid(self): return self.ptr.fixedcamid + @fixedcamid.setter + def fixedcamid(self, int x): self.ptr.fixedcamid = x + @property + def trackbodyid(self): return self.ptr.trackbodyid + @trackbodyid.setter + def trackbodyid(self, int x): self.ptr.trackbodyid = x + @property + def distance(self): return self.ptr.distance + @distance.setter + def distance(self, mjtNum x): self.ptr.distance = x + @property + def azimuth(self): return self.ptr.azimuth + @azimuth.setter + def azimuth(self, mjtNum x): self.ptr.azimuth = x + @property + def elevation(self): return self.ptr.elevation + @elevation.setter + def elevation(self, mjtNum x): self.ptr.elevation = x + @property + def lookat(self): return self._lookat + +cdef PyMjvCamera WrapMjvCamera(mjvCamera* p): + cdef PyMjvCamera o = PyMjvCamera() + o._set(p) + return o + +cdef class PyMjData(object): + cdef mjData* ptr + + cdef PyMjModel _model + + cdef np.ndarray _qpos + cdef np.ndarray _qvel + cdef np.ndarray _act + cdef np.ndarray _ctrl + cdef np.ndarray _qfrc_applied + cdef np.ndarray _xfrc_applied + cdef np.ndarray _qacc + cdef np.ndarray _act_dot + cdef np.ndarray _mocap_pos + cdef np.ndarray _mocap_quat + cdef np.ndarray _userdata + cdef np.ndarray _sensordata + cdef np.ndarray _xpos + cdef np.ndarray _xquat + cdef np.ndarray _xmat + cdef np.ndarray _xipos + cdef np.ndarray _ximat + cdef np.ndarray _xanchor + cdef np.ndarray _xaxis + cdef np.ndarray _geom_xpos + cdef np.ndarray _geom_xmat + cdef np.ndarray _site_xpos + cdef np.ndarray _site_xmat + cdef np.ndarray _cam_xpos + cdef np.ndarray _cam_xmat + cdef np.ndarray _light_xpos + cdef np.ndarray _light_xdir + cdef np.ndarray _subtree_com + cdef np.ndarray _cdof + cdef np.ndarray _cinert + cdef np.ndarray _ten_wrapadr + cdef np.ndarray _ten_wrapnum + cdef np.ndarray _ten_length + cdef np.ndarray _ten_moment + cdef np.ndarray _wrap_obj + cdef np.ndarray _wrap_xpos + cdef np.ndarray _actuator_length + cdef np.ndarray _actuator_moment + cdef np.ndarray _crb + cdef np.ndarray _qM + cdef np.ndarray _qLD + cdef np.ndarray _qLDiagInv + cdef np.ndarray _qLDiagSqrtInv + cdef tuple _contact + cdef np.ndarray _efc_type + cdef np.ndarray _efc_id + cdef np.ndarray _efc_J_rownnz + cdef np.ndarray _efc_J_rowadr + cdef np.ndarray _efc_J_colind + cdef np.ndarray _efc_JT_rownnz + cdef np.ndarray _efc_JT_rowadr + cdef np.ndarray _efc_JT_colind + cdef np.ndarray _efc_solref + cdef np.ndarray _efc_solimp + cdef np.ndarray _efc_margin + cdef np.ndarray _efc_frictionloss + cdef np.ndarray _efc_pos + cdef np.ndarray _efc_J + cdef np.ndarray _efc_JT + cdef np.ndarray _efc_diagApprox + cdef np.ndarray _efc_D + cdef np.ndarray _efc_R + cdef np.ndarray _efc_AR_rownnz + cdef np.ndarray _efc_AR_rowadr + cdef np.ndarray _efc_AR_colind + cdef np.ndarray _efc_AR + cdef np.ndarray _ten_velocity + cdef np.ndarray _actuator_velocity + cdef np.ndarray _cvel + cdef np.ndarray _cdof_dot + cdef np.ndarray _qfrc_bias + cdef np.ndarray _qfrc_passive + cdef np.ndarray _efc_vel + cdef np.ndarray _efc_aref + cdef np.ndarray _subtree_linvel + cdef np.ndarray _subtree_angmom + cdef np.ndarray _actuator_force + cdef np.ndarray _qfrc_actuator + cdef np.ndarray _qfrc_unc + cdef np.ndarray _qacc_unc + cdef np.ndarray _efc_b + cdef np.ndarray _efc_force + cdef np.ndarray _efc_state + cdef np.ndarray _qfrc_constraint + cdef np.ndarray _qacc_warmstart + cdef np.ndarray _qfrc_inverse + cdef np.ndarray _cacc + cdef np.ndarray _cfrc_int + cdef np.ndarray _cfrc_ext + cdef list _warning + cdef list _timer + cdef list _solver + cdef np.ndarray _solver_fwdinv + cdef np.ndarray _energy + + @property + def body_xpos(self): + return self._xpos + + @property + def body_xquat(self): + return self._xquat + + @property + def body_xmat(self): + return self._xmat + + @property + def active_contacts_efc_pos(self): + return self._efc_pos[self.ne:self.nefc] + + def __dealloc__(self): + mj_deleteData(self.ptr) + + + def get_body_xpos(self, name): + id = self._model.body_name2id(name) + return self._xpos[id] + + def get_xpos(self, name): + raise RuntimeError("get_body_xpos should be used instead of get_xpos") + + def get_body_xquat(self, name): + id = self._model.body_name2id(name) + return self._xquat[id] + + def get_xquat(self, name): + raise RuntimeError("get_body_xquat should be used instead of get_xquat") + + def get_body_xmat(self, name): + id = self._model.body_name2id(name) + return self._xmat[id].reshape((3, 3)) + + def get_xmat(self, name): + raise RuntimeError("get_body_xmat should be used instead of get_xmat") + + def get_body_xipos(self, name): + id = self._model.body_name2id(name) + return self._xipos[id] + + def get_xipos(self, name): + raise RuntimeError("get_body_xipos should be used instead of get_xipos") + + def get_body_ximat(self, name): + id = self._model.body_name2id(name) + return self._ximat[id].reshape((3, 3)) + + def get_ximat(self, name): + raise RuntimeError("get_body_ximat should be used instead of get_ximat") + + def get_body_jacp(self, name, np.ndarray[double, ndim=1, mode="c"] jacp = None): + id = self._model.body_name2id(name) + if jacp is None: + jacp = np.zeros(3 * self._model.nv) + cdef double * jacp_view = &jacp[0] + mj_jacBody(self._model.ptr, self.ptr, jacp_view, NULL, id) + return jacp + + def get_body_jacr(self, name, np.ndarray[double, ndim=1, mode="c"] jacr = None): + id = self._model.body_name2id(name) + if jacr is None: + jacr = np.zeros(3 * self._model.nv) + cdef double * jacr_view = &jacr[0] + mj_jacBody(self._model.ptr, self.ptr, NULL, jacr_view, id) + return jacr + + def get_body_xvelp(self, name): + id = self._model.body_name2id(name) + jacp = self.get_body_jacp(name).reshape((3, self._model.nv)) + xvelp = np.dot(jacp, self.qvel) + return xvelp + + def get_body_xvelr(self, name): + id = self._model.body_name2id(name) + jacr = self.get_body_jacr(name).reshape((3, self._model.nv)) + xvelr = np.dot(jacr, self.qvel) + return xvelr + + def get_joint_xanchor(self, name): + id = self._model.joint_name2id(name) + return self._xanchor[id] + + def get_xanchor(self, name): + raise RuntimeError("get_joint_xanchor should be used instead of get_xanchor") + + def get_joint_xaxis(self, name): + id = self._model.joint_name2id(name) + return self._xaxis[id] + + def get_xaxis(self, name): + raise RuntimeError("get_joint_xaxis should be used instead of get_xaxis") + + def get_geom_xpos(self, name): + id = self._model.geom_name2id(name) + return self._geom_xpos[id] + + def get_geom_xmat(self, name): + id = self._model.geom_name2id(name) + return self._geom_xmat[id].reshape((3, 3)) + + def get_geom_jacp(self, name, np.ndarray[double, ndim=1, mode="c"] jacp = None): + id = self._model.geom_name2id(name) + if jacp is None: + jacp = np.zeros(3 * self._model.nv) + cdef double * jacp_view = &jacp[0] + mj_jacGeom(self._model.ptr, self.ptr, jacp_view, NULL, id) + return jacp + + def get_geom_jacr(self, name, np.ndarray[double, ndim=1, mode="c"] jacr = None): + id = self._model.geom_name2id(name) + if jacr is None: + jacr = np.zeros(3 * self._model.nv) + cdef double * jacr_view = &jacr[0] + mj_jacGeom(self._model.ptr, self.ptr, NULL, jacr_view, id) + return jacr + + def get_geom_xvelp(self, name): + id = self._model.geom_name2id(name) + jacp = self.get_geom_jacp(name).reshape((3, self._model.nv)) + xvelp = np.dot(jacp, self.qvel) + return xvelp + + def get_geom_xvelr(self, name): + id = self._model.geom_name2id(name) + jacr = self.get_geom_jacr(name).reshape((3, self._model.nv)) + xvelr = np.dot(jacr, self.qvel) + return xvelr + + def get_site_xpos(self, name): + id = self._model.site_name2id(name) + return self._site_xpos[id] + + def get_site_xmat(self, name): + id = self._model.site_name2id(name) + return self._site_xmat[id].reshape((3, 3)) + + def get_site_jacp(self, name, np.ndarray[double, ndim=1, mode="c"] jacp = None): + id = self._model.site_name2id(name) + if jacp is None: + jacp = np.zeros(3 * self._model.nv) + cdef double * jacp_view = &jacp[0] + mj_jacSite(self._model.ptr, self.ptr, jacp_view, NULL, id) + return jacp + + def get_site_jacr(self, name, np.ndarray[double, ndim=1, mode="c"] jacr = None): + id = self._model.site_name2id(name) + if jacr is None: + jacr = np.zeros(3 * self._model.nv) + cdef double * jacr_view = &jacr[0] + mj_jacSite(self._model.ptr, self.ptr, NULL, jacr_view, id) + return jacr + + def get_site_xvelp(self, name): + id = self._model.site_name2id(name) + jacp = self.get_site_jacp(name).reshape((3, self._model.nv)) + xvelp = np.dot(jacp, self.qvel) + return xvelp + + def get_site_xvelr(self, name): + id = self._model.site_name2id(name) + jacr = self.get_site_jacr(name).reshape((3, self._model.nv)) + xvelr = np.dot(jacr, self.qvel) + return xvelr + + def get_camera_xpos(self, name): + id = self._model.camera_name2id(name) + return self._cam_xpos[id] + + def get_cam_xpos(self, name): + raise RuntimeError("get_camera_xpos should be used instead of get_cam_xpos") + + def get_camera_xmat(self, name): + id = self._model.camera_name2id(name) + return self._cam_xmat[id].reshape((3, 3)) + + def get_cam_xmat(self, name): + raise RuntimeError("get_camera_xmat should be used instead of get_cam_xmat") + + def get_light_xpos(self, name): + id = self._model.light_name2id(name) + return self._light_xpos[id] + + def get_light_xdir(self, name): + id = self._model.light_name2id(name) + return self._light_xdir[id] + + def get_sensor(self, name): + id = self._model.sensor_name2id(name) + return self._sensordata[id] + + def get_sensordata(self, name): + raise RuntimeError("get_sensor should be used instead of get_sensordata") + + def get_mocap_pos(self, name): + body_id = self._model.body_name2id(name) + mocap_id = self._model.body_mocapid[body_id] + return self.mocap_pos[mocap_id] + + def set_mocap_pos(self, name, value): + body_id = self._model.body_name2id(name) + mocap_id = self._model.body_mocapid[body_id] + self.mocap_pos[mocap_id] = value + + def get_mocap_quat(self, name): + body_id = self._model.body_name2id(name) + mocap_id = self._model.body_mocapid[body_id] + return self.mocap_quat[mocap_id] + + def set_mocap_quat(self, name, value): + body_id = self._model.body_name2id(name) + mocap_id = self._model.body_mocapid[body_id] + self.mocap_quat[mocap_id] = value + + def get_joint_qpos(self, name): + addr = self._model.get_joint_qpos_addr(name) + if isinstance(addr, (int, np.int32, np.int64)): + return self.qpos[addr] + else: + start_i, end_i = addr + return self.qpos[start_i:end_i] + + def set_joint_qpos(self, name, value): + addr = self._model.get_joint_qpos_addr(name) + if isinstance(addr, (int, np.int32, np.int64)): + self.qpos[addr] = value + else: + start_i, end_i = addr + value = np.array(value) + assert value.shape == (end_i - start_i,), ( + "Value has incorrect shape %s: %s" % (name, value)) + self.qpos[start_i:end_i] = value + + def get_joint_qvel(self, name): + addr = self._model.get_joint_qvel_addr(name) + if isinstance(addr, (int, np.int32, np.int64)): + return self.qvel[addr] + else: + start_i, end_i = addr + return self.qvel[start_i:end_i] + + def set_joint_qvel(self, name, value): + addr = self._model.get_joint_qvel_addr(name) + if isinstance(addr, (int, np.int32, np.int64)): + self.qvel[addr] = value + else: + start_i, end_i = addr + value = np.array(value) + assert value.shape == (end_i - start_i,), ( + "Value has incorrect shape %s: %s" % (name, value)) + self.qvel[start_i:end_i] = value + + cdef void _set(self, mjData* p, PyMjModel model): + + self.ptr = p + self._model = model + + self._qpos = _wrap_mjtNum_1d(p.qpos, model.nq) + self._qvel = _wrap_mjtNum_1d(p.qvel, model.nv) + self._act = _wrap_mjtNum_1d(p.act, model.na) + self._ctrl = _wrap_mjtNum_1d(p.ctrl, model.nu) + self._qfrc_applied = _wrap_mjtNum_1d(p.qfrc_applied, model.nv) + self._xfrc_applied = _wrap_mjtNum_2d(p.xfrc_applied, model.nbody, 6) + self._qacc = _wrap_mjtNum_1d(p.qacc, model.nv) + self._act_dot = _wrap_mjtNum_1d(p.act_dot, model.na) + self._mocap_pos = _wrap_mjtNum_2d(p.mocap_pos, model.nmocap, 3) + self._mocap_quat = _wrap_mjtNum_2d(p.mocap_quat, model.nmocap, 4) + self._userdata = _wrap_mjtNum_1d(p.userdata, model.nuserdata) + self._sensordata = _wrap_mjtNum_1d(p.sensordata, model.nsensordata) + self._xpos = _wrap_mjtNum_2d(p.xpos, model.nbody, 3) + self._xquat = _wrap_mjtNum_2d(p.xquat, model.nbody, 4) + self._xmat = _wrap_mjtNum_2d(p.xmat, model.nbody, 9) + self._xipos = _wrap_mjtNum_2d(p.xipos, model.nbody, 3) + self._ximat = _wrap_mjtNum_2d(p.ximat, model.nbody, 9) + self._xanchor = _wrap_mjtNum_2d(p.xanchor, model.njnt, 3) + self._xaxis = _wrap_mjtNum_2d(p.xaxis, model.njnt, 3) + self._geom_xpos = _wrap_mjtNum_2d(p.geom_xpos, model.ngeom, 3) + self._geom_xmat = _wrap_mjtNum_2d(p.geom_xmat, model.ngeom, 9) + self._site_xpos = _wrap_mjtNum_2d(p.site_xpos, model.nsite, 3) + self._site_xmat = _wrap_mjtNum_2d(p.site_xmat, model.nsite, 9) + self._cam_xpos = _wrap_mjtNum_2d(p.cam_xpos, model.ncam, 3) + self._cam_xmat = _wrap_mjtNum_2d(p.cam_xmat, model.ncam, 9) + self._light_xpos = _wrap_mjtNum_2d(p.light_xpos, model.nlight, 3) + self._light_xdir = _wrap_mjtNum_2d(p.light_xdir, model.nlight, 3) + self._subtree_com = _wrap_mjtNum_2d(p.subtree_com, model.nbody, 3) + self._cdof = _wrap_mjtNum_2d(p.cdof, model.nv, 6) + self._cinert = _wrap_mjtNum_2d(p.cinert, model.nbody, 10) + self._ten_wrapadr = _wrap_int_1d(p.ten_wrapadr, model.ntendon) + self._ten_wrapnum = _wrap_int_1d(p.ten_wrapnum, model.ntendon) + self._ten_length = _wrap_mjtNum_1d(p.ten_length, model.ntendon) + self._ten_moment = _wrap_mjtNum_2d(p.ten_moment, model.ntendon, model.nv) + self._wrap_obj = _wrap_int_1d(p.wrap_obj, model.nwrap*2) + self._wrap_xpos = _wrap_mjtNum_2d(p.wrap_xpos, model.nwrap*2, 3) + self._actuator_length = _wrap_mjtNum_1d(p.actuator_length, model.nu) + self._actuator_moment = _wrap_mjtNum_2d(p.actuator_moment, model.nu, model.nv) + self._crb = _wrap_mjtNum_2d(p.crb, model.nbody, 10) + self._qM = _wrap_mjtNum_1d(p.qM, model.nM) + self._qLD = _wrap_mjtNum_1d(p.qLD, model.nM) + self._qLDiagInv = _wrap_mjtNum_1d(p.qLDiagInv, model.nv) + self._qLDiagSqrtInv = _wrap_mjtNum_1d(p.qLDiagSqrtInv, model.nv) + self._contact = tuple([WrapMjContact(&p.contact[i]) for i in range(model.nconmax)]) + self._efc_type = _wrap_int_1d(p.efc_type, model.njmax) + self._efc_id = _wrap_int_1d(p.efc_id, model.njmax) + self._efc_J_rownnz = _wrap_int_1d(p.efc_J_rownnz, model.njmax) + self._efc_J_rowadr = _wrap_int_1d(p.efc_J_rowadr, model.njmax) + self._efc_J_colind = _wrap_int_2d(p.efc_J_colind, model.njmax, model.nv) + self._efc_JT_rownnz = _wrap_int_1d(p.efc_JT_rownnz, model.nv) + self._efc_JT_rowadr = _wrap_int_1d(p.efc_JT_rowadr, model.nv) + self._efc_JT_colind = _wrap_int_2d(p.efc_JT_colind, model.nv, model.njmax) + self._efc_solref = _wrap_mjtNum_2d(p.efc_solref, model.njmax, mjNREF) + self._efc_solimp = _wrap_mjtNum_2d(p.efc_solimp, model.njmax, mjNIMP) + self._efc_margin = _wrap_mjtNum_1d(p.efc_margin, model.njmax) + self._efc_frictionloss = _wrap_mjtNum_1d(p.efc_frictionloss, model.njmax) + self._efc_pos = _wrap_mjtNum_1d(p.efc_pos, model.njmax) + self._efc_J = _wrap_mjtNum_2d(p.efc_J, model.njmax, model.nv) + self._efc_JT = _wrap_mjtNum_2d(p.efc_JT, model.nv, model.njmax) + self._efc_diagApprox = _wrap_mjtNum_1d(p.efc_diagApprox, model.njmax) + self._efc_D = _wrap_mjtNum_1d(p.efc_D, model.njmax) + self._efc_R = _wrap_mjtNum_1d(p.efc_R, model.njmax) + self._efc_AR_rownnz = _wrap_int_1d(p.efc_AR_rownnz, model.njmax) + self._efc_AR_rowadr = _wrap_int_1d(p.efc_AR_rowadr, model.njmax) + self._efc_AR_colind = _wrap_int_2d(p.efc_AR_colind, model.njmax, model.njmax) + self._efc_AR = _wrap_mjtNum_2d(p.efc_AR, model.njmax, model.njmax) + self._ten_velocity = _wrap_mjtNum_1d(p.ten_velocity, model.ntendon) + self._actuator_velocity = _wrap_mjtNum_1d(p.actuator_velocity, model.nu) + self._cvel = _wrap_mjtNum_2d(p.cvel, model.nbody, 6) + self._cdof_dot = _wrap_mjtNum_2d(p.cdof_dot, model.nv, 6) + self._qfrc_bias = _wrap_mjtNum_1d(p.qfrc_bias, model.nv) + self._qfrc_passive = _wrap_mjtNum_1d(p.qfrc_passive, model.nv) + self._efc_vel = _wrap_mjtNum_1d(p.efc_vel, model.njmax) + self._efc_aref = _wrap_mjtNum_1d(p.efc_aref, model.njmax) + self._subtree_linvel = _wrap_mjtNum_2d(p.subtree_linvel, model.nbody, 3) + self._subtree_angmom = _wrap_mjtNum_2d(p.subtree_angmom, model.nbody, 3) + self._actuator_force = _wrap_mjtNum_1d(p.actuator_force, model.nu) + self._qfrc_actuator = _wrap_mjtNum_1d(p.qfrc_actuator, model.nv) + self._qfrc_unc = _wrap_mjtNum_1d(p.qfrc_unc, model.nv) + self._qacc_unc = _wrap_mjtNum_1d(p.qacc_unc, model.nv) + self._efc_b = _wrap_mjtNum_1d(p.efc_b, model.njmax) + self._efc_force = _wrap_mjtNum_1d(p.efc_force, model.njmax) + self._efc_state = _wrap_int_1d(p.efc_state, model.njmax) + self._qfrc_constraint = _wrap_mjtNum_1d(p.qfrc_constraint, model.nv) + self._qacc_warmstart = _wrap_mjtNum_1d(p.qacc_warmstart, model.nv) + self._qfrc_inverse = _wrap_mjtNum_1d(p.qfrc_inverse, model.nv) + self._cacc = _wrap_mjtNum_2d(p.cacc, model.nbody, 6) + self._cfrc_int = _wrap_mjtNum_2d(p.cfrc_int, model.nbody, 6) + self._cfrc_ext = _wrap_mjtNum_2d(p.cfrc_ext, model.nbody, 6) + self._warning = [WrapMjWarningStat(&p.warning[i]) for i in range(mjNWARNING)] + self._timer = [WrapMjTimerStat(&p.timer[i]) for i in range(mjNTIMER)] + self._solver = [WrapMjSolverStat(&p.solver[i]) for i in range(1000)] + self._solver_fwdinv = _wrap_mjtNum_1d(&p.solver_fwdinv[0], 2) + self._energy = _wrap_mjtNum_1d(&p.energy[0], 2) + + @property + def nstack(self): return self.ptr.nstack + @nstack.setter + def nstack(self, int x): self.ptr.nstack = x + @property + def nbuffer(self): return self.ptr.nbuffer + @nbuffer.setter + def nbuffer(self, int x): self.ptr.nbuffer = x + @property + def pstack(self): return self.ptr.pstack + @pstack.setter + def pstack(self, int x): self.ptr.pstack = x + @property + def maxuse_stack(self): return self.ptr.maxuse_stack + @maxuse_stack.setter + def maxuse_stack(self, int x): self.ptr.maxuse_stack = x + @property + def maxuse_con(self): return self.ptr.maxuse_con + @maxuse_con.setter + def maxuse_con(self, int x): self.ptr.maxuse_con = x + @property + def maxuse_efc(self): return self.ptr.maxuse_efc + @maxuse_efc.setter + def maxuse_efc(self, int x): self.ptr.maxuse_efc = x + @property + def solver_iter(self): return self.ptr.solver_iter + @solver_iter.setter + def solver_iter(self, int x): self.ptr.solver_iter = x + @property + def solver_nnz(self): return self.ptr.solver_nnz + @solver_nnz.setter + def solver_nnz(self, int x): self.ptr.solver_nnz = x + @property + def ne(self): return self.ptr.ne + @ne.setter + def ne(self, int x): self.ptr.ne = x + @property + def nf(self): return self.ptr.nf + @nf.setter + def nf(self, int x): self.ptr.nf = x + @property + def nefc(self): return self.ptr.nefc + @nefc.setter + def nefc(self, int x): self.ptr.nefc = x + @property + def ncon(self): return self.ptr.ncon + @ncon.setter + def ncon(self, int x): self.ptr.ncon = x + @property + def time(self): return self.ptr.time + @time.setter + def time(self, mjtNum x): self.ptr.time = x + @property + def qpos(self): return self._qpos + @property + def qvel(self): return self._qvel + @property + def act(self): return self._act + @property + def ctrl(self): return self._ctrl + @property + def qfrc_applied(self): return self._qfrc_applied + @property + def xfrc_applied(self): return self._xfrc_applied + @property + def qacc(self): return self._qacc + @property + def act_dot(self): return self._act_dot + @property + def mocap_pos(self): return self._mocap_pos + @property + def mocap_quat(self): return self._mocap_quat + @property + def userdata(self): return self._userdata + @property + def sensordata(self): return self._sensordata + + @property + def xpos(self): + raise RuntimeError("body_xpos should be used instead of xpos") + + + @property + def xquat(self): + raise RuntimeError("body_xquat should be used instead of xquat") + + + @property + def xmat(self): + raise RuntimeError("body_xmat should be used instead of xmat") + + @property + def xipos(self): return self._xipos + @property + def ximat(self): return self._ximat + @property + def xanchor(self): return self._xanchor + @property + def xaxis(self): return self._xaxis + @property + def geom_xpos(self): return self._geom_xpos + @property + def geom_xmat(self): return self._geom_xmat + @property + def site_xpos(self): return self._site_xpos + @property + def site_xmat(self): return self._site_xmat + @property + def cam_xpos(self): return self._cam_xpos + @property + def cam_xmat(self): return self._cam_xmat + @property + def light_xpos(self): return self._light_xpos + @property + def light_xdir(self): return self._light_xdir + @property + def subtree_com(self): return self._subtree_com + @property + def cdof(self): return self._cdof + @property + def cinert(self): return self._cinert + @property + def ten_wrapadr(self): return self._ten_wrapadr + @property + def ten_wrapnum(self): return self._ten_wrapnum + @property + def ten_length(self): return self._ten_length + @property + def ten_moment(self): return self._ten_moment + @property + def wrap_obj(self): return self._wrap_obj + @property + def wrap_xpos(self): return self._wrap_xpos + @property + def actuator_length(self): return self._actuator_length + @property + def actuator_moment(self): return self._actuator_moment + @property + def crb(self): return self._crb + @property + def qM(self): return self._qM + @property + def qLD(self): return self._qLD + @property + def qLDiagInv(self): return self._qLDiagInv + @property + def qLDiagSqrtInv(self): return self._qLDiagSqrtInv + @property + def contact(self): return self._contact + @property + def efc_type(self): return self._efc_type + @property + def efc_id(self): return self._efc_id + @property + def efc_J_rownnz(self): return self._efc_J_rownnz + @property + def efc_J_rowadr(self): return self._efc_J_rowadr + @property + def efc_J_colind(self): return self._efc_J_colind + @property + def efc_JT_rownnz(self): return self._efc_JT_rownnz + @property + def efc_JT_rowadr(self): return self._efc_JT_rowadr + @property + def efc_JT_colind(self): return self._efc_JT_colind + @property + def efc_solref(self): return self._efc_solref + @property + def efc_solimp(self): return self._efc_solimp + @property + def efc_margin(self): return self._efc_margin + @property + def efc_frictionloss(self): return self._efc_frictionloss + + @property + def efc_pos(self): + raise RuntimeError("active_contacts_efc_pos should be used instead of efc_pos") + + @property + def efc_J(self): return self._efc_J + @property + def efc_JT(self): return self._efc_JT + @property + def efc_diagApprox(self): return self._efc_diagApprox + @property + def efc_D(self): return self._efc_D + @property + def efc_R(self): return self._efc_R + @property + def efc_AR_rownnz(self): return self._efc_AR_rownnz + @property + def efc_AR_rowadr(self): return self._efc_AR_rowadr + @property + def efc_AR_colind(self): return self._efc_AR_colind + @property + def efc_AR(self): return self._efc_AR + @property + def ten_velocity(self): return self._ten_velocity + @property + def actuator_velocity(self): return self._actuator_velocity + @property + def cvel(self): return self._cvel + @property + def cdof_dot(self): return self._cdof_dot + @property + def qfrc_bias(self): return self._qfrc_bias + @property + def qfrc_passive(self): return self._qfrc_passive + @property + def efc_vel(self): return self._efc_vel + @property + def efc_aref(self): return self._efc_aref + @property + def subtree_linvel(self): return self._subtree_linvel + @property + def subtree_angmom(self): return self._subtree_angmom + @property + def actuator_force(self): return self._actuator_force + @property + def qfrc_actuator(self): return self._qfrc_actuator + @property + def qfrc_unc(self): return self._qfrc_unc + @property + def qacc_unc(self): return self._qacc_unc + @property + def efc_b(self): return self._efc_b + @property + def efc_force(self): return self._efc_force + @property + def efc_state(self): return self._efc_state + @property + def qfrc_constraint(self): return self._qfrc_constraint + @property + def qacc_warmstart(self): return self._qacc_warmstart + @property + def qfrc_inverse(self): return self._qfrc_inverse + @property + def cacc(self): return self._cacc + @property + def cfrc_int(self): return self._cfrc_int + @property + def cfrc_ext(self): return self._cfrc_ext + @property + def warning(self): return self._warning + @property + def timer(self): return self._timer + @property + def solver(self): return self._solver + @property + def solver_fwdinv(self): return self._solver_fwdinv + @property + def energy(self): return self._energy + @property + def body_jacp(self): + jacps = np.zeros((self._model.nbody, 3 * self._model.nv)) + cdef double [:] jacp_view + for i, jacp in enumerate(jacps): + jacp_view = jacp + mj_jacBody(self._model.ptr, self.ptr, &jacp_view[0], NULL, i) + return jacps + + @property + def body_jacr(self): + jacrs = np.zeros((self._model.nbody, 3 * self._model.nv)) + cdef double [:] jacr_view + for i, jacr in enumerate(jacrs): + jacr_view = jacr + mj_jacBody(self._model.ptr, self.ptr, NULL, &jacr_view[0], i) + return jacrs + + @property + def body_xvelp(self): + jacp = self.body_jacp.reshape((self._model.nbody, 3, self._model.nv)) + xvelp = np.dot(jacp, self.qvel) + return xvelp + + @property + def body_xvelr(self): + jacr = self.body_jacr.reshape((self._model.nbody, 3, self._model.nv)) + xvelr = np.dot(jacr, self.qvel) + return xvelr + + @property + def geom_jacp(self): + jacps = np.zeros((self._model.ngeom, 3 * self._model.nv)) + cdef double [:] jacp_view + for i, jacp in enumerate(jacps): + jacp_view = jacp + mj_jacGeom(self._model.ptr, self.ptr, &jacp_view[0], NULL, i) + return jacps + + @property + def geom_jacr(self): + jacrs = np.zeros((self._model.ngeom, 3 * self._model.nv)) + cdef double [:] jacr_view + for i, jacr in enumerate(jacrs): + jacr_view = jacr + mj_jacGeom(self._model.ptr, self.ptr, NULL, &jacr_view[0], i) + return jacrs + + @property + def geom_xvelp(self): + jacp = self.geom_jacp.reshape((self._model.ngeom, 3, self._model.nv)) + xvelp = np.dot(jacp, self.qvel) + return xvelp + + @property + def geom_xvelr(self): + jacr = self.geom_jacr.reshape((self._model.ngeom, 3, self._model.nv)) + xvelr = np.dot(jacr, self.qvel) + return xvelr + + @property + def site_jacp(self): + jacps = np.zeros((self._model.nsite, 3 * self._model.nv)) + cdef double [:] jacp_view + for i, jacp in enumerate(jacps): + jacp_view = jacp + mj_jacSite(self._model.ptr, self.ptr, &jacp_view[0], NULL, i) + return jacps + + @property + def site_jacr(self): + jacrs = np.zeros((self._model.nsite, 3 * self._model.nv)) + cdef double [:] jacr_view + for i, jacr in enumerate(jacrs): + jacr_view = jacr + mj_jacSite(self._model.ptr, self.ptr, NULL, &jacr_view[0], i) + return jacrs + + @property + def site_xvelp(self): + jacp = self.site_jacp.reshape((self._model.nsite, 3, self._model.nv)) + xvelp = np.dot(jacp, self.qvel) + return xvelp + + @property + def site_xvelr(self): + jacr = self.site_jacr.reshape((self._model.nsite, 3, self._model.nv)) + xvelr = np.dot(jacr, self.qvel) + return xvelr + + +cdef PyMjData WrapMjData(mjData* p, PyMjModel model): + cdef PyMjData o = PyMjData() + o._set(p, model) + return o + +cdef class PyMjVisual_rgba(object): + cdef mjVisual_rgba* ptr + + + cdef np.ndarray _fog + cdef np.ndarray _force + cdef np.ndarray _inertia + cdef np.ndarray _joint + cdef np.ndarray _actuator + cdef np.ndarray _com + cdef np.ndarray _camera + cdef np.ndarray _light + cdef np.ndarray _selectpoint + cdef np.ndarray _connect + cdef np.ndarray _contactpoint + cdef np.ndarray _contactforce + cdef np.ndarray _contactfriction + cdef np.ndarray _contacttorque + cdef np.ndarray _constraint + cdef np.ndarray _slidercrank + cdef np.ndarray _crankbroken + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjVisual_rgba* p): + + self.ptr = p + + + self._fog = _wrap_float_1d(&p.fog[0], 4) + self._force = _wrap_float_1d(&p.force[0], 4) + self._inertia = _wrap_float_1d(&p.inertia[0], 4) + self._joint = _wrap_float_1d(&p.joint[0], 4) + self._actuator = _wrap_float_1d(&p.actuator[0], 4) + self._com = _wrap_float_1d(&p.com[0], 4) + self._camera = _wrap_float_1d(&p.camera[0], 4) + self._light = _wrap_float_1d(&p.light[0], 4) + self._selectpoint = _wrap_float_1d(&p.selectpoint[0], 4) + self._connect = _wrap_float_1d(&p.connect[0], 4) + self._contactpoint = _wrap_float_1d(&p.contactpoint[0], 4) + self._contactforce = _wrap_float_1d(&p.contactforce[0], 4) + self._contactfriction = _wrap_float_1d(&p.contactfriction[0], 4) + self._contacttorque = _wrap_float_1d(&p.contacttorque[0], 4) + self._constraint = _wrap_float_1d(&p.constraint[0], 4) + self._slidercrank = _wrap_float_1d(&p.slidercrank[0], 4) + self._crankbroken = _wrap_float_1d(&p.crankbroken[0], 4) + + @property + def fog(self): return self._fog + @property + def force(self): return self._force + @property + def inertia(self): return self._inertia + @property + def joint(self): return self._joint + @property + def actuator(self): return self._actuator + @property + def com(self): return self._com + @property + def camera(self): return self._camera + @property + def light(self): return self._light + @property + def selectpoint(self): return self._selectpoint + @property + def connect(self): return self._connect + @property + def contactpoint(self): return self._contactpoint + @property + def contactforce(self): return self._contactforce + @property + def contactfriction(self): return self._contactfriction + @property + def contacttorque(self): return self._contacttorque + @property + def constraint(self): return self._constraint + @property + def slidercrank(self): return self._slidercrank + @property + def crankbroken(self): return self._crankbroken + +cdef PyMjVisual_rgba WrapMjVisual_rgba(mjVisual_rgba* p): + cdef PyMjVisual_rgba o = PyMjVisual_rgba() + o._set(p) + return o + +cdef class PyMjTimerStat(object): + cdef mjTimerStat* ptr + + + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjTimerStat* p): + + self.ptr = p + + + + @property + def duration(self): return self.ptr.duration + @duration.setter + def duration(self, mjtNum x): self.ptr.duration = x + @property + def number(self): return self.ptr.number + @number.setter + def number(self, int x): self.ptr.number = x + +cdef PyMjTimerStat WrapMjTimerStat(mjTimerStat* p): + cdef PyMjTimerStat o = PyMjTimerStat() + o._set(p) + return o + +cdef class PyMjvGeom(object): + cdef mjvGeom* ptr + + + cdef np.ndarray _texrepeat + cdef np.ndarray _size + cdef np.ndarray _pos + cdef np.ndarray _mat + cdef np.ndarray _rgba + cdef np.ndarray _label + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjvGeom* p): + + self.ptr = p + + + self._texrepeat = _wrap_float_1d(&p.texrepeat[0], 2) + self._size = _wrap_float_1d(&p.size[0], 3) + self._pos = _wrap_float_1d(&p.pos[0], 3) + self._mat = _wrap_float_1d(&p.mat[0], 9) + self._rgba = _wrap_float_1d(&p.rgba[0], 4) + self._label = _wrap_char_1d(&p.label[0], 100) + + @property + def type(self): return self.ptr.type + @type.setter + def type(self, int x): self.ptr.type = x + @property + def dataid(self): return self.ptr.dataid + @dataid.setter + def dataid(self, int x): self.ptr.dataid = x + @property + def objtype(self): return self.ptr.objtype + @objtype.setter + def objtype(self, int x): self.ptr.objtype = x + @property + def objid(self): return self.ptr.objid + @objid.setter + def objid(self, int x): self.ptr.objid = x + @property + def category(self): return self.ptr.category + @category.setter + def category(self, int x): self.ptr.category = x + @property + def texid(self): return self.ptr.texid + @texid.setter + def texid(self, int x): self.ptr.texid = x + @property + def texuniform(self): return self.ptr.texuniform + @texuniform.setter + def texuniform(self, int x): self.ptr.texuniform = x + @property + def emission(self): return self.ptr.emission + @emission.setter + def emission(self, float x): self.ptr.emission = x + @property + def specular(self): return self.ptr.specular + @specular.setter + def specular(self, float x): self.ptr.specular = x + @property + def shininess(self): return self.ptr.shininess + @shininess.setter + def shininess(self, float x): self.ptr.shininess = x + @property + def reflectance(self): return self.ptr.reflectance + @reflectance.setter + def reflectance(self, float x): self.ptr.reflectance = x + @property + def camdist(self): return self.ptr.camdist + @camdist.setter + def camdist(self, float x): self.ptr.camdist = x + @property + def modelrbound(self): return self.ptr.modelrbound + @modelrbound.setter + def modelrbound(self, float x): self.ptr.modelrbound = x + @property + def transparent(self): return self.ptr.transparent + @transparent.setter + def transparent(self, mjtByte x): self.ptr.transparent = x + @property + def texrepeat(self): return self._texrepeat + @property + def size(self): return self._size + @property + def pos(self): return self._pos + @property + def mat(self): return self._mat + @property + def rgba(self): return self._rgba + @property + def label(self): return self._label + +cdef PyMjvGeom WrapMjvGeom(mjvGeom* p): + cdef PyMjvGeom o = PyMjvGeom() + o._set(p) + return o + +cdef class PyMjVisual_global_(object): + cdef mjVisual_global_* ptr + + + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjVisual_global_* p): + + self.ptr = p + + + + @property + def fovy(self): return self.ptr.fovy + @fovy.setter + def fovy(self, float x): self.ptr.fovy = x + @property + def ipd(self): return self.ptr.ipd + @ipd.setter + def ipd(self, float x): self.ptr.ipd = x + @property + def linewidth(self): return self.ptr.linewidth + @linewidth.setter + def linewidth(self, float x): self.ptr.linewidth = x + @property + def glow(self): return self.ptr.glow + @glow.setter + def glow(self, float x): self.ptr.glow = x + @property + def offwidth(self): return self.ptr.offwidth + @offwidth.setter + def offwidth(self, int x): self.ptr.offwidth = x + @property + def offheight(self): return self.ptr.offheight + @offheight.setter + def offheight(self, int x): self.ptr.offheight = x + +cdef PyMjVisual_global_ WrapMjVisual_global_(mjVisual_global_* p): + cdef PyMjVisual_global_ o = PyMjVisual_global_() + o._set(p) + return o + +cdef class PyMjrContext(object): + cdef mjrContext* ptr + + + cdef np.ndarray _textureType + cdef np.ndarray _texture + cdef np.ndarray _charWidth + cdef np.ndarray _charWidthBig + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjrContext* p): + + self.ptr = p + + + self._textureType = _wrap_int_1d(&p.textureType[0], 100) + self._texture = _wrap_unsigned_int_1d(&p.texture[0], 100) + self._charWidth = _wrap_int_1d(&p.charWidth[0], 127) + self._charWidthBig = _wrap_int_1d(&p.charWidthBig[0], 127) + + @property + def lineWidth(self): return self.ptr.lineWidth + @lineWidth.setter + def lineWidth(self, float x): self.ptr.lineWidth = x + @property + def shadowClip(self): return self.ptr.shadowClip + @shadowClip.setter + def shadowClip(self, float x): self.ptr.shadowClip = x + @property + def shadowScale(self): return self.ptr.shadowScale + @shadowScale.setter + def shadowScale(self, float x): self.ptr.shadowScale = x + @property + def shadowSize(self): return self.ptr.shadowSize + @shadowSize.setter + def shadowSize(self, int x): self.ptr.shadowSize = x + @property + def offWidth(self): return self.ptr.offWidth + @offWidth.setter + def offWidth(self, int x): self.ptr.offWidth = x + @property + def offHeight(self): return self.ptr.offHeight + @offHeight.setter + def offHeight(self, int x): self.ptr.offHeight = x + @property + def offSamples(self): return self.ptr.offSamples + @offSamples.setter + def offSamples(self, int x): self.ptr.offSamples = x + @property + def offFBO(self): return self.ptr.offFBO + @offFBO.setter + def offFBO(self, unsigned int x): self.ptr.offFBO = x + @property + def offFBO_r(self): return self.ptr.offFBO_r + @offFBO_r.setter + def offFBO_r(self, unsigned int x): self.ptr.offFBO_r = x + @property + def offColor(self): return self.ptr.offColor + @offColor.setter + def offColor(self, unsigned int x): self.ptr.offColor = x + @property + def offColor_r(self): return self.ptr.offColor_r + @offColor_r.setter + def offColor_r(self, unsigned int x): self.ptr.offColor_r = x + @property + def offDepthStencil(self): return self.ptr.offDepthStencil + @offDepthStencil.setter + def offDepthStencil(self, unsigned int x): self.ptr.offDepthStencil = x + @property + def offDepthStencil_r(self): return self.ptr.offDepthStencil_r + @offDepthStencil_r.setter + def offDepthStencil_r(self, unsigned int x): self.ptr.offDepthStencil_r = x + @property + def shadowFBO(self): return self.ptr.shadowFBO + @shadowFBO.setter + def shadowFBO(self, unsigned int x): self.ptr.shadowFBO = x + @property + def shadowTex(self): return self.ptr.shadowTex + @shadowTex.setter + def shadowTex(self, unsigned int x): self.ptr.shadowTex = x + @property + def ntexture(self): return self.ptr.ntexture + @ntexture.setter + def ntexture(self, int x): self.ptr.ntexture = x + @property + def basePlane(self): return self.ptr.basePlane + @basePlane.setter + def basePlane(self, unsigned int x): self.ptr.basePlane = x + @property + def baseMesh(self): return self.ptr.baseMesh + @baseMesh.setter + def baseMesh(self, unsigned int x): self.ptr.baseMesh = x + @property + def baseHField(self): return self.ptr.baseHField + @baseHField.setter + def baseHField(self, unsigned int x): self.ptr.baseHField = x + @property + def baseBuiltin(self): return self.ptr.baseBuiltin + @baseBuiltin.setter + def baseBuiltin(self, unsigned int x): self.ptr.baseBuiltin = x + @property + def baseFontNormal(self): return self.ptr.baseFontNormal + @baseFontNormal.setter + def baseFontNormal(self, unsigned int x): self.ptr.baseFontNormal = x + @property + def baseFontShadow(self): return self.ptr.baseFontShadow + @baseFontShadow.setter + def baseFontShadow(self, unsigned int x): self.ptr.baseFontShadow = x + @property + def baseFontBig(self): return self.ptr.baseFontBig + @baseFontBig.setter + def baseFontBig(self, unsigned int x): self.ptr.baseFontBig = x + @property + def rangePlane(self): return self.ptr.rangePlane + @rangePlane.setter + def rangePlane(self, int x): self.ptr.rangePlane = x + @property + def rangeMesh(self): return self.ptr.rangeMesh + @rangeMesh.setter + def rangeMesh(self, int x): self.ptr.rangeMesh = x + @property + def rangeHField(self): return self.ptr.rangeHField + @rangeHField.setter + def rangeHField(self, int x): self.ptr.rangeHField = x + @property + def rangeBuiltin(self): return self.ptr.rangeBuiltin + @rangeBuiltin.setter + def rangeBuiltin(self, int x): self.ptr.rangeBuiltin = x + @property + def rangeFont(self): return self.ptr.rangeFont + @rangeFont.setter + def rangeFont(self, int x): self.ptr.rangeFont = x + @property + def charHeight(self): return self.ptr.charHeight + @charHeight.setter + def charHeight(self, int x): self.ptr.charHeight = x + @property + def charHeightBig(self): return self.ptr.charHeightBig + @charHeightBig.setter + def charHeightBig(self, int x): self.ptr.charHeightBig = x + @property + def glewInitialized(self): return self.ptr.glewInitialized + @glewInitialized.setter + def glewInitialized(self, int x): self.ptr.glewInitialized = x + @property + def windowAvailable(self): return self.ptr.windowAvailable + @windowAvailable.setter + def windowAvailable(self, int x): self.ptr.windowAvailable = x + @property + def windowSamples(self): return self.ptr.windowSamples + @windowSamples.setter + def windowSamples(self, int x): self.ptr.windowSamples = x + @property + def windowStereo(self): return self.ptr.windowStereo + @windowStereo.setter + def windowStereo(self, int x): self.ptr.windowStereo = x + @property + def windowDoublebuffer(self): return self.ptr.windowDoublebuffer + @windowDoublebuffer.setter + def windowDoublebuffer(self, int x): self.ptr.windowDoublebuffer = x + @property + def currentBuffer(self): return self.ptr.currentBuffer + @currentBuffer.setter + def currentBuffer(self, int x): self.ptr.currentBuffer = x + @property + def textureType(self): return self._textureType + @property + def texture(self): return self._texture + @property + def charWidth(self): return self._charWidth + @property + def charWidthBig(self): return self._charWidthBig + +cdef PyMjrContext WrapMjrContext(mjrContext* p): + cdef PyMjrContext o = PyMjrContext() + o._set(p) + return o + +cdef class PyMjVFS(object): + cdef mjVFS* ptr + + + cdef np.ndarray _filesize + + def __cinit__(self): + self.ptr = PyMem_Malloc(sizeof(mjVFS)) + if not self.ptr: + raise MemoryError() + + def __dealloc__(self): + PyMem_Free(self.ptr) + + cdef void _set(self, mjVFS* p): + + self.ptr = p + + + self._filesize = _wrap_int_1d(&p.filesize[0], 200) + + @property + def nfile(self): return self.ptr.nfile + @nfile.setter + def nfile(self, int x): self.ptr.nfile = x + @property + def filesize(self): return self._filesize + +cdef PyMjVFS WrapMjVFS(mjVFS* p): + cdef PyMjVFS o = PyMjVFS() + o._set(p) + return o + +cdef class PyMjVisual_scale(object): + cdef mjVisual_scale* ptr + + + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjVisual_scale* p): + + self.ptr = p + + + + @property + def forcewidth(self): return self.ptr.forcewidth + @forcewidth.setter + def forcewidth(self, float x): self.ptr.forcewidth = x + @property + def contactwidth(self): return self.ptr.contactwidth + @contactwidth.setter + def contactwidth(self, float x): self.ptr.contactwidth = x + @property + def contactheight(self): return self.ptr.contactheight + @contactheight.setter + def contactheight(self, float x): self.ptr.contactheight = x + @property + def connect(self): return self.ptr.connect + @connect.setter + def connect(self, float x): self.ptr.connect = x + @property + def com(self): return self.ptr.com + @com.setter + def com(self, float x): self.ptr.com = x + @property + def camera(self): return self.ptr.camera + @camera.setter + def camera(self, float x): self.ptr.camera = x + @property + def light(self): return self.ptr.light + @light.setter + def light(self, float x): self.ptr.light = x + @property + def selectpoint(self): return self.ptr.selectpoint + @selectpoint.setter + def selectpoint(self, float x): self.ptr.selectpoint = x + @property + def jointlength(self): return self.ptr.jointlength + @jointlength.setter + def jointlength(self, float x): self.ptr.jointlength = x + @property + def jointwidth(self): return self.ptr.jointwidth + @jointwidth.setter + def jointwidth(self, float x): self.ptr.jointwidth = x + @property + def actuatorlength(self): return self.ptr.actuatorlength + @actuatorlength.setter + def actuatorlength(self, float x): self.ptr.actuatorlength = x + @property + def actuatorwidth(self): return self.ptr.actuatorwidth + @actuatorwidth.setter + def actuatorwidth(self, float x): self.ptr.actuatorwidth = x + @property + def framelength(self): return self.ptr.framelength + @framelength.setter + def framelength(self, float x): self.ptr.framelength = x + @property + def framewidth(self): return self.ptr.framewidth + @framewidth.setter + def framewidth(self, float x): self.ptr.framewidth = x + @property + def constraint(self): return self.ptr.constraint + @constraint.setter + def constraint(self, float x): self.ptr.constraint = x + @property + def slidercrank(self): return self.ptr.slidercrank + @slidercrank.setter + def slidercrank(self, float x): self.ptr.slidercrank = x + +cdef PyMjVisual_scale WrapMjVisual_scale(mjVisual_scale* p): + cdef PyMjVisual_scale o = PyMjVisual_scale() + o._set(p) + return o + +cdef class PyMjStatistic(object): + cdef mjStatistic* ptr + + + cdef np.ndarray _center + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjStatistic* p): + + self.ptr = p + + + self._center = _wrap_mjtNum_1d(&p.center[0], 3) + + @property + def meaninertia(self): return self.ptr.meaninertia + @meaninertia.setter + def meaninertia(self, mjtNum x): self.ptr.meaninertia = x + @property + def meanmass(self): return self.ptr.meanmass + @meanmass.setter + def meanmass(self, mjtNum x): self.ptr.meanmass = x + @property + def meansize(self): return self.ptr.meansize + @meansize.setter + def meansize(self, mjtNum x): self.ptr.meansize = x + @property + def extent(self): return self.ptr.extent + @extent.setter + def extent(self, mjtNum x): self.ptr.extent = x + @property + def center(self): return self._center + +cdef PyMjStatistic WrapMjStatistic(mjStatistic* p): + cdef PyMjStatistic o = PyMjStatistic() + o._set(p) + return o + +cdef class PyMjvScene(object): + cdef mjvScene* ptr + + + cdef list _lights + cdef list _camera + cdef np.ndarray _translate + cdef np.ndarray _rotate + cdef np.ndarray _flags + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjvScene* p): + + self.ptr = p + + + self._lights = [WrapMjvLight(&p.lights[i]) for i in range(8)] + self._camera = [WrapMjvGLCamera(&p.camera[i]) for i in range(2)] + self._translate = _wrap_float_1d(&p.translate[0], 3) + self._rotate = _wrap_float_1d(&p.rotate[0], 4) + self._flags = _wrap_mjtByte_1d(&p.flags[0], mjNRNDFLAG) + + @property + def maxgeom(self): return self.ptr.maxgeom + @maxgeom.setter + def maxgeom(self, int x): self.ptr.maxgeom = x + @property + def ngeom(self): return self.ptr.ngeom + @ngeom.setter + def ngeom(self, int x): self.ptr.ngeom = x + @property + def nlight(self): return self.ptr.nlight + @nlight.setter + def nlight(self, int x): self.ptr.nlight = x + @property + def enabletransform(self): return self.ptr.enabletransform + @enabletransform.setter + def enabletransform(self, mjtByte x): self.ptr.enabletransform = x + @property + def scale(self): return self.ptr.scale + @scale.setter + def scale(self, float x): self.ptr.scale = x + @property + def stereo(self): return self.ptr.stereo + @stereo.setter + def stereo(self, int x): self.ptr.stereo = x + @property + def lights(self): return self._lights + @property + def camera(self): return self._camera + @property + def translate(self): return self._translate + @property + def rotate(self): return self._rotate + @property + def flags(self): return self._flags + +cdef PyMjvScene WrapMjvScene(mjvScene* p): + cdef PyMjvScene o = PyMjvScene() + o._set(p) + return o + +cdef class PyMjvLight(object): + cdef mjvLight* ptr + + + cdef np.ndarray _pos + cdef np.ndarray _dir + cdef np.ndarray _attenuation + cdef np.ndarray _ambient + cdef np.ndarray _diffuse + cdef np.ndarray _specular + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjvLight* p): + + self.ptr = p + + + self._pos = _wrap_float_1d(&p.pos[0], 3) + self._dir = _wrap_float_1d(&p.dir[0], 3) + self._attenuation = _wrap_float_1d(&p.attenuation[0], 3) + self._ambient = _wrap_float_1d(&p.ambient[0], 3) + self._diffuse = _wrap_float_1d(&p.diffuse[0], 3) + self._specular = _wrap_float_1d(&p.specular[0], 3) + + @property + def cutoff(self): return self.ptr.cutoff + @cutoff.setter + def cutoff(self, float x): self.ptr.cutoff = x + @property + def exponent(self): return self.ptr.exponent + @exponent.setter + def exponent(self, float x): self.ptr.exponent = x + @property + def headlight(self): return self.ptr.headlight + @headlight.setter + def headlight(self, mjtByte x): self.ptr.headlight = x + @property + def directional(self): return self.ptr.directional + @directional.setter + def directional(self, mjtByte x): self.ptr.directional = x + @property + def castshadow(self): return self.ptr.castshadow + @castshadow.setter + def castshadow(self, mjtByte x): self.ptr.castshadow = x + @property + def pos(self): return self._pos + @property + def dir(self): return self._dir + @property + def attenuation(self): return self._attenuation + @property + def ambient(self): return self._ambient + @property + def diffuse(self): return self._diffuse + @property + def specular(self): return self._specular + +cdef PyMjvLight WrapMjvLight(mjvLight* p): + cdef PyMjvLight o = PyMjvLight() + o._set(p) + return o + +cdef class PyMjContact(object): + cdef mjContact* ptr + + + cdef np.ndarray _pos + cdef np.ndarray _frame + cdef np.ndarray _friction + cdef np.ndarray _solref + cdef np.ndarray _solimp + cdef np.ndarray _H + + def __cinit__(self): + self.ptr = NULL + + cdef void _set(self, mjContact* p): + + self.ptr = p + + + self._pos = _wrap_mjtNum_1d(&p.pos[0], 3) + self._frame = _wrap_mjtNum_1d(&p.frame[0], 9) + self._friction = _wrap_mjtNum_1d(&p.friction[0], 5) + self._solref = _wrap_mjtNum_1d(&p.solref[0], 2) + self._solimp = _wrap_mjtNum_1d(&p.solimp[0], 3) + self._H = _wrap_mjtNum_1d(&p.H[0], 36) + + @property + def dist(self): return self.ptr.dist + @dist.setter + def dist(self, mjtNum x): self.ptr.dist = x + @property + def includemargin(self): return self.ptr.includemargin + @includemargin.setter + def includemargin(self, mjtNum x): self.ptr.includemargin = x + @property + def mu(self): return self.ptr.mu + @mu.setter + def mu(self, mjtNum x): self.ptr.mu = x + @property + def dim(self): return self.ptr.dim + @dim.setter + def dim(self, int x): self.ptr.dim = x + @property + def geom1(self): return self.ptr.geom1 + @geom1.setter + def geom1(self, int x): self.ptr.geom1 = x + @property + def geom2(self): return self.ptr.geom2 + @geom2.setter + def geom2(self, int x): self.ptr.geom2 = x + @property + def exclude(self): return self.ptr.exclude + @exclude.setter + def exclude(self, int x): self.ptr.exclude = x + @property + def efc_address(self): return self.ptr.efc_address + @efc_address.setter + def efc_address(self, int x): self.ptr.efc_address = x + @property + def pos(self): return self._pos + @property + def frame(self): return self._frame + @property + def friction(self): return self._friction + @property + def solref(self): return self._solref + @property + def solimp(self): return self._solimp + @property + def H(self): return self._H + +cdef PyMjContact WrapMjContact(mjContact* p): + cdef PyMjContact o = PyMjContact() + o._set(p) + return o + +cdef class PyMjModel(object): + cdef mjModel* ptr + + + cdef PyMjOption _opt + cdef PyMjVisual _vis + cdef PyMjStatistic _stat + cdef np.ndarray _qpos0 + cdef np.ndarray _qpos_spring + cdef np.ndarray _body_parentid + cdef np.ndarray _body_rootid + cdef np.ndarray _body_weldid + cdef np.ndarray _body_mocapid + cdef np.ndarray _body_jntnum + cdef np.ndarray _body_jntadr + cdef np.ndarray _body_dofnum + cdef np.ndarray _body_dofadr + cdef np.ndarray _body_geomnum + cdef np.ndarray _body_geomadr + cdef np.ndarray _body_pos + cdef np.ndarray _body_quat + cdef np.ndarray _body_ipos + cdef np.ndarray _body_iquat + cdef np.ndarray _body_mass + cdef np.ndarray _body_subtreemass + cdef np.ndarray _body_inertia + cdef np.ndarray _body_invweight0 + cdef np.ndarray _body_user + cdef np.ndarray _jnt_type + cdef np.ndarray _jnt_qposadr + cdef np.ndarray _jnt_dofadr + cdef np.ndarray _jnt_bodyid + cdef np.ndarray _jnt_limited + cdef np.ndarray _jnt_solref + cdef np.ndarray _jnt_solimp + cdef np.ndarray _jnt_pos + cdef np.ndarray _jnt_axis + cdef np.ndarray _jnt_stiffness + cdef np.ndarray _jnt_range + cdef np.ndarray _jnt_margin + cdef np.ndarray _jnt_user + cdef np.ndarray _dof_bodyid + cdef np.ndarray _dof_jntid + cdef np.ndarray _dof_parentid + cdef np.ndarray _dof_Madr + cdef np.ndarray _dof_solref + cdef np.ndarray _dof_solimp + cdef np.ndarray _dof_frictionloss + cdef np.ndarray _dof_armature + cdef np.ndarray _dof_damping + cdef np.ndarray _dof_invweight0 + cdef np.ndarray _geom_type + cdef np.ndarray _geom_contype + cdef np.ndarray _geom_conaffinity + cdef np.ndarray _geom_condim + cdef np.ndarray _geom_bodyid + cdef np.ndarray _geom_dataid + cdef np.ndarray _geom_matid + cdef np.ndarray _geom_group + cdef np.ndarray _geom_solmix + cdef np.ndarray _geom_solref + cdef np.ndarray _geom_solimp + cdef np.ndarray _geom_size + cdef np.ndarray _geom_rbound + cdef np.ndarray _geom_pos + cdef np.ndarray _geom_quat + cdef np.ndarray _geom_friction + cdef np.ndarray _geom_margin + cdef np.ndarray _geom_gap + cdef np.ndarray _geom_user + cdef np.ndarray _geom_rgba + cdef np.ndarray _site_type + cdef np.ndarray _site_bodyid + cdef np.ndarray _site_matid + cdef np.ndarray _site_group + cdef np.ndarray _site_size + cdef np.ndarray _site_pos + cdef np.ndarray _site_quat + cdef np.ndarray _site_user + cdef np.ndarray _site_rgba + cdef np.ndarray _cam_mode + cdef np.ndarray _cam_bodyid + cdef np.ndarray _cam_targetbodyid + cdef np.ndarray _cam_pos + cdef np.ndarray _cam_quat + cdef np.ndarray _cam_poscom0 + cdef np.ndarray _cam_pos0 + cdef np.ndarray _cam_mat0 + cdef np.ndarray _cam_fovy + cdef np.ndarray _cam_ipd + cdef np.ndarray _cam_user + cdef np.ndarray _light_mode + cdef np.ndarray _light_bodyid + cdef np.ndarray _light_targetbodyid + cdef np.ndarray _light_directional + cdef np.ndarray _light_castshadow + cdef np.ndarray _light_active + cdef np.ndarray _light_pos + cdef np.ndarray _light_dir + cdef np.ndarray _light_poscom0 + cdef np.ndarray _light_pos0 + cdef np.ndarray _light_dir0 + cdef np.ndarray _light_attenuation + cdef np.ndarray _light_cutoff + cdef np.ndarray _light_exponent + cdef np.ndarray _light_ambient + cdef np.ndarray _light_diffuse + cdef np.ndarray _light_specular + cdef np.ndarray _mesh_faceadr + cdef np.ndarray _mesh_facenum + cdef np.ndarray _mesh_vertadr + cdef np.ndarray _mesh_vertnum + cdef np.ndarray _mesh_graphadr + cdef np.ndarray _mesh_vert + cdef np.ndarray _mesh_normal + cdef np.ndarray _mesh_face + cdef np.ndarray _mesh_graph + cdef np.ndarray _hfield_size + cdef np.ndarray _hfield_nrow + cdef np.ndarray _hfield_ncol + cdef np.ndarray _hfield_adr + cdef np.ndarray _hfield_data + cdef np.ndarray _tex_type + cdef np.ndarray _tex_height + cdef np.ndarray _tex_width + cdef np.ndarray _tex_adr + cdef np.ndarray _tex_rgb + cdef np.ndarray _mat_texid + cdef np.ndarray _mat_texuniform + cdef np.ndarray _mat_texrepeat + cdef np.ndarray _mat_emission + cdef np.ndarray _mat_specular + cdef np.ndarray _mat_shininess + cdef np.ndarray _mat_reflectance + cdef np.ndarray _mat_rgba + cdef np.ndarray _pair_dim + cdef np.ndarray _pair_geom1 + cdef np.ndarray _pair_geom2 + cdef np.ndarray _pair_signature + cdef np.ndarray _pair_solref + cdef np.ndarray _pair_solimp + cdef np.ndarray _pair_margin + cdef np.ndarray _pair_gap + cdef np.ndarray _pair_friction + cdef np.ndarray _exclude_signature + cdef np.ndarray _eq_type + cdef np.ndarray _eq_obj1id + cdef np.ndarray _eq_obj2id + cdef np.ndarray _eq_active + cdef np.ndarray _eq_solref + cdef np.ndarray _eq_solimp + cdef np.ndarray _eq_data + cdef np.ndarray _tendon_adr + cdef np.ndarray _tendon_num + cdef np.ndarray _tendon_matid + cdef np.ndarray _tendon_limited + cdef np.ndarray _tendon_width + cdef np.ndarray _tendon_solref_lim + cdef np.ndarray _tendon_solimp_lim + cdef np.ndarray _tendon_solref_fri + cdef np.ndarray _tendon_solimp_fri + cdef np.ndarray _tendon_range + cdef np.ndarray _tendon_margin + cdef np.ndarray _tendon_stiffness + cdef np.ndarray _tendon_damping + cdef np.ndarray _tendon_frictionloss + cdef np.ndarray _tendon_lengthspring + cdef np.ndarray _tendon_length0 + cdef np.ndarray _tendon_invweight0 + cdef np.ndarray _tendon_user + cdef np.ndarray _tendon_rgba + cdef np.ndarray _wrap_type + cdef np.ndarray _wrap_objid + cdef np.ndarray _wrap_prm + cdef np.ndarray _actuator_trntype + cdef np.ndarray _actuator_dyntype + cdef np.ndarray _actuator_gaintype + cdef np.ndarray _actuator_biastype + cdef np.ndarray _actuator_trnid + cdef np.ndarray _actuator_ctrllimited + cdef np.ndarray _actuator_forcelimited + cdef np.ndarray _actuator_dynprm + cdef np.ndarray _actuator_gainprm + cdef np.ndarray _actuator_biasprm + cdef np.ndarray _actuator_ctrlrange + cdef np.ndarray _actuator_forcerange + cdef np.ndarray _actuator_gear + cdef np.ndarray _actuator_cranklength + cdef np.ndarray _actuator_invweight0 + cdef np.ndarray _actuator_length0 + cdef np.ndarray _actuator_lengthrange + cdef np.ndarray _actuator_user + cdef np.ndarray _sensor_type + cdef np.ndarray _sensor_datatype + cdef np.ndarray _sensor_needstage + cdef np.ndarray _sensor_objtype + cdef np.ndarray _sensor_objid + cdef np.ndarray _sensor_dim + cdef np.ndarray _sensor_adr + cdef np.ndarray _sensor_cutoff + cdef np.ndarray _sensor_noise + cdef np.ndarray _sensor_user + cdef np.ndarray _numeric_adr + cdef np.ndarray _numeric_size + cdef np.ndarray _numeric_data + cdef np.ndarray _text_adr + cdef np.ndarray _text_size + cdef np.ndarray _text_data + cdef np.ndarray _tuple_adr + cdef np.ndarray _tuple_size + cdef np.ndarray _tuple_objtype + cdef np.ndarray _tuple_objid + cdef np.ndarray _tuple_objprm + cdef np.ndarray _key_time + cdef np.ndarray _key_qpos + cdef np.ndarray _key_qvel + cdef np.ndarray _key_act + cdef np.ndarray _name_bodyadr + cdef np.ndarray _name_jntadr + cdef np.ndarray _name_geomadr + cdef np.ndarray _name_siteadr + cdef np.ndarray _name_camadr + cdef np.ndarray _name_lightadr + cdef np.ndarray _name_meshadr + cdef np.ndarray _name_hfieldadr + cdef np.ndarray _name_texadr + cdef np.ndarray _name_matadr + cdef np.ndarray _name_eqadr + cdef np.ndarray _name_tendonadr + cdef np.ndarray _name_actuatoradr + cdef np.ndarray _name_sensoradr + cdef np.ndarray _name_numericadr + cdef np.ndarray _name_textadr + cdef np.ndarray _name_tupleadr + cdef np.ndarray _names + + cdef readonly tuple body_names, joint_names, geom_names, site_names, light_names, camera_names, actuator_names, sensor_names + cdef readonly dict _body_id2name, _joint_id2name, _geom_id2name, _site_id2name, _light_id2name, _camera_id2name, _actuator_id2name, _sensor_id2name + cdef readonly dict _body_name2id, _joint_name2id, _geom_name2id, _site_name2id, _light_name2id, _camera_name2id, _actuator_name2id, _sensor_name2id + + def body_id2name(self, id): + if id not in self._body_id2name: + raise ValueError("No body with id %d exists." % id) + return self._body_id2name[id] + + def body_name2id(self, name): + if name not in self._body_name2id: + raise ValueError("No \"body\" with name %s exists. Available \"body\" names = %s." % (name, self.body_names)) + return self._body_name2id[name] + + def joint_id2name(self, id): + if id not in self._joint_id2name: + raise ValueError("No joint with id %d exists." % id) + return self._joint_id2name[id] + + def joint_name2id(self, name): + if name not in self._joint_name2id: + raise ValueError("No \"joint\" with name %s exists. Available \"joint\" names = %s." % (name, self.joint_names)) + return self._joint_name2id[name] + + def geom_id2name(self, id): + if id not in self._geom_id2name: + raise ValueError("No geom with id %d exists." % id) + return self._geom_id2name[id] + + def geom_name2id(self, name): + if name not in self._geom_name2id: + raise ValueError("No \"geom\" with name %s exists. Available \"geom\" names = %s." % (name, self.geom_names)) + return self._geom_name2id[name] + + def site_id2name(self, id): + if id not in self._site_id2name: + raise ValueError("No site with id %d exists." % id) + return self._site_id2name[id] + + def site_name2id(self, name): + if name not in self._site_name2id: + raise ValueError("No \"site\" with name %s exists. Available \"site\" names = %s." % (name, self.site_names)) + return self._site_name2id[name] + + def light_id2name(self, id): + if id not in self._light_id2name: + raise ValueError("No light with id %d exists." % id) + return self._light_id2name[id] + + def light_name2id(self, name): + if name not in self._light_name2id: + raise ValueError("No \"light\" with name %s exists. Available \"light\" names = %s." % (name, self.light_names)) + return self._light_name2id[name] + + def camera_id2name(self, id): + if id not in self._camera_id2name: + raise ValueError("No camera with id %d exists." % id) + return self._camera_id2name[id] + + def camera_name2id(self, name): + if name not in self._camera_name2id: + raise ValueError("No \"camera\" with name %s exists. Available \"camera\" names = %s." % (name, self.camera_names)) + return self._camera_name2id[name] + + def actuator_id2name(self, id): + if id not in self._actuator_id2name: + raise ValueError("No actuator with id %d exists." % id) + return self._actuator_id2name[id] + + def actuator_name2id(self, name): + if name not in self._actuator_name2id: + raise ValueError("No \"actuator\" with name %s exists. Available \"actuator\" names = %s." % (name, self.actuator_names)) + return self._actuator_name2id[name] + + def sensor_id2name(self, id): + if id not in self._sensor_id2name: + raise ValueError("No sensor with id %d exists." % id) + return self._sensor_id2name[id] + + def sensor_name2id(self, name): + if name not in self._sensor_name2id: + raise ValueError("No \"sensor\" with name %s exists. Available \"sensor\" names = %s." % (name, self.sensor_names)) + return self._sensor_name2id[name] + + cdef inline tuple _extract_mj_names(self, mjModel* p, int*name_adr, int n, mjtObj obj_type): + cdef char *name + cdef int obj_id + + # objects don't need to be named in the XML, so name might be None + id2name = {i: None for i in range(n)} + name2id = {} + for i in range(n): + name = p.names + name_adr[i] + decoded_name = name.decode() + if decoded_name: + obj_id = mj_name2id(p, obj_type, name) + assert 0 <= obj_id < n and id2name[obj_id] is None + name2id[decoded_name] = obj_id + id2name[obj_id] = decoded_name + + # sort names by increasing id to keep order deterministic + return tuple(id2name[id] for id in sorted(name2id.values())), name2id, id2name + + def get_xml(self): + cdef char errstr[300] + cdef int ret + with TemporaryDirectory() as td: + filename = os.path.join(td, 'model.xml') + with wrap_mujoco_warning(): + ret = mj_saveLastXML(filename.encode(), self.ptr, errstr, 300) + if ret == 0: + raise Exception('Failed to save XML: {}'.format(errstr)) + return open(filename).read() + + def get_mjb(self): + with TemporaryDirectory() as td: + filename = os.path.join(td, 'model.mjb') + with wrap_mujoco_warning(): + mj_saveModel(self.ptr, filename.encode(), NULL, 0) + return open(filename, 'rb').read() + + def __dealloc__(self): + mj_deleteModel(self.ptr) + + def get_joint_qpos_addr(self, name): + ''' + Returns the qpos address for given joint. + + Returns: + - address (int, tuple): returns int address if 1-dim joint, otherwise + returns the a (start, end) tuple for pos[start:end] access. + ''' + joint_id = self.joint_name2id(name) + joint_type = self.jnt_type[joint_id] + joint_addr = self.jnt_qposadr[joint_id] + if joint_type == mjtJoint.mjJNT_FREE: + ndim = 7 + elif joint_type == mjtJoint.mjJNT_BALL: + ndim = 4 + else: + assert joint_type in (mjtJoint.mjJNT_HINGE, mjtJoint.mjJNT_SLIDE) + ndim = 1 + + if ndim == 1: + return joint_addr + else: + return (joint_addr, joint_addr + ndim) + + def get_joint_qvel_addr(self, name): + ''' + Returns the qvel address for given joint. + + Returns: + - address (int, tuple): returns int address if 1-dim joint, otherwise + returns the a (start, end) tuple for vel[start:end] access. + ''' + joint_id = self.joint_name2id(name) + joint_type = self.jnt_type[joint_id] + joint_addr = self.jnt_dofadr[joint_id] + if joint_type == mjtJoint.mjJNT_FREE: + ndim = 6 + elif joint_type == mjtJoint.mjJNT_BALL: + ndim = 3 + else: + assert joint_type in (mjtJoint.mjJNT_HINGE, mjtJoint.mjJNT_SLIDE) + ndim = 1 + + if ndim == 1: + return joint_addr + else: + return (joint_addr, joint_addr + ndim) + + cdef void _set(self, mjModel* p): + + self.body_names, self._body_name2id, self._body_id2name = self._extract_mj_names(p, p.name_bodyadr, p.nbody, mjtObj.mjOBJ_BODY) + self.joint_names, self._joint_name2id, self._joint_id2name = self._extract_mj_names(p, p.name_jntadr, p.njnt, mjtObj.mjOBJ_JOINT) + self.geom_names, self._geom_name2id, self._geom_id2name = self._extract_mj_names(p, p.name_geomadr, p.ngeom, mjtObj.mjOBJ_GEOM) + self.site_names, self._site_name2id, self._site_id2name = self._extract_mj_names(p, p.name_siteadr, p.nsite, mjtObj.mjOBJ_SITE) + self.light_names, self._light_name2id, self._light_id2name = self._extract_mj_names(p, p.name_lightadr, p.nlight, mjtObj.mjOBJ_LIGHT) + self.camera_names, self._camera_name2id, self._camera_id2name = self._extract_mj_names(p, p.name_camadr, p.ncam, mjtObj.mjOBJ_CAMERA) + self.actuator_names, self._actuator_name2id, self._actuator_id2name = self._extract_mj_names(p, p.name_actuatoradr, p.nu, mjtObj.mjOBJ_ACTUATOR) + self.sensor_names, self._sensor_name2id, self._sensor_id2name = self._extract_mj_names(p, p.name_sensoradr, p.nsensor, mjtObj.mjOBJ_SENSOR) + + self.ptr = p + + + self._opt = WrapMjOption(&p.opt) + self._vis = WrapMjVisual(&p.vis) + self._stat = WrapMjStatistic(&p.stat) + self._qpos0 = _wrap_mjtNum_1d(p.qpos0, p.nq) + self._qpos_spring = _wrap_mjtNum_1d(p.qpos_spring, p.nq) + self._body_parentid = _wrap_int_1d(p.body_parentid, p.nbody) + self._body_rootid = _wrap_int_1d(p.body_rootid, p.nbody) + self._body_weldid = _wrap_int_1d(p.body_weldid, p.nbody) + self._body_mocapid = _wrap_int_1d(p.body_mocapid, p.nbody) + self._body_jntnum = _wrap_int_1d(p.body_jntnum, p.nbody) + self._body_jntadr = _wrap_int_1d(p.body_jntadr, p.nbody) + self._body_dofnum = _wrap_int_1d(p.body_dofnum, p.nbody) + self._body_dofadr = _wrap_int_1d(p.body_dofadr, p.nbody) + self._body_geomnum = _wrap_int_1d(p.body_geomnum, p.nbody) + self._body_geomadr = _wrap_int_1d(p.body_geomadr, p.nbody) + self._body_pos = _wrap_mjtNum_2d(p.body_pos, p.nbody, 3) + self._body_quat = _wrap_mjtNum_2d(p.body_quat, p.nbody, 4) + self._body_ipos = _wrap_mjtNum_2d(p.body_ipos, p.nbody, 3) + self._body_iquat = _wrap_mjtNum_2d(p.body_iquat, p.nbody, 4) + self._body_mass = _wrap_mjtNum_1d(p.body_mass, p.nbody) + self._body_subtreemass = _wrap_mjtNum_1d(p.body_subtreemass, p.nbody) + self._body_inertia = _wrap_mjtNum_2d(p.body_inertia, p.nbody, 3) + self._body_invweight0 = _wrap_mjtNum_2d(p.body_invweight0, p.nbody, 2) + self._body_user = _wrap_mjtNum_2d(p.body_user, p.nbody, p.nuser_body) + self._jnt_type = _wrap_int_1d(p.jnt_type, p.njnt) + self._jnt_qposadr = _wrap_int_1d(p.jnt_qposadr, p.njnt) + self._jnt_dofadr = _wrap_int_1d(p.jnt_dofadr, p.njnt) + self._jnt_bodyid = _wrap_int_1d(p.jnt_bodyid, p.njnt) + self._jnt_limited = _wrap_mjtByte_1d(p.jnt_limited, p.njnt) + self._jnt_solref = _wrap_mjtNum_2d(p.jnt_solref, p.njnt, mjNREF) + self._jnt_solimp = _wrap_mjtNum_2d(p.jnt_solimp, p.njnt, mjNIMP) + self._jnt_pos = _wrap_mjtNum_2d(p.jnt_pos, p.njnt, 3) + self._jnt_axis = _wrap_mjtNum_2d(p.jnt_axis, p.njnt, 3) + self._jnt_stiffness = _wrap_mjtNum_1d(p.jnt_stiffness, p.njnt) + self._jnt_range = _wrap_mjtNum_2d(p.jnt_range, p.njnt, 2) + self._jnt_margin = _wrap_mjtNum_1d(p.jnt_margin, p.njnt) + self._jnt_user = _wrap_mjtNum_2d(p.jnt_user, p.njnt, p.nuser_jnt) + self._dof_bodyid = _wrap_int_1d(p.dof_bodyid, p.nv) + self._dof_jntid = _wrap_int_1d(p.dof_jntid, p.nv) + self._dof_parentid = _wrap_int_1d(p.dof_parentid, p.nv) + self._dof_Madr = _wrap_int_1d(p.dof_Madr, p.nv) + self._dof_solref = _wrap_mjtNum_2d(p.dof_solref, p.nv, mjNREF) + self._dof_solimp = _wrap_mjtNum_2d(p.dof_solimp, p.nv, mjNIMP) + self._dof_frictionloss = _wrap_mjtNum_1d(p.dof_frictionloss, p.nv) + self._dof_armature = _wrap_mjtNum_1d(p.dof_armature, p.nv) + self._dof_damping = _wrap_mjtNum_1d(p.dof_damping, p.nv) + self._dof_invweight0 = _wrap_mjtNum_1d(p.dof_invweight0, p.nv) + self._geom_type = _wrap_int_1d(p.geom_type, p.ngeom) + self._geom_contype = _wrap_int_1d(p.geom_contype, p.ngeom) + self._geom_conaffinity = _wrap_int_1d(p.geom_conaffinity, p.ngeom) + self._geom_condim = _wrap_int_1d(p.geom_condim, p.ngeom) + self._geom_bodyid = _wrap_int_1d(p.geom_bodyid, p.ngeom) + self._geom_dataid = _wrap_int_1d(p.geom_dataid, p.ngeom) + self._geom_matid = _wrap_int_1d(p.geom_matid, p.ngeom) + self._geom_group = _wrap_int_1d(p.geom_group, p.ngeom) + self._geom_solmix = _wrap_mjtNum_1d(p.geom_solmix, p.ngeom) + self._geom_solref = _wrap_mjtNum_2d(p.geom_solref, p.ngeom, mjNREF) + self._geom_solimp = _wrap_mjtNum_2d(p.geom_solimp, p.ngeom, mjNIMP) + self._geom_size = _wrap_mjtNum_2d(p.geom_size, p.ngeom, 3) + self._geom_rbound = _wrap_mjtNum_1d(p.geom_rbound, p.ngeom) + self._geom_pos = _wrap_mjtNum_2d(p.geom_pos, p.ngeom, 3) + self._geom_quat = _wrap_mjtNum_2d(p.geom_quat, p.ngeom, 4) + self._geom_friction = _wrap_mjtNum_2d(p.geom_friction, p.ngeom, 3) + self._geom_margin = _wrap_mjtNum_1d(p.geom_margin, p.ngeom) + self._geom_gap = _wrap_mjtNum_1d(p.geom_gap, p.ngeom) + self._geom_user = _wrap_mjtNum_2d(p.geom_user, p.ngeom, p.nuser_geom) + self._geom_rgba = _wrap_float_2d(p.geom_rgba, p.ngeom, 4) + self._site_type = _wrap_int_1d(p.site_type, p.nsite) + self._site_bodyid = _wrap_int_1d(p.site_bodyid, p.nsite) + self._site_matid = _wrap_int_1d(p.site_matid, p.nsite) + self._site_group = _wrap_int_1d(p.site_group, p.nsite) + self._site_size = _wrap_mjtNum_2d(p.site_size, p.nsite, 3) + self._site_pos = _wrap_mjtNum_2d(p.site_pos, p.nsite, 3) + self._site_quat = _wrap_mjtNum_2d(p.site_quat, p.nsite, 4) + self._site_user = _wrap_mjtNum_2d(p.site_user, p.nsite, p.nuser_site) + self._site_rgba = _wrap_float_2d(p.site_rgba, p.nsite, 4) + self._cam_mode = _wrap_int_1d(p.cam_mode, p.ncam) + self._cam_bodyid = _wrap_int_1d(p.cam_bodyid, p.ncam) + self._cam_targetbodyid = _wrap_int_1d(p.cam_targetbodyid, p.ncam) + self._cam_pos = _wrap_mjtNum_2d(p.cam_pos, p.ncam, 3) + self._cam_quat = _wrap_mjtNum_2d(p.cam_quat, p.ncam, 4) + self._cam_poscom0 = _wrap_mjtNum_2d(p.cam_poscom0, p.ncam, 3) + self._cam_pos0 = _wrap_mjtNum_2d(p.cam_pos0, p.ncam, 3) + self._cam_mat0 = _wrap_mjtNum_2d(p.cam_mat0, p.ncam, 9) + self._cam_fovy = _wrap_mjtNum_1d(p.cam_fovy, p.ncam) + self._cam_ipd = _wrap_mjtNum_1d(p.cam_ipd, p.ncam) + self._cam_user = _wrap_mjtNum_2d(p.cam_user, p.ncam, p.nuser_cam) + self._light_mode = _wrap_int_1d(p.light_mode, p.nlight) + self._light_bodyid = _wrap_int_1d(p.light_bodyid, p.nlight) + self._light_targetbodyid = _wrap_int_1d(p.light_targetbodyid, p.nlight) + self._light_directional = _wrap_mjtByte_1d(p.light_directional, p.nlight) + self._light_castshadow = _wrap_mjtByte_1d(p.light_castshadow, p.nlight) + self._light_active = _wrap_mjtByte_1d(p.light_active, p.nlight) + self._light_pos = _wrap_mjtNum_2d(p.light_pos, p.nlight, 3) + self._light_dir = _wrap_mjtNum_2d(p.light_dir, p.nlight, 3) + self._light_poscom0 = _wrap_mjtNum_2d(p.light_poscom0, p.nlight, 3) + self._light_pos0 = _wrap_mjtNum_2d(p.light_pos0, p.nlight, 3) + self._light_dir0 = _wrap_mjtNum_2d(p.light_dir0, p.nlight, 3) + self._light_attenuation = _wrap_float_2d(p.light_attenuation, p.nlight, 3) + self._light_cutoff = _wrap_float_1d(p.light_cutoff, p.nlight) + self._light_exponent = _wrap_float_1d(p.light_exponent, p.nlight) + self._light_ambient = _wrap_float_2d(p.light_ambient, p.nlight, 3) + self._light_diffuse = _wrap_float_2d(p.light_diffuse, p.nlight, 3) + self._light_specular = _wrap_float_2d(p.light_specular, p.nlight, 3) + self._mesh_faceadr = _wrap_int_1d(p.mesh_faceadr, p.nmesh) + self._mesh_facenum = _wrap_int_1d(p.mesh_facenum, p.nmesh) + self._mesh_vertadr = _wrap_int_1d(p.mesh_vertadr, p.nmesh) + self._mesh_vertnum = _wrap_int_1d(p.mesh_vertnum, p.nmesh) + self._mesh_graphadr = _wrap_int_1d(p.mesh_graphadr, p.nmesh) + self._mesh_vert = _wrap_float_2d(p.mesh_vert, p.nmeshvert, 3) + self._mesh_normal = _wrap_float_2d(p.mesh_normal, p.nmeshvert, 3) + self._mesh_face = _wrap_int_2d(p.mesh_face, p.nmeshface, 3) + self._mesh_graph = _wrap_int_1d(p.mesh_graph, p.nmeshgraph) + self._hfield_size = _wrap_mjtNum_2d(p.hfield_size, p.nhfield, 4) + self._hfield_nrow = _wrap_int_1d(p.hfield_nrow, p.nhfield) + self._hfield_ncol = _wrap_int_1d(p.hfield_ncol, p.nhfield) + self._hfield_adr = _wrap_int_1d(p.hfield_adr, p.nhfield) + self._hfield_data = _wrap_float_1d(p.hfield_data, p.nhfielddata) + self._tex_type = _wrap_int_1d(p.tex_type, p.ntex) + self._tex_height = _wrap_int_1d(p.tex_height, p.ntex) + self._tex_width = _wrap_int_1d(p.tex_width, p.ntex) + self._tex_adr = _wrap_int_1d(p.tex_adr, p.ntex) + self._tex_rgb = _wrap_mjtByte_1d(p.tex_rgb, p.ntexdata) + self._mat_texid = _wrap_int_1d(p.mat_texid, p.nmat) + self._mat_texuniform = _wrap_mjtByte_1d(p.mat_texuniform, p.nmat) + self._mat_texrepeat = _wrap_float_2d(p.mat_texrepeat, p.nmat, 2) + self._mat_emission = _wrap_float_1d(p.mat_emission, p.nmat) + self._mat_specular = _wrap_float_1d(p.mat_specular, p.nmat) + self._mat_shininess = _wrap_float_1d(p.mat_shininess, p.nmat) + self._mat_reflectance = _wrap_float_1d(p.mat_reflectance, p.nmat) + self._mat_rgba = _wrap_float_2d(p.mat_rgba, p.nmat, 4) + self._pair_dim = _wrap_int_1d(p.pair_dim, p.npair) + self._pair_geom1 = _wrap_int_1d(p.pair_geom1, p.npair) + self._pair_geom2 = _wrap_int_1d(p.pair_geom2, p.npair) + self._pair_signature = _wrap_int_1d(p.pair_signature, p.npair) + self._pair_solref = _wrap_mjtNum_2d(p.pair_solref, p.npair, mjNREF) + self._pair_solimp = _wrap_mjtNum_2d(p.pair_solimp, p.npair, mjNIMP) + self._pair_margin = _wrap_mjtNum_1d(p.pair_margin, p.npair) + self._pair_gap = _wrap_mjtNum_1d(p.pair_gap, p.npair) + self._pair_friction = _wrap_mjtNum_2d(p.pair_friction, p.npair, 5) + self._exclude_signature = _wrap_int_1d(p.exclude_signature, p.nexclude) + self._eq_type = _wrap_int_1d(p.eq_type, p.neq) + self._eq_obj1id = _wrap_int_1d(p.eq_obj1id, p.neq) + self._eq_obj2id = _wrap_int_1d(p.eq_obj2id, p.neq) + self._eq_active = _wrap_mjtByte_1d(p.eq_active, p.neq) + self._eq_solref = _wrap_mjtNum_2d(p.eq_solref, p.neq, mjNREF) + self._eq_solimp = _wrap_mjtNum_2d(p.eq_solimp, p.neq, mjNIMP) + self._eq_data = _wrap_mjtNum_2d(p.eq_data, p.neq, mjNEQDATA) + self._tendon_adr = _wrap_int_1d(p.tendon_adr, p.ntendon) + self._tendon_num = _wrap_int_1d(p.tendon_num, p.ntendon) + self._tendon_matid = _wrap_int_1d(p.tendon_matid, p.ntendon) + self._tendon_limited = _wrap_mjtByte_1d(p.tendon_limited, p.ntendon) + self._tendon_width = _wrap_mjtNum_1d(p.tendon_width, p.ntendon) + self._tendon_solref_lim = _wrap_mjtNum_2d(p.tendon_solref_lim, p.ntendon, mjNREF) + self._tendon_solimp_lim = _wrap_mjtNum_2d(p.tendon_solimp_lim, p.ntendon, mjNIMP) + self._tendon_solref_fri = _wrap_mjtNum_2d(p.tendon_solref_fri, p.ntendon, mjNREF) + self._tendon_solimp_fri = _wrap_mjtNum_2d(p.tendon_solimp_fri, p.ntendon, mjNIMP) + self._tendon_range = _wrap_mjtNum_2d(p.tendon_range, p.ntendon, 2) + self._tendon_margin = _wrap_mjtNum_1d(p.tendon_margin, p.ntendon) + self._tendon_stiffness = _wrap_mjtNum_1d(p.tendon_stiffness, p.ntendon) + self._tendon_damping = _wrap_mjtNum_1d(p.tendon_damping, p.ntendon) + self._tendon_frictionloss = _wrap_mjtNum_1d(p.tendon_frictionloss, p.ntendon) + self._tendon_lengthspring = _wrap_mjtNum_1d(p.tendon_lengthspring, p.ntendon) + self._tendon_length0 = _wrap_mjtNum_1d(p.tendon_length0, p.ntendon) + self._tendon_invweight0 = _wrap_mjtNum_1d(p.tendon_invweight0, p.ntendon) + self._tendon_user = _wrap_mjtNum_2d(p.tendon_user, p.ntendon, p.nuser_tendon) + self._tendon_rgba = _wrap_float_2d(p.tendon_rgba, p.ntendon, 4) + self._wrap_type = _wrap_int_1d(p.wrap_type, p.nwrap) + self._wrap_objid = _wrap_int_1d(p.wrap_objid, p.nwrap) + self._wrap_prm = _wrap_mjtNum_1d(p.wrap_prm, p.nwrap) + self._actuator_trntype = _wrap_int_1d(p.actuator_trntype, p.nu) + self._actuator_dyntype = _wrap_int_1d(p.actuator_dyntype, p.nu) + self._actuator_gaintype = _wrap_int_1d(p.actuator_gaintype, p.nu) + self._actuator_biastype = _wrap_int_1d(p.actuator_biastype, p.nu) + self._actuator_trnid = _wrap_int_2d(p.actuator_trnid, p.nu, 2) + self._actuator_ctrllimited = _wrap_mjtByte_1d(p.actuator_ctrllimited, p.nu) + self._actuator_forcelimited = _wrap_mjtByte_1d(p.actuator_forcelimited, p.nu) + self._actuator_dynprm = _wrap_mjtNum_2d(p.actuator_dynprm, p.nu, mjNDYN) + self._actuator_gainprm = _wrap_mjtNum_2d(p.actuator_gainprm, p.nu, mjNGAIN) + self._actuator_biasprm = _wrap_mjtNum_2d(p.actuator_biasprm, p.nu, mjNBIAS) + self._actuator_ctrlrange = _wrap_mjtNum_2d(p.actuator_ctrlrange, p.nu, 2) + self._actuator_forcerange = _wrap_mjtNum_2d(p.actuator_forcerange, p.nu, 2) + self._actuator_gear = _wrap_mjtNum_2d(p.actuator_gear, p.nu, 6) + self._actuator_cranklength = _wrap_mjtNum_1d(p.actuator_cranklength, p.nu) + self._actuator_invweight0 = _wrap_mjtNum_1d(p.actuator_invweight0, p.nu) + self._actuator_length0 = _wrap_mjtNum_1d(p.actuator_length0, p.nu) + self._actuator_lengthrange = _wrap_mjtNum_2d(p.actuator_lengthrange, p.nu, 2) + self._actuator_user = _wrap_mjtNum_2d(p.actuator_user, p.nu, p.nuser_actuator) + self._sensor_type = _wrap_int_1d(p.sensor_type, p.nsensor) + self._sensor_datatype = _wrap_int_1d(p.sensor_datatype, p.nsensor) + self._sensor_needstage = _wrap_int_1d(p.sensor_needstage, p.nsensor) + self._sensor_objtype = _wrap_int_1d(p.sensor_objtype, p.nsensor) + self._sensor_objid = _wrap_int_1d(p.sensor_objid, p.nsensor) + self._sensor_dim = _wrap_int_1d(p.sensor_dim, p.nsensor) + self._sensor_adr = _wrap_int_1d(p.sensor_adr, p.nsensor) + self._sensor_cutoff = _wrap_mjtNum_1d(p.sensor_cutoff, p.nsensor) + self._sensor_noise = _wrap_mjtNum_1d(p.sensor_noise, p.nsensor) + self._sensor_user = _wrap_mjtNum_2d(p.sensor_user, p.nsensor, p.nuser_sensor) + self._numeric_adr = _wrap_int_1d(p.numeric_adr, p.nnumeric) + self._numeric_size = _wrap_int_1d(p.numeric_size, p.nnumeric) + self._numeric_data = _wrap_mjtNum_1d(p.numeric_data, p.nnumericdata) + self._text_adr = _wrap_int_1d(p.text_adr, p.ntext) + self._text_size = _wrap_int_1d(p.text_size, p.ntext) + self._text_data = _wrap_char_1d(p.text_data, p.ntextdata) + self._tuple_adr = _wrap_int_1d(p.tuple_adr, p.ntuple) + self._tuple_size = _wrap_int_1d(p.tuple_size, p.ntuple) + self._tuple_objtype = _wrap_int_1d(p.tuple_objtype, p.ntupledata) + self._tuple_objid = _wrap_int_1d(p.tuple_objid, p.ntupledata) + self._tuple_objprm = _wrap_mjtNum_1d(p.tuple_objprm, p.ntupledata) + self._key_time = _wrap_mjtNum_1d(p.key_time, p.nkey) + self._key_qpos = _wrap_mjtNum_2d(p.key_qpos, p.nkey, p.nq) + self._key_qvel = _wrap_mjtNum_2d(p.key_qvel, p.nkey, p.nv) + self._key_act = _wrap_mjtNum_2d(p.key_act, p.nkey, p.na) + self._name_bodyadr = _wrap_int_1d(p.name_bodyadr, p.nbody) + self._name_jntadr = _wrap_int_1d(p.name_jntadr, p.njnt) + self._name_geomadr = _wrap_int_1d(p.name_geomadr, p.ngeom) + self._name_siteadr = _wrap_int_1d(p.name_siteadr, p.nsite) + self._name_camadr = _wrap_int_1d(p.name_camadr, p.ncam) + self._name_lightadr = _wrap_int_1d(p.name_lightadr, p.nlight) + self._name_meshadr = _wrap_int_1d(p.name_meshadr, p.nmesh) + self._name_hfieldadr = _wrap_int_1d(p.name_hfieldadr, p.nhfield) + self._name_texadr = _wrap_int_1d(p.name_texadr, p.ntex) + self._name_matadr = _wrap_int_1d(p.name_matadr, p.nmat) + self._name_eqadr = _wrap_int_1d(p.name_eqadr, p.neq) + self._name_tendonadr = _wrap_int_1d(p.name_tendonadr, p.ntendon) + self._name_actuatoradr = _wrap_int_1d(p.name_actuatoradr, p.nu) + self._name_sensoradr = _wrap_int_1d(p.name_sensoradr, p.nsensor) + self._name_numericadr = _wrap_int_1d(p.name_numericadr, p.nnumeric) + self._name_textadr = _wrap_int_1d(p.name_textadr, p.ntext) + self._name_tupleadr = _wrap_int_1d(p.name_tupleadr, p.ntuple) + self._names = _wrap_char_1d(p.names, p.nnames) + + @property + def nq(self): return self.ptr.nq + @nq.setter + def nq(self, int x): self.ptr.nq = x + @property + def nv(self): return self.ptr.nv + @nv.setter + def nv(self, int x): self.ptr.nv = x + @property + def nu(self): return self.ptr.nu + @nu.setter + def nu(self, int x): self.ptr.nu = x + @property + def na(self): return self.ptr.na + @na.setter + def na(self, int x): self.ptr.na = x + @property + def nbody(self): return self.ptr.nbody + @nbody.setter + def nbody(self, int x): self.ptr.nbody = x + @property + def njnt(self): return self.ptr.njnt + @njnt.setter + def njnt(self, int x): self.ptr.njnt = x + @property + def ngeom(self): return self.ptr.ngeom + @ngeom.setter + def ngeom(self, int x): self.ptr.ngeom = x + @property + def nsite(self): return self.ptr.nsite + @nsite.setter + def nsite(self, int x): self.ptr.nsite = x + @property + def ncam(self): return self.ptr.ncam + @ncam.setter + def ncam(self, int x): self.ptr.ncam = x + @property + def nlight(self): return self.ptr.nlight + @nlight.setter + def nlight(self, int x): self.ptr.nlight = x + @property + def nmesh(self): return self.ptr.nmesh + @nmesh.setter + def nmesh(self, int x): self.ptr.nmesh = x + @property + def nmeshvert(self): return self.ptr.nmeshvert + @nmeshvert.setter + def nmeshvert(self, int x): self.ptr.nmeshvert = x + @property + def nmeshface(self): return self.ptr.nmeshface + @nmeshface.setter + def nmeshface(self, int x): self.ptr.nmeshface = x + @property + def nmeshgraph(self): return self.ptr.nmeshgraph + @nmeshgraph.setter + def nmeshgraph(self, int x): self.ptr.nmeshgraph = x + @property + def nhfield(self): return self.ptr.nhfield + @nhfield.setter + def nhfield(self, int x): self.ptr.nhfield = x + @property + def nhfielddata(self): return self.ptr.nhfielddata + @nhfielddata.setter + def nhfielddata(self, int x): self.ptr.nhfielddata = x + @property + def ntex(self): return self.ptr.ntex + @ntex.setter + def ntex(self, int x): self.ptr.ntex = x + @property + def ntexdata(self): return self.ptr.ntexdata + @ntexdata.setter + def ntexdata(self, int x): self.ptr.ntexdata = x + @property + def nmat(self): return self.ptr.nmat + @nmat.setter + def nmat(self, int x): self.ptr.nmat = x + @property + def npair(self): return self.ptr.npair + @npair.setter + def npair(self, int x): self.ptr.npair = x + @property + def nexclude(self): return self.ptr.nexclude + @nexclude.setter + def nexclude(self, int x): self.ptr.nexclude = x + @property + def neq(self): return self.ptr.neq + @neq.setter + def neq(self, int x): self.ptr.neq = x + @property + def ntendon(self): return self.ptr.ntendon + @ntendon.setter + def ntendon(self, int x): self.ptr.ntendon = x + @property + def nwrap(self): return self.ptr.nwrap + @nwrap.setter + def nwrap(self, int x): self.ptr.nwrap = x + @property + def nsensor(self): return self.ptr.nsensor + @nsensor.setter + def nsensor(self, int x): self.ptr.nsensor = x + @property + def nnumeric(self): return self.ptr.nnumeric + @nnumeric.setter + def nnumeric(self, int x): self.ptr.nnumeric = x + @property + def nnumericdata(self): return self.ptr.nnumericdata + @nnumericdata.setter + def nnumericdata(self, int x): self.ptr.nnumericdata = x + @property + def ntext(self): return self.ptr.ntext + @ntext.setter + def ntext(self, int x): self.ptr.ntext = x + @property + def ntextdata(self): return self.ptr.ntextdata + @ntextdata.setter + def ntextdata(self, int x): self.ptr.ntextdata = x + @property + def ntuple(self): return self.ptr.ntuple + @ntuple.setter + def ntuple(self, int x): self.ptr.ntuple = x + @property + def ntupledata(self): return self.ptr.ntupledata + @ntupledata.setter + def ntupledata(self, int x): self.ptr.ntupledata = x + @property + def nkey(self): return self.ptr.nkey + @nkey.setter + def nkey(self, int x): self.ptr.nkey = x + @property + def nuser_body(self): return self.ptr.nuser_body + @nuser_body.setter + def nuser_body(self, int x): self.ptr.nuser_body = x + @property + def nuser_jnt(self): return self.ptr.nuser_jnt + @nuser_jnt.setter + def nuser_jnt(self, int x): self.ptr.nuser_jnt = x + @property + def nuser_geom(self): return self.ptr.nuser_geom + @nuser_geom.setter + def nuser_geom(self, int x): self.ptr.nuser_geom = x + @property + def nuser_site(self): return self.ptr.nuser_site + @nuser_site.setter + def nuser_site(self, int x): self.ptr.nuser_site = x + @property + def nuser_cam(self): return self.ptr.nuser_cam + @nuser_cam.setter + def nuser_cam(self, int x): self.ptr.nuser_cam = x + @property + def nuser_tendon(self): return self.ptr.nuser_tendon + @nuser_tendon.setter + def nuser_tendon(self, int x): self.ptr.nuser_tendon = x + @property + def nuser_actuator(self): return self.ptr.nuser_actuator + @nuser_actuator.setter + def nuser_actuator(self, int x): self.ptr.nuser_actuator = x + @property + def nuser_sensor(self): return self.ptr.nuser_sensor + @nuser_sensor.setter + def nuser_sensor(self, int x): self.ptr.nuser_sensor = x + @property + def nnames(self): return self.ptr.nnames + @nnames.setter + def nnames(self, int x): self.ptr.nnames = x + @property + def nM(self): return self.ptr.nM + @nM.setter + def nM(self, int x): self.ptr.nM = x + @property + def nemax(self): return self.ptr.nemax + @nemax.setter + def nemax(self, int x): self.ptr.nemax = x + @property + def njmax(self): return self.ptr.njmax + @njmax.setter + def njmax(self, int x): self.ptr.njmax = x + @property + def nconmax(self): return self.ptr.nconmax + @nconmax.setter + def nconmax(self, int x): self.ptr.nconmax = x + @property + def nstack(self): return self.ptr.nstack + @nstack.setter + def nstack(self, int x): self.ptr.nstack = x + @property + def nuserdata(self): return self.ptr.nuserdata + @nuserdata.setter + def nuserdata(self, int x): self.ptr.nuserdata = x + @property + def nmocap(self): return self.ptr.nmocap + @nmocap.setter + def nmocap(self, int x): self.ptr.nmocap = x + @property + def nsensordata(self): return self.ptr.nsensordata + @nsensordata.setter + def nsensordata(self, int x): self.ptr.nsensordata = x + @property + def nbuffer(self): return self.ptr.nbuffer + @nbuffer.setter + def nbuffer(self, int x): self.ptr.nbuffer = x + @property + def opt(self): return self._opt + @property + def vis(self): return self._vis + @property + def stat(self): return self._stat + @property + def qpos0(self): return self._qpos0 + @property + def qpos_spring(self): return self._qpos_spring + @property + def body_parentid(self): return self._body_parentid + @property + def body_rootid(self): return self._body_rootid + @property + def body_weldid(self): return self._body_weldid + @property + def body_mocapid(self): return self._body_mocapid + @property + def body_jntnum(self): return self._body_jntnum + @property + def body_jntadr(self): return self._body_jntadr + @property + def body_dofnum(self): return self._body_dofnum + @property + def body_dofadr(self): return self._body_dofadr + @property + def body_geomnum(self): return self._body_geomnum + @property + def body_geomadr(self): return self._body_geomadr + @property + def body_pos(self): return self._body_pos + @property + def body_quat(self): return self._body_quat + @property + def body_ipos(self): return self._body_ipos + @property + def body_iquat(self): return self._body_iquat + @property + def body_mass(self): return self._body_mass + @property + def body_subtreemass(self): return self._body_subtreemass + @property + def body_inertia(self): return self._body_inertia + @property + def body_invweight0(self): return self._body_invweight0 + @property + def body_user(self): return self._body_user + @property + def jnt_type(self): return self._jnt_type + @property + def jnt_qposadr(self): return self._jnt_qposadr + @property + def jnt_dofadr(self): return self._jnt_dofadr + @property + def jnt_bodyid(self): return self._jnt_bodyid + @property + def jnt_limited(self): return self._jnt_limited + @property + def jnt_solref(self): return self._jnt_solref + @property + def jnt_solimp(self): return self._jnt_solimp + @property + def jnt_pos(self): return self._jnt_pos + @property + def jnt_axis(self): return self._jnt_axis + @property + def jnt_stiffness(self): return self._jnt_stiffness + @property + def jnt_range(self): return self._jnt_range + @property + def jnt_margin(self): return self._jnt_margin + @property + def jnt_user(self): return self._jnt_user + @property + def dof_bodyid(self): return self._dof_bodyid + @property + def dof_jntid(self): return self._dof_jntid + @property + def dof_parentid(self): return self._dof_parentid + @property + def dof_Madr(self): return self._dof_Madr + @property + def dof_solref(self): return self._dof_solref + @property + def dof_solimp(self): return self._dof_solimp + @property + def dof_frictionloss(self): return self._dof_frictionloss + @property + def dof_armature(self): return self._dof_armature + @property + def dof_damping(self): return self._dof_damping + @property + def dof_invweight0(self): return self._dof_invweight0 + @property + def geom_type(self): return self._geom_type + @property + def geom_contype(self): return self._geom_contype + @property + def geom_conaffinity(self): return self._geom_conaffinity + @property + def geom_condim(self): return self._geom_condim + @property + def geom_bodyid(self): return self._geom_bodyid + @property + def geom_dataid(self): return self._geom_dataid + @property + def geom_matid(self): return self._geom_matid + @property + def geom_group(self): return self._geom_group + @property + def geom_solmix(self): return self._geom_solmix + @property + def geom_solref(self): return self._geom_solref + @property + def geom_solimp(self): return self._geom_solimp + @property + def geom_size(self): return self._geom_size + @property + def geom_rbound(self): return self._geom_rbound + @property + def geom_pos(self): return self._geom_pos + @property + def geom_quat(self): return self._geom_quat + @property + def geom_friction(self): return self._geom_friction + @property + def geom_margin(self): return self._geom_margin + @property + def geom_gap(self): return self._geom_gap + @property + def geom_user(self): return self._geom_user + @property + def geom_rgba(self): return self._geom_rgba + @property + def site_type(self): return self._site_type + @property + def site_bodyid(self): return self._site_bodyid + @property + def site_matid(self): return self._site_matid + @property + def site_group(self): return self._site_group + @property + def site_size(self): return self._site_size + @property + def site_pos(self): return self._site_pos + @property + def site_quat(self): return self._site_quat + @property + def site_user(self): return self._site_user + @property + def site_rgba(self): return self._site_rgba + @property + def cam_mode(self): return self._cam_mode + @property + def cam_bodyid(self): return self._cam_bodyid + @property + def cam_targetbodyid(self): return self._cam_targetbodyid + @property + def cam_pos(self): return self._cam_pos + @property + def cam_quat(self): return self._cam_quat + @property + def cam_poscom0(self): return self._cam_poscom0 + @property + def cam_pos0(self): return self._cam_pos0 + @property + def cam_mat0(self): return self._cam_mat0 + @property + def cam_fovy(self): return self._cam_fovy + @property + def cam_ipd(self): return self._cam_ipd + @property + def cam_user(self): return self._cam_user + @property + def light_mode(self): return self._light_mode + @property + def light_bodyid(self): return self._light_bodyid + @property + def light_targetbodyid(self): return self._light_targetbodyid + @property + def light_directional(self): return self._light_directional + @property + def light_castshadow(self): return self._light_castshadow + @property + def light_active(self): return self._light_active + @property + def light_pos(self): return self._light_pos + @property + def light_dir(self): return self._light_dir + @property + def light_poscom0(self): return self._light_poscom0 + @property + def light_pos0(self): return self._light_pos0 + @property + def light_dir0(self): return self._light_dir0 + @property + def light_attenuation(self): return self._light_attenuation + @property + def light_cutoff(self): return self._light_cutoff + @property + def light_exponent(self): return self._light_exponent + @property + def light_ambient(self): return self._light_ambient + @property + def light_diffuse(self): return self._light_diffuse + @property + def light_specular(self): return self._light_specular + @property + def mesh_faceadr(self): return self._mesh_faceadr + @property + def mesh_facenum(self): return self._mesh_facenum + @property + def mesh_vertadr(self): return self._mesh_vertadr + @property + def mesh_vertnum(self): return self._mesh_vertnum + @property + def mesh_graphadr(self): return self._mesh_graphadr + @property + def mesh_vert(self): return self._mesh_vert + @property + def mesh_normal(self): return self._mesh_normal + @property + def mesh_face(self): return self._mesh_face + @property + def mesh_graph(self): return self._mesh_graph + @property + def hfield_size(self): return self._hfield_size + @property + def hfield_nrow(self): return self._hfield_nrow + @property + def hfield_ncol(self): return self._hfield_ncol + @property + def hfield_adr(self): return self._hfield_adr + @property + def hfield_data(self): return self._hfield_data + @property + def tex_type(self): return self._tex_type + @property + def tex_height(self): return self._tex_height + @property + def tex_width(self): return self._tex_width + @property + def tex_adr(self): return self._tex_adr + @property + def tex_rgb(self): return self._tex_rgb + @property + def mat_texid(self): return self._mat_texid + @property + def mat_texuniform(self): return self._mat_texuniform + @property + def mat_texrepeat(self): return self._mat_texrepeat + @property + def mat_emission(self): return self._mat_emission + @property + def mat_specular(self): return self._mat_specular + @property + def mat_shininess(self): return self._mat_shininess + @property + def mat_reflectance(self): return self._mat_reflectance + @property + def mat_rgba(self): return self._mat_rgba + @property + def pair_dim(self): return self._pair_dim + @property + def pair_geom1(self): return self._pair_geom1 + @property + def pair_geom2(self): return self._pair_geom2 + @property + def pair_signature(self): return self._pair_signature + @property + def pair_solref(self): return self._pair_solref + @property + def pair_solimp(self): return self._pair_solimp + @property + def pair_margin(self): return self._pair_margin + @property + def pair_gap(self): return self._pair_gap + @property + def pair_friction(self): return self._pair_friction + @property + def exclude_signature(self): return self._exclude_signature + @property + def eq_type(self): return self._eq_type + @property + def eq_obj1id(self): return self._eq_obj1id + @property + def eq_obj2id(self): return self._eq_obj2id + @property + def eq_active(self): return self._eq_active + @property + def eq_solref(self): return self._eq_solref + @property + def eq_solimp(self): return self._eq_solimp + @property + def eq_data(self): return self._eq_data + @property + def tendon_adr(self): return self._tendon_adr + @property + def tendon_num(self): return self._tendon_num + @property + def tendon_matid(self): return self._tendon_matid + @property + def tendon_limited(self): return self._tendon_limited + @property + def tendon_width(self): return self._tendon_width + @property + def tendon_solref_lim(self): return self._tendon_solref_lim + @property + def tendon_solimp_lim(self): return self._tendon_solimp_lim + @property + def tendon_solref_fri(self): return self._tendon_solref_fri + @property + def tendon_solimp_fri(self): return self._tendon_solimp_fri + @property + def tendon_range(self): return self._tendon_range + @property + def tendon_margin(self): return self._tendon_margin + @property + def tendon_stiffness(self): return self._tendon_stiffness + @property + def tendon_damping(self): return self._tendon_damping + @property + def tendon_frictionloss(self): return self._tendon_frictionloss + @property + def tendon_lengthspring(self): return self._tendon_lengthspring + @property + def tendon_length0(self): return self._tendon_length0 + @property + def tendon_invweight0(self): return self._tendon_invweight0 + @property + def tendon_user(self): return self._tendon_user + @property + def tendon_rgba(self): return self._tendon_rgba + @property + def wrap_type(self): return self._wrap_type + @property + def wrap_objid(self): return self._wrap_objid + @property + def wrap_prm(self): return self._wrap_prm + @property + def actuator_trntype(self): return self._actuator_trntype + @property + def actuator_dyntype(self): return self._actuator_dyntype + @property + def actuator_gaintype(self): return self._actuator_gaintype + @property + def actuator_biastype(self): return self._actuator_biastype + @property + def actuator_trnid(self): return self._actuator_trnid + @property + def actuator_ctrllimited(self): return self._actuator_ctrllimited + @property + def actuator_forcelimited(self): return self._actuator_forcelimited + @property + def actuator_dynprm(self): return self._actuator_dynprm + @property + def actuator_gainprm(self): return self._actuator_gainprm + @property + def actuator_biasprm(self): return self._actuator_biasprm + @property + def actuator_ctrlrange(self): return self._actuator_ctrlrange + @property + def actuator_forcerange(self): return self._actuator_forcerange + @property + def actuator_gear(self): return self._actuator_gear + @property + def actuator_cranklength(self): return self._actuator_cranklength + @property + def actuator_invweight0(self): return self._actuator_invweight0 + @property + def actuator_length0(self): return self._actuator_length0 + @property + def actuator_lengthrange(self): return self._actuator_lengthrange + @property + def actuator_user(self): return self._actuator_user + @property + def sensor_type(self): return self._sensor_type + @property + def sensor_datatype(self): return self._sensor_datatype + @property + def sensor_needstage(self): return self._sensor_needstage + @property + def sensor_objtype(self): return self._sensor_objtype + @property + def sensor_objid(self): return self._sensor_objid + @property + def sensor_dim(self): return self._sensor_dim + @property + def sensor_adr(self): return self._sensor_adr + @property + def sensor_cutoff(self): return self._sensor_cutoff + @property + def sensor_noise(self): return self._sensor_noise + @property + def sensor_user(self): return self._sensor_user + @property + def numeric_adr(self): return self._numeric_adr + @property + def numeric_size(self): return self._numeric_size + @property + def numeric_data(self): return self._numeric_data + @property + def text_adr(self): return self._text_adr + @property + def text_size(self): return self._text_size + @property + def text_data(self): return self._text_data + @property + def tuple_adr(self): return self._tuple_adr + @property + def tuple_size(self): return self._tuple_size + @property + def tuple_objtype(self): return self._tuple_objtype + @property + def tuple_objid(self): return self._tuple_objid + @property + def tuple_objprm(self): return self._tuple_objprm + @property + def key_time(self): return self._key_time + @property + def key_qpos(self): return self._key_qpos + @property + def key_qvel(self): return self._key_qvel + @property + def key_act(self): return self._key_act + @property + def name_bodyadr(self): return self._name_bodyadr + @property + def name_jntadr(self): return self._name_jntadr + @property + def name_geomadr(self): return self._name_geomadr + @property + def name_siteadr(self): return self._name_siteadr + @property + def name_camadr(self): return self._name_camadr + @property + def name_lightadr(self): return self._name_lightadr + @property + def name_meshadr(self): return self._name_meshadr + @property + def name_hfieldadr(self): return self._name_hfieldadr + @property + def name_texadr(self): return self._name_texadr + @property + def name_matadr(self): return self._name_matadr + @property + def name_eqadr(self): return self._name_eqadr + @property + def name_tendonadr(self): return self._name_tendonadr + @property + def name_actuatoradr(self): return self._name_actuatoradr + @property + def name_sensoradr(self): return self._name_sensoradr + @property + def name_numericadr(self): return self._name_numericadr + @property + def name_textadr(self): return self._name_textadr + @property + def name_tupleadr(self): return self._name_tupleadr + @property + def names(self): return self._names + +cdef PyMjModel WrapMjModel(mjModel* p): + cdef PyMjModel o = PyMjModel() + o._set(p) + return o + +cdef inline np.ndarray _wrap_char_1d(char* a, int shape0): + if shape0 == 0: return None + cdef char[:] b = a + return np.asarray(b) + +cdef inline np.ndarray _wrap_float_1d(float* a, int shape0): + if shape0 == 0: return None + cdef float[:] b = a + return np.asarray(b) + +cdef inline np.ndarray _wrap_int_1d(int* a, int shape0): + if shape0 == 0: return None + cdef int[:] b = a + return np.asarray(b) + +cdef inline np.ndarray _wrap_mjtByte_1d(mjtByte* a, int shape0): + if shape0 == 0: return None + cdef mjtByte[:] b = a + return np.asarray(b) + +cdef inline np.ndarray _wrap_mjtNum_1d(mjtNum* a, int shape0): + if shape0 == 0: return None + cdef mjtNum[:] b = a + return np.asarray(b) + +cdef inline np.ndarray _wrap_unsigned_int_1d(unsigned int* a, int shape0): + if shape0 == 0: return None + cdef unsigned int[:] b = a + return np.asarray(b) + +cdef inline np.ndarray _wrap_char_2d(char* a, int shape0, int shape1): + if shape0 * shape1 == 0: return None + cdef char[:,:] b = a + return np.asarray(b) + +cdef inline np.ndarray _wrap_float_2d(float* a, int shape0, int shape1): + if shape0 * shape1 == 0: return None + cdef float[:,:] b = a + return np.asarray(b) + +cdef inline np.ndarray _wrap_int_2d(int* a, int shape0, int shape1): + if shape0 * shape1 == 0: return None + cdef int[:,:] b = a + return np.asarray(b) + +cdef inline np.ndarray _wrap_mjtByte_2d(mjtByte* a, int shape0, int shape1): + if shape0 * shape1 == 0: return None + cdef mjtByte[:,:] b = a + return np.asarray(b) + +cdef inline np.ndarray _wrap_mjtNum_2d(mjtNum* a, int shape0, int shape1): + if shape0 * shape1 == 0: return None + cdef mjtNum[:,:] b = a + return np.asarray(b) + +def _mj_activate(str filename): + return mj_activate(filename.encode()) + +def _mj_deactivate(): + mj_deactivate() + +def _mj_certQuestion(np.ndarray[np.float64_t, mode="c", ndim=1] question): + mj_certQuestion(&question[0]) + +def _mj_certAnswer(np.ndarray[np.float64_t, mode="c", ndim=1] question, np.ndarray[np.float64_t, mode="c", ndim=1] answer): + mj_certAnswer(&question[0], &answer[0]) + +def _mj_certCheck(np.ndarray[np.float64_t, mode="c", ndim=1] question, np.ndarray[np.float64_t, mode="c", ndim=1] answer): + return mj_certCheck(&question[0], &answer[0]) + +def _mj_defaultVFS(PyMjVFS vfs): + mj_defaultVFS(vfs.ptr) + +def _mj_addFileVFS(PyMjVFS vfs, str directory, str filename): + return mj_addFileVFS(vfs.ptr, directory.encode(), filename.encode()) + +def _mj_makeEmptyFileVFS(PyMjVFS vfs, str filename, int filesize): + return mj_makeEmptyFileVFS(vfs.ptr, filename.encode(), filesize) + +def _mj_findFileVFS(PyMjVFS vfs, str filename): + return mj_findFileVFS(vfs.ptr, filename.encode()) + +def _mj_deleteFileVFS(PyMjVFS vfs, str filename): + return mj_deleteFileVFS(vfs.ptr, filename.encode()) + +def _mj_deleteVFS(PyMjVFS vfs): + mj_deleteVFS(vfs.ptr) + +def _mj_loadXML(str filename, PyMjVFS vfs, str error, int error_sz): + return WrapMjModel(mj_loadXML(filename.encode(), vfs.ptr, error.encode(), error_sz)) + +def _mj_saveLastXML(str filename, PyMjModel m, str error, int error_sz): + return mj_saveLastXML(filename.encode(), m.ptr, error.encode(), error_sz) + +def _mj_freeLastXML(): + mj_freeLastXML() + +def _mj_printSchema(str filename, str buffer, int buffer_sz, int flg_html, int flg_pad): + return mj_printSchema(filename.encode(), buffer.encode(), buffer_sz, flg_html, flg_pad) + +def _mj_step(PyMjModel m, PyMjData d): + mj_step(m.ptr, d.ptr) + +def _mj_step1(PyMjModel m, PyMjData d): + mj_step1(m.ptr, d.ptr) + +def _mj_step2(PyMjModel m, PyMjData d): + mj_step2(m.ptr, d.ptr) + +def _mj_forward(PyMjModel m, PyMjData d): + mj_forward(m.ptr, d.ptr) + +def _mj_inverse(PyMjModel m, PyMjData d): + mj_inverse(m.ptr, d.ptr) + +def _mj_forwardSkip(PyMjModel m, PyMjData d, int skipstage, int skipsensorenergy): + mj_forwardSkip(m.ptr, d.ptr, skipstage, skipsensorenergy) + +def _mj_inverseSkip(PyMjModel m, PyMjData d, int skipstage, int skipsensorenergy): + mj_inverseSkip(m.ptr, d.ptr, skipstage, skipsensorenergy) + +def _mj_defaultSolRefImp(np.ndarray[np.float64_t, mode="c", ndim=1] solref, np.ndarray[np.float64_t, mode="c", ndim=1] solimp): + mj_defaultSolRefImp(&solref[0], &solimp[0]) + +def _mj_defaultOption(PyMjOption opt): + mj_defaultOption(opt.ptr) + +def _mj_defaultVisual(PyMjVisual vis): + mj_defaultVisual(vis.ptr) + +def _mj_copyModel(PyMjModel dest, PyMjModel src): + return WrapMjModel(mj_copyModel(dest.ptr, src.ptr)) + +def _mj_loadModel(str filename, PyMjVFS vfs): + return WrapMjModel(mj_loadModel(filename.encode(), vfs.ptr)) + +def _mj_deleteModel(PyMjModel m): + mj_deleteModel(m.ptr) + +def _mj_sizeModel(PyMjModel m): + return mj_sizeModel(m.ptr) + +def _mj_resetData(PyMjModel m, PyMjData d): + mj_resetData(m.ptr, d.ptr) + +def _mj_resetDataKeyframe(PyMjModel m, PyMjData d, int key): + mj_resetDataKeyframe(m.ptr, d.ptr, key) + +def _mj_deleteData(PyMjData d): + mj_deleteData(d.ptr) + +def _mj_resetCallbacks(): + mj_resetCallbacks() + +def _mj_setConst(PyMjModel m, PyMjData d, int flg_actrange): + mj_setConst(m.ptr, d.ptr, flg_actrange) + +def _mj_printModel(PyMjModel m, str filename): + mj_printModel(m.ptr, filename.encode()) + +def _mj_printData(PyMjModel m, PyMjData d, str filename): + mj_printData(m.ptr, d.ptr, filename.encode()) + +def _mju_printMat(np.ndarray[np.float64_t, mode="c", ndim=1] mat, int nr, int nc): + mju_printMat(&mat[0], nr, nc) + +def _mj_fwdPosition(PyMjModel m, PyMjData d): + mj_fwdPosition(m.ptr, d.ptr) + +def _mj_fwdVelocity(PyMjModel m, PyMjData d): + mj_fwdVelocity(m.ptr, d.ptr) + +def _mj_fwdActuation(PyMjModel m, PyMjData d): + mj_fwdActuation(m.ptr, d.ptr) + +def _mj_fwdAcceleration(PyMjModel m, PyMjData d): + mj_fwdAcceleration(m.ptr, d.ptr) + +def _mj_fwdConstraint(PyMjModel m, PyMjData d): + mj_fwdConstraint(m.ptr, d.ptr) + +def _mj_Euler(PyMjModel m, PyMjData d): + mj_Euler(m.ptr, d.ptr) + +def _mj_RungeKutta(PyMjModel m, PyMjData d, int N): + mj_RungeKutta(m.ptr, d.ptr, N) + +def _mj_invPosition(PyMjModel m, PyMjData d): + mj_invPosition(m.ptr, d.ptr) + +def _mj_invVelocity(PyMjModel m, PyMjData d): + mj_invVelocity(m.ptr, d.ptr) + +def _mj_invConstraint(PyMjModel m, PyMjData d): + mj_invConstraint(m.ptr, d.ptr) + +def _mj_compareFwdInv(PyMjModel m, PyMjData d): + mj_compareFwdInv(m.ptr, d.ptr) + +def _mj_sensorPos(PyMjModel m, PyMjData d): + mj_sensorPos(m.ptr, d.ptr) + +def _mj_sensorVel(PyMjModel m, PyMjData d): + mj_sensorVel(m.ptr, d.ptr) + +def _mj_sensorAcc(PyMjModel m, PyMjData d): + mj_sensorAcc(m.ptr, d.ptr) + +def _mj_energyPos(PyMjModel m, PyMjData d): + mj_energyPos(m.ptr, d.ptr) + +def _mj_energyVel(PyMjModel m, PyMjData d): + mj_energyVel(m.ptr, d.ptr) + +def _mj_checkPos(PyMjModel m, PyMjData d): + mj_checkPos(m.ptr, d.ptr) + +def _mj_checkVel(PyMjModel m, PyMjData d): + mj_checkVel(m.ptr, d.ptr) + +def _mj_checkAcc(PyMjModel m, PyMjData d): + mj_checkAcc(m.ptr, d.ptr) + +def _mj_kinematics(PyMjModel m, PyMjData d): + mj_kinematics(m.ptr, d.ptr) + +def _mj_comPos(PyMjModel m, PyMjData d): + mj_comPos(m.ptr, d.ptr) + +def _mj_camlight(PyMjModel m, PyMjData d): + mj_camlight(m.ptr, d.ptr) + +def _mj_tendon(PyMjModel m, PyMjData d): + mj_tendon(m.ptr, d.ptr) + +def _mj_transmission(PyMjModel m, PyMjData d): + mj_transmission(m.ptr, d.ptr) + +def _mj_crb(PyMjModel m, PyMjData d): + mj_crb(m.ptr, d.ptr) + +def _mj_factorM(PyMjModel m, PyMjData d): + mj_factorM(m.ptr, d.ptr) + +def _mj_solveM(PyMjModel m, PyMjData d, np.ndarray[np.float64_t, mode="c", ndim=1] x, np.ndarray[np.float64_t, mode="c", ndim=1] y, int n): + mj_solveM(m.ptr, d.ptr, &x[0], &y[0], n) + +def _mj_solveM2(PyMjModel m, PyMjData d, np.ndarray[np.float64_t, mode="c", ndim=1] x, np.ndarray[np.float64_t, mode="c", ndim=1] y, int n): + mj_solveM2(m.ptr, d.ptr, &x[0], &y[0], n) + +def _mj_comVel(PyMjModel m, PyMjData d): + mj_comVel(m.ptr, d.ptr) + +def _mj_passive(PyMjModel m, PyMjData d): + mj_passive(m.ptr, d.ptr) + +def _mj_rne(PyMjModel m, PyMjData d, int flg_acc, np.ndarray[np.float64_t, mode="c", ndim=1] result): + mj_rne(m.ptr, d.ptr, flg_acc, &result[0]) + +def _mj_rnePostConstraint(PyMjModel m, PyMjData d): + mj_rnePostConstraint(m.ptr, d.ptr) + +def _mj_collision(PyMjModel m, PyMjData d): + mj_collision(m.ptr, d.ptr) + +def _mj_makeConstraint(PyMjModel m, PyMjData d): + mj_makeConstraint(m.ptr, d.ptr) + +def _mj_projectConstraint(PyMjModel m, PyMjData d): + mj_projectConstraint(m.ptr, d.ptr) + +def _mj_referenceConstraint(PyMjModel m, PyMjData d): + mj_referenceConstraint(m.ptr, d.ptr) + +def _mj_constraintUpdate(PyMjModel m, PyMjData d, np.ndarray[np.float64_t, mode="c", ndim=1] jar, np.ndarray[np.float64_t, mode="c", ndim=1] cost, int flg_coneHessian): + mj_constraintUpdate(m.ptr, d.ptr, &jar[0], &cost[0], flg_coneHessian) + +def _mj_addContact(PyMjModel m, PyMjData d, PyMjContact con): + return mj_addContact(m.ptr, d.ptr, con.ptr) + +def _mj_isPyramidal(PyMjModel m): + return mj_isPyramidal(m.ptr) + +def _mj_isSparse(PyMjModel m): + return mj_isSparse(m.ptr) + +def _mj_isDual(PyMjModel m): + return mj_isDual(m.ptr) + +def _mj_mulJacVec(PyMjModel m, PyMjData d, np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec): + mj_mulJacVec(m.ptr, d.ptr, &res[0], &vec[0]) + +def _mj_mulJacTVec(PyMjModel m, PyMjData d, np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec): + mj_mulJacTVec(m.ptr, d.ptr, &res[0], &vec[0]) + +def _mj_jac(PyMjModel m, PyMjData d, np.ndarray[np.float64_t, mode="c", ndim=1] jacp, np.ndarray[np.float64_t, mode="c", ndim=1] jacr, np.ndarray[np.float64_t, mode="c", ndim=1] point, int body): + mj_jac(m.ptr, d.ptr, &jacp[0], &jacr[0], &point[0], body) + +def _mj_jacBody(PyMjModel m, PyMjData d, np.ndarray[np.float64_t, mode="c", ndim=1] jacp, np.ndarray[np.float64_t, mode="c", ndim=1] jacr, int body): + mj_jacBody(m.ptr, d.ptr, &jacp[0], &jacr[0], body) + +def _mj_jacBodyCom(PyMjModel m, PyMjData d, np.ndarray[np.float64_t, mode="c", ndim=1] jacp, np.ndarray[np.float64_t, mode="c", ndim=1] jacr, int body): + mj_jacBodyCom(m.ptr, d.ptr, &jacp[0], &jacr[0], body) + +def _mj_jacGeom(PyMjModel m, PyMjData d, np.ndarray[np.float64_t, mode="c", ndim=1] jacp, np.ndarray[np.float64_t, mode="c", ndim=1] jacr, int geom): + mj_jacGeom(m.ptr, d.ptr, &jacp[0], &jacr[0], geom) + +def _mj_jacSite(PyMjModel m, PyMjData d, np.ndarray[np.float64_t, mode="c", ndim=1] jacp, np.ndarray[np.float64_t, mode="c", ndim=1] jacr, int site): + mj_jacSite(m.ptr, d.ptr, &jacp[0], &jacr[0], site) + +def _mj_jacPointAxis(PyMjModel m, PyMjData d, np.ndarray[np.float64_t, mode="c", ndim=1] jacPoint, np.ndarray[np.float64_t, mode="c", ndim=1] jacAxis, np.ndarray[np.float64_t, mode="c", ndim=1] point, np.ndarray[np.float64_t, mode="c", ndim=1] axis, int body): + mj_jacPointAxis(m.ptr, d.ptr, &jacPoint[0], &jacAxis[0], &point[0], &axis[0], body) + +def _mj_name2id(PyMjModel m, int type, str name): + return mj_name2id(m.ptr, type, name.encode()) + +def _mj_fullM(PyMjModel m, np.ndarray[np.float64_t, mode="c", ndim=1] dst, np.ndarray[np.float64_t, mode="c", ndim=1] M): + mj_fullM(m.ptr, &dst[0], &M[0]) + +def _mj_mulM(PyMjModel m, PyMjData d, np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec): + mj_mulM(m.ptr, d.ptr, &res[0], &vec[0]) + +def _mj_applyFT(PyMjModel m, PyMjData d, np.ndarray[np.float64_t, mode="c", ndim=1] force, np.ndarray[np.float64_t, mode="c", ndim=1] torque, np.ndarray[np.float64_t, mode="c", ndim=1] point, int body, np.ndarray[np.float64_t, mode="c", ndim=1] qfrc_target): + mj_applyFT(m.ptr, d.ptr, &force[0], &torque[0], &point[0], body, &qfrc_target[0]) + +def _mj_objectVelocity(PyMjModel m, PyMjData d, int objtype, int objid, np.ndarray[np.float64_t, mode="c", ndim=1] res, int flg_local): + mj_objectVelocity(m.ptr, d.ptr, objtype, objid, &res[0], flg_local) + +def _mj_objectAcceleration(PyMjModel m, PyMjData d, int objtype, int objid, np.ndarray[np.float64_t, mode="c", ndim=1] res, int flg_local): + mj_objectAcceleration(m.ptr, d.ptr, objtype, objid, &res[0], flg_local) + +def _mj_differentiatePos(PyMjModel m, np.ndarray[np.float64_t, mode="c", ndim=1] qvel, float dt, np.ndarray[np.float64_t, mode="c", ndim=1] qpos1, np.ndarray[np.float64_t, mode="c", ndim=1] qpos2): + mj_differentiatePos(m.ptr, &qvel[0], dt, &qpos1[0], &qpos2[0]) + +def _mj_contactForce(PyMjModel m, PyMjData d, int id, np.ndarray[np.float64_t, mode="c", ndim=1] result): + mj_contactForce(m.ptr, d.ptr, id, &result[0]) + +def _mj_integratePos(PyMjModel m, np.ndarray[np.float64_t, mode="c", ndim=1] qpos, np.ndarray[np.float64_t, mode="c", ndim=1] qvel, float dt): + mj_integratePos(m.ptr, &qpos[0], &qvel[0], dt) + +def _mj_normalizeQuat(PyMjModel m, np.ndarray[np.float64_t, mode="c", ndim=1] qpos): + mj_normalizeQuat(m.ptr, &qpos[0]) + +def _mj_local2Global(PyMjData d, np.ndarray[np.float64_t, mode="c", ndim=1] xpos, np.ndarray[np.float64_t, mode="c", ndim=1] xmat, np.ndarray[np.float64_t, mode="c", ndim=1] pos, np.ndarray[np.float64_t, mode="c", ndim=1] quat, int body): + mj_local2Global(d.ptr, &xpos[0], &xmat[0], &pos[0], &quat[0], body) + +def _mj_getTotalmass(PyMjModel m): + return mj_getTotalmass(m.ptr) + +def _mj_setTotalmass(PyMjModel m, float newmass): + mj_setTotalmass(m.ptr, newmass) + +def _mj_version(): + return mj_version() + +def _mj_rayHfield(PyMjModel m, PyMjData d, int geomid, np.ndarray[np.float64_t, mode="c", ndim=1] pnt, np.ndarray[np.float64_t, mode="c", ndim=1] vec): + return mj_rayHfield(m.ptr, d.ptr, geomid, &pnt[0], &vec[0]) + +def _mj_rayMesh(PyMjModel m, PyMjData d, int geomid, np.ndarray[np.float64_t, mode="c", ndim=1] pnt, np.ndarray[np.float64_t, mode="c", ndim=1] vec): + return mj_rayMesh(m.ptr, d.ptr, geomid, &pnt[0], &vec[0]) + +def _mju_rayGeom(np.ndarray[np.float64_t, mode="c", ndim=1] pos, np.ndarray[np.float64_t, mode="c", ndim=1] mat, np.ndarray[np.float64_t, mode="c", ndim=1] size, np.ndarray[np.float64_t, mode="c", ndim=1] pnt, np.ndarray[np.float64_t, mode="c", ndim=1] vec, int geomtype): + return mju_rayGeom(&pos[0], &mat[0], &size[0], &pnt[0], &vec[0], geomtype) + +def _mjv_defaultCamera(PyMjvCamera cam): + mjv_defaultCamera(cam.ptr) + +def _mjv_defaultPerturb(PyMjvPerturb pert): + mjv_defaultPerturb(pert.ptr) + +def _mjv_room2model(np.ndarray[np.float64_t, mode="c", ndim=1] modelpos, np.ndarray[np.float64_t, mode="c", ndim=1] modelquat, np.ndarray[np.float64_t, mode="c", ndim=1] roompos, np.ndarray[np.float64_t, mode="c", ndim=1] roomquat, PyMjvScene scn): + mjv_room2model(&modelpos[0], &modelquat[0], &roompos[0], &roomquat[0], scn.ptr) + +def _mjv_model2room(np.ndarray[np.float64_t, mode="c", ndim=1] roompos, np.ndarray[np.float64_t, mode="c", ndim=1] roomquat, np.ndarray[np.float64_t, mode="c", ndim=1] modelpos, np.ndarray[np.float64_t, mode="c", ndim=1] modelquat, PyMjvScene scn): + mjv_model2room(&roompos[0], &roomquat[0], &modelpos[0], &modelquat[0], scn.ptr) + +def _mjv_cameraInModel(np.ndarray[np.float64_t, mode="c", ndim=1] headpos, np.ndarray[np.float64_t, mode="c", ndim=1] forward, np.ndarray[np.float64_t, mode="c", ndim=1] up, PyMjvScene scn): + mjv_cameraInModel(&headpos[0], &forward[0], &up[0], scn.ptr) + +def _mjv_cameraInRoom(np.ndarray[np.float64_t, mode="c", ndim=1] headpos, np.ndarray[np.float64_t, mode="c", ndim=1] forward, np.ndarray[np.float64_t, mode="c", ndim=1] up, PyMjvScene scn): + mjv_cameraInRoom(&headpos[0], &forward[0], &up[0], scn.ptr) + +def _mjv_frustumHeight(PyMjvScene scn): + return mjv_frustumHeight(scn.ptr) + +def _mjv_alignToCamera(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec, np.ndarray[np.float64_t, mode="c", ndim=1] forward): + mjv_alignToCamera(&res[0], &vec[0], &forward[0]) + +def _mjv_moveCamera(PyMjModel m, int action, float reldx, float reldy, PyMjvScene scn, PyMjvCamera cam): + mjv_moveCamera(m.ptr, action, reldx, reldy, scn.ptr, cam.ptr) + +def _mjv_movePerturb(PyMjModel m, PyMjData d, int action, float reldx, float reldy, PyMjvScene scn, PyMjvPerturb pert): + mjv_movePerturb(m.ptr, d.ptr, action, reldx, reldy, scn.ptr, pert.ptr) + +def _mjv_moveModel(PyMjModel m, int action, float reldx, float reldy, np.ndarray[np.float64_t, mode="c", ndim=1] roomup, PyMjvScene scn): + mjv_moveModel(m.ptr, action, reldx, reldy, &roomup[0], scn.ptr) + +def _mjv_initPerturb(PyMjModel m, PyMjData d, PyMjvScene scn, PyMjvPerturb pert): + mjv_initPerturb(m.ptr, d.ptr, scn.ptr, pert.ptr) + +def _mjv_applyPerturbPose(PyMjModel m, PyMjData d, PyMjvPerturb pert, int flg_paused): + mjv_applyPerturbPose(m.ptr, d.ptr, pert.ptr, flg_paused) + +def _mjv_applyPerturbForce(PyMjModel m, PyMjData d, PyMjvPerturb pert): + mjv_applyPerturbForce(m.ptr, d.ptr, pert.ptr) + +def _mjv_select(PyMjModel m, PyMjData d, PyMjvOption vopt, float aspectratio, float relx, float rely, PyMjvScene scn, np.ndarray[np.float64_t, mode="c", ndim=1] selpnt): + return mjv_select(m.ptr, d.ptr, vopt.ptr, aspectratio, relx, rely, scn.ptr, &selpnt[0]) + +def _mjv_defaultOption(PyMjvOption opt): + mjv_defaultOption(opt.ptr) + +def _mjv_defaultFigure(PyMjvFigure fig): + mjv_defaultFigure(fig.ptr) + +def _mjv_makeConnector(PyMjvGeom geom, int type, float width, float a0, float a1, float a2, float b0, float b1, float b2): + mjv_makeConnector(geom.ptr, type, width, a0, a1, a2, b0, b1, b2) + +def _mjv_makeScene(PyMjvScene scn, int maxgeom): + mjv_makeScene(scn.ptr, maxgeom) + +def _mjv_freeScene(PyMjvScene scn): + mjv_freeScene(scn.ptr) + +def _mjv_updateScene(PyMjModel m, PyMjData d, PyMjvOption opt, PyMjvPerturb pert, PyMjvCamera cam, int catmask, PyMjvScene scn): + mjv_updateScene(m.ptr, d.ptr, opt.ptr, pert.ptr, cam.ptr, catmask, scn.ptr) + +def _mjv_addGeoms(PyMjModel m, PyMjData d, PyMjvOption opt, PyMjvPerturb pert, int catmask, PyMjvScene scn): + mjv_addGeoms(m.ptr, d.ptr, opt.ptr, pert.ptr, catmask, scn.ptr) + +def _mjv_updateCamera(PyMjModel m, PyMjData d, PyMjvCamera cam, PyMjvScene scn): + mjv_updateCamera(m.ptr, d.ptr, cam.ptr, scn.ptr) + +def _mjr_defaultContext(PyMjrContext con): + mjr_defaultContext(con.ptr) + +def _mjr_makeContext(PyMjModel m, PyMjrContext con, int fontscale): + mjr_makeContext(m.ptr, con.ptr, fontscale) + +def _mjr_freeContext(PyMjrContext con): + mjr_freeContext(con.ptr) + +def _mjr_uploadTexture(PyMjModel m, PyMjrContext con, int texid): + mjr_uploadTexture(m.ptr, con.ptr, texid) + +def _mjr_uploadMesh(PyMjModel m, PyMjrContext con, int meshid): + mjr_uploadMesh(m.ptr, con.ptr, meshid) + +def _mjr_uploadHField(PyMjModel m, PyMjrContext con, int hfieldid): + mjr_uploadHField(m.ptr, con.ptr, hfieldid) + +def _mjr_setBuffer(int framebuffer, PyMjrContext con): + mjr_setBuffer(framebuffer, con.ptr) + +def _mjr_blitBuffer(PyMjrRect src, PyMjrRect dst, int flg_color, int flg_depth, PyMjrContext con): + mjr_blitBuffer(src.ptr[0], dst.ptr[0], flg_color, flg_depth, con.ptr) + +def _mjr_overlay(int font, int gridpos, PyMjrRect viewport, str overlay, str overlay2, PyMjrContext con): + mjr_overlay(font, gridpos, viewport.ptr[0], overlay.encode(), overlay2.encode(), con.ptr) + +def _mjr_figure(PyMjrRect viewport, PyMjvFigure fig, PyMjrContext con): + mjr_figure(viewport.ptr[0], fig.ptr, con.ptr) + +def _mjr_render(PyMjrRect viewport, PyMjvScene scn, PyMjrContext con): + mjr_render(viewport.ptr[0], scn.ptr, con.ptr) + +def _mjr_finish(): + mjr_finish() + +def _mjr_getError(): + return mjr_getError() + +def _mju_error(str msg): + mju_error(msg.encode()) + +def _mju_error_i(str msg, int i): + mju_error_i(msg.encode(), i) + +def _mju_error_s(str msg, str text): + mju_error_s(msg.encode(), text.encode()) + +def _mju_warning(str msg): + mju_warning(msg.encode()) + +def _mju_warning_i(str msg, int i): + mju_warning_i(msg.encode(), i) + +def _mju_warning_s(str msg, str text): + mju_warning_s(msg.encode(), text.encode()) + +def _mju_clearHandlers(): + mju_clearHandlers() + +def _mj_warning(PyMjData d, int warning, int info): + mj_warning(d.ptr, warning, info) + +def _mju_writeLog(str type, str msg): + mju_writeLog(type.encode(), msg.encode()) + +def _mju_zero3(np.ndarray[np.float64_t, mode="c", ndim=1] res): + mju_zero3(&res[0]) + +def _mju_copy3(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] data): + mju_copy3(&res[0], &data[0]) + +def _mju_scl3(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec, float scl): + mju_scl3(&res[0], &vec[0], scl) + +def _mju_add3(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec1, np.ndarray[np.float64_t, mode="c", ndim=1] vec2): + mju_add3(&res[0], &vec1[0], &vec2[0]) + +def _mju_sub3(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec1, np.ndarray[np.float64_t, mode="c", ndim=1] vec2): + mju_sub3(&res[0], &vec1[0], &vec2[0]) + +def _mju_addTo3(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec): + mju_addTo3(&res[0], &vec[0]) + +def _mju_subFrom3(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec): + mju_subFrom3(&res[0], &vec[0]) + +def _mju_addToScl3(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec, float scl): + mju_addToScl3(&res[0], &vec[0], scl) + +def _mju_addScl3(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec1, np.ndarray[np.float64_t, mode="c", ndim=1] vec2, float scl): + mju_addScl3(&res[0], &vec1[0], &vec2[0], scl) + +def _mju_normalize3(np.ndarray[np.float64_t, mode="c", ndim=1] res): + return mju_normalize3(&res[0]) + +def _mju_norm3(np.ndarray[np.float64_t, mode="c", ndim=1] vec): + return mju_norm3(&vec[0]) + +def _mju_dot3(np.ndarray[np.float64_t, mode="c", ndim=1] vec1, np.ndarray[np.float64_t, mode="c", ndim=1] vec2): + return mju_dot3(&vec1[0], &vec2[0]) + +def _mju_dist3(np.ndarray[np.float64_t, mode="c", ndim=1] pos1, np.ndarray[np.float64_t, mode="c", ndim=1] pos2): + return mju_dist3(&pos1[0], &pos2[0]) + +def _mju_rotVecMat(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec, np.ndarray[np.float64_t, mode="c", ndim=1] mat): + mju_rotVecMat(&res[0], &vec[0], &mat[0]) + +def _mju_rotVecMatT(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec, np.ndarray[np.float64_t, mode="c", ndim=1] mat): + mju_rotVecMatT(&res[0], &vec[0], &mat[0]) + +def _mju_cross(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] a, np.ndarray[np.float64_t, mode="c", ndim=1] b): + mju_cross(&res[0], &a[0], &b[0]) + +def _mju_zero4(np.ndarray[np.float64_t, mode="c", ndim=1] res): + mju_zero4(&res[0]) + +def _mju_unit4(np.ndarray[np.float64_t, mode="c", ndim=1] res): + mju_unit4(&res[0]) + +def _mju_copy4(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] data): + mju_copy4(&res[0], &data[0]) + +def _mju_normalize4(np.ndarray[np.float64_t, mode="c", ndim=1] res): + return mju_normalize4(&res[0]) + +def _mju_zero(np.ndarray[np.float64_t, mode="c", ndim=1] res, int n): + mju_zero(&res[0], n) + +def _mju_copy(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] data, int n): + mju_copy(&res[0], &data[0], n) + +def _mju_scl(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec, float scl, int n): + mju_scl(&res[0], &vec[0], scl, n) + +def _mju_add(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec1, np.ndarray[np.float64_t, mode="c", ndim=1] vec2, int n): + mju_add(&res[0], &vec1[0], &vec2[0], n) + +def _mju_sub(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec1, np.ndarray[np.float64_t, mode="c", ndim=1] vec2, int n): + mju_sub(&res[0], &vec1[0], &vec2[0], n) + +def _mju_addTo(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec, int n): + mju_addTo(&res[0], &vec[0], n) + +def _mju_subFrom(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec, int n): + mju_subFrom(&res[0], &vec[0], n) + +def _mju_addToScl(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec, float scl, int n): + mju_addToScl(&res[0], &vec[0], scl, n) + +def _mju_addScl(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec1, np.ndarray[np.float64_t, mode="c", ndim=1] vec2, float scl, int n): + mju_addScl(&res[0], &vec1[0], &vec2[0], scl, n) + +def _mju_normalize(np.ndarray[np.float64_t, mode="c", ndim=1] res, int n): + return mju_normalize(&res[0], n) + +def _mju_norm(np.ndarray[np.float64_t, mode="c", ndim=1] res, int n): + return mju_norm(&res[0], n) + +def _mju_dot(np.ndarray[np.float64_t, mode="c", ndim=1] vec1, np.ndarray[np.float64_t, mode="c", ndim=1] vec2, int n): + return mju_dot(&vec1[0], &vec2[0], n) + +def _mju_mulMatVec(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] mat, np.ndarray[np.float64_t, mode="c", ndim=1] vec, int nr, int nc): + mju_mulMatVec(&res[0], &mat[0], &vec[0], nr, nc) + +def _mju_mulMatTVec(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] mat, np.ndarray[np.float64_t, mode="c", ndim=1] vec, int nr, int nc): + mju_mulMatTVec(&res[0], &mat[0], &vec[0], nr, nc) + +def _mju_transpose(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] mat, int nr, int nc): + mju_transpose(&res[0], &mat[0], nr, nc) + +def _mju_mulMatMat(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] mat1, np.ndarray[np.float64_t, mode="c", ndim=1] mat2, int r1, int c1, int c2): + mju_mulMatMat(&res[0], &mat1[0], &mat2[0], r1, c1, c2) + +def _mju_mulMatMatT(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] mat1, np.ndarray[np.float64_t, mode="c", ndim=1] mat2, int r1, int c1, int r2): + mju_mulMatMatT(&res[0], &mat1[0], &mat2[0], r1, c1, r2) + +def _mju_mulMatTMat(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] mat1, np.ndarray[np.float64_t, mode="c", ndim=1] mat2, int r1, int c1, int c2): + mju_mulMatTMat(&res[0], &mat1[0], &mat2[0], r1, c1, c2) + +def _mju_sqrMatTD(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] mat, np.ndarray[np.float64_t, mode="c", ndim=1] diag, int nr, int nc): + mju_sqrMatTD(&res[0], &mat[0], &diag[0], nr, nc) + +def _mju_transformSpatial(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec, int flg_force, np.ndarray[np.float64_t, mode="c", ndim=1] newpos, np.ndarray[np.float64_t, mode="c", ndim=1] oldpos, np.ndarray[np.float64_t, mode="c", ndim=1] rotnew2old): + mju_transformSpatial(&res[0], &vec[0], flg_force, &newpos[0], &oldpos[0], &rotnew2old[0]) + +def _mju_rotVecQuat(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] vec, np.ndarray[np.float64_t, mode="c", ndim=1] quat): + mju_rotVecQuat(&res[0], &vec[0], &quat[0]) + +def _mju_negQuat(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] quat): + mju_negQuat(&res[0], &quat[0]) + +def _mju_mulQuat(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] quat1, np.ndarray[np.float64_t, mode="c", ndim=1] quat2): + mju_mulQuat(&res[0], &quat1[0], &quat2[0]) + +def _mju_mulQuatAxis(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] quat, np.ndarray[np.float64_t, mode="c", ndim=1] axis): + mju_mulQuatAxis(&res[0], &quat[0], &axis[0]) + +def _mju_axisAngle2Quat(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] axis, float angle): + mju_axisAngle2Quat(&res[0], &axis[0], angle) + +def _mju_quat2Vel(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] quat, float dt): + mju_quat2Vel(&res[0], &quat[0], dt) + +def _mju_quat2Mat(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] quat): + mju_quat2Mat(&res[0], &quat[0]) + +def _mju_mat2Quat(np.ndarray[np.float64_t, mode="c", ndim=1] quat, np.ndarray[np.float64_t, mode="c", ndim=1] mat): + mju_mat2Quat(&quat[0], &mat[0]) + +def _mju_derivQuat(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] quat, np.ndarray[np.float64_t, mode="c", ndim=1] vel): + mju_derivQuat(&res[0], &quat[0], &vel[0]) + +def _mju_quatIntegrate(np.ndarray[np.float64_t, mode="c", ndim=1] quat, np.ndarray[np.float64_t, mode="c", ndim=1] vel, float scale): + mju_quatIntegrate(&quat[0], &vel[0], scale) + +def _mju_quatZ2Vec(np.ndarray[np.float64_t, mode="c", ndim=1] quat, np.ndarray[np.float64_t, mode="c", ndim=1] vec): + mju_quatZ2Vec(&quat[0], &vec[0]) + +def _mju_mulPose(np.ndarray[np.float64_t, mode="c", ndim=1] posres, np.ndarray[np.float64_t, mode="c", ndim=1] quatres, np.ndarray[np.float64_t, mode="c", ndim=1] pos1, np.ndarray[np.float64_t, mode="c", ndim=1] quat1, np.ndarray[np.float64_t, mode="c", ndim=1] pos2, np.ndarray[np.float64_t, mode="c", ndim=1] quat2): + mju_mulPose(&posres[0], &quatres[0], &pos1[0], &quat1[0], &pos2[0], &quat2[0]) + +def _mju_negPose(np.ndarray[np.float64_t, mode="c", ndim=1] posres, np.ndarray[np.float64_t, mode="c", ndim=1] quatres, np.ndarray[np.float64_t, mode="c", ndim=1] pos, np.ndarray[np.float64_t, mode="c", ndim=1] quat): + mju_negPose(&posres[0], &quatres[0], &pos[0], &quat[0]) + +def _mju_trnVecPose(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] pos, np.ndarray[np.float64_t, mode="c", ndim=1] quat, np.ndarray[np.float64_t, mode="c", ndim=1] vec): + mju_trnVecPose(&res[0], &pos[0], &quat[0], &vec[0]) + +def _mju_cholFactor(np.ndarray[np.float64_t, mode="c", ndim=1] mat, int n): + return mju_cholFactor(&mat[0], n) + +def _mju_cholSolve(np.ndarray[np.float64_t, mode="c", ndim=1] res, np.ndarray[np.float64_t, mode="c", ndim=1] mat, np.ndarray[np.float64_t, mode="c", ndim=1] vec, int n): + mju_cholSolve(&res[0], &mat[0], &vec[0], n) + +def _mju_cholUpdate(np.ndarray[np.float64_t, mode="c", ndim=1] mat, np.ndarray[np.float64_t, mode="c", ndim=1] x, int n, int flg_plus): + return mju_cholUpdate(&mat[0], &x[0], n, flg_plus) + +def _mju_eig3(np.ndarray[np.float64_t, mode="c", ndim=1] eigval, np.ndarray[np.float64_t, mode="c", ndim=1] eigvec, np.ndarray[np.float64_t, mode="c", ndim=1] quat, np.ndarray[np.float64_t, mode="c", ndim=1] mat): + return mju_eig3(&eigval[0], &eigvec[0], &quat[0], &mat[0]) + +def _mju_muscleFVL(float len, float vel, float lmin, float lmax, np.ndarray[np.float64_t, mode="c", ndim=1] prm): + return mju_muscleFVL(len, vel, lmin, lmax, &prm[0]) + +def _mju_musclePassive(float len, float lmin, float lmax, np.ndarray[np.float64_t, mode="c", ndim=1] prm): + return mju_musclePassive(len, lmin, lmax, &prm[0]) + +def _mju_pneumatic(float len, float len0, float vel, np.ndarray[np.float64_t, mode="c", ndim=1] prm, float act, float ctrl, float timestep, np.ndarray[np.float64_t, mode="c", ndim=1] jac): + return mju_pneumatic(len, len0, vel, &prm[0], act, ctrl, timestep, &jac[0]) + +def _mju_encodePyramid(np.ndarray[np.float64_t, mode="c", ndim=1] pyramid, np.ndarray[np.float64_t, mode="c", ndim=1] force, np.ndarray[np.float64_t, mode="c", ndim=1] mu, int dim): + mju_encodePyramid(&pyramid[0], &force[0], &mu[0], dim) + +def _mju_decodePyramid(np.ndarray[np.float64_t, mode="c", ndim=1] force, np.ndarray[np.float64_t, mode="c", ndim=1] pyramid, np.ndarray[np.float64_t, mode="c", ndim=1] mu, int dim): + mju_decodePyramid(&force[0], &pyramid[0], &mu[0], dim) + +def _mju_springDamper(float pos0, float vel0, float Kp, float Kv, float dt): + return mju_springDamper(pos0, vel0, Kp, Kv, dt) + +def _mju_min(float a, float b): + return mju_min(a, b) + +def _mju_max(float a, float b): + return mju_max(a, b) + +def _mju_sign(float x): + return mju_sign(x) + +def _mju_round(float x): + return mju_round(x) + +def _mju_str2Type(str str): + return mju_str2Type(str.encode()) + +def _mju_isBad(float x): + return mju_isBad(x) + +def _mju_isZero(np.ndarray[np.float64_t, mode="c", ndim=1] vec, int n): + return mju_isZero(&vec[0], n) + +def _mju_standardNormal(np.ndarray[np.float64_t, mode="c", ndim=1] num2): + return mju_standardNormal(&num2[0]) + +def _mju_insertionSort(np.ndarray[np.float64_t, mode="c", ndim=1] list, int n): + mju_insertionSort(&list[0], n) + +def _mju_Halton(int index, int base): + return mju_Halton(index, base) + + diff --git a/mujoco_py/gl/__init__.py b/mujoco_py/gl/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/mujoco_py/gl/dummyshim.c b/mujoco_py/gl/dummyshim.c new file mode 100644 index 00000000..80786df1 --- /dev/null +++ b/mujoco_py/gl/dummyshim.c @@ -0,0 +1,12 @@ +#include "glshim.h" + +int initOpenGL(int device_id) { + return 1; +} + +int setOpenGLBufferSize(int width, int height) { + return 1; +} + +void closeOpenGL() { +} diff --git a/mujoco_py/gl/egl.h b/mujoco_py/gl/egl.h new file mode 100644 index 00000000..f368d827 --- /dev/null +++ b/mujoco_py/gl/egl.h @@ -0,0 +1,303 @@ +#ifndef __egl_h_ +#define __egl_h_ 1 + +#ifdef __cplusplus +extern "C" { +#endif + +/* +** Copyright (c) 2013-2016 The Khronos Group Inc. +** +** Permission is hereby granted, free of charge, to any person obtaining a +** copy of this software and/or associated documentation files (the +** "Materials"), to deal in the Materials without restriction, including +** without limitation the rights to use, copy, modify, merge, publish, +** distribute, sublicense, and/or sell copies of the Materials, and to +** permit persons to whom the Materials are furnished to do so, subject to +** the following conditions: +** +** The above copyright notice and this permission notice shall be included +** in all copies or substantial portions of the Materials. +** +** THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +** MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +** CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +** TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +** MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. +*/ +/* +** This header is generated from the Khronos OpenGL / OpenGL ES XML +** API Registry. The current version of the Registry, generator scripts +** used to make the header, and the header can be found at +** http://www.opengl.org/registry/ +** +** Khronos $Revision: 32889 $ on $Date: 2016-05-31 04:09:51 -0700 (Tue, 31 May 2016) $ +*/ + +#include "eglplatform.h" + +/* Generated on date 20160531 */ + +/* Generated C header for: + * API: egl + * Versions considered: .* + * Versions emitted: .* + * Default extensions included: None + * Additional extensions included: _nomatch_^ + * Extensions removed: _nomatch_^ + */ + +#ifndef EGL_VERSION_1_0 +#define EGL_VERSION_1_0 1 +typedef unsigned int EGLBoolean; +typedef void *EGLDisplay; +#include "khrplatform.h" +#include "eglplatform.h" +typedef void *EGLConfig; +typedef void *EGLSurface; +typedef void *EGLContext; +typedef void (*__eglMustCastToProperFunctionPointerType)(void); +#define EGL_ALPHA_SIZE 0x3021 +#define EGL_BAD_ACCESS 0x3002 +#define EGL_BAD_ALLOC 0x3003 +#define EGL_BAD_ATTRIBUTE 0x3004 +#define EGL_BAD_CONFIG 0x3005 +#define EGL_BAD_CONTEXT 0x3006 +#define EGL_BAD_CURRENT_SURFACE 0x3007 +#define EGL_BAD_DISPLAY 0x3008 +#define EGL_BAD_MATCH 0x3009 +#define EGL_BAD_NATIVE_PIXMAP 0x300A +#define EGL_BAD_NATIVE_WINDOW 0x300B +#define EGL_BAD_PARAMETER 0x300C +#define EGL_BAD_SURFACE 0x300D +#define EGL_BLUE_SIZE 0x3022 +#define EGL_BUFFER_SIZE 0x3020 +#define EGL_CONFIG_CAVEAT 0x3027 +#define EGL_CONFIG_ID 0x3028 +#define EGL_CORE_NATIVE_ENGINE 0x305B +#define EGL_DEPTH_SIZE 0x3025 +#define EGL_DONT_CARE ((EGLint)-1) +#define EGL_DRAW 0x3059 +#define EGL_EXTENSIONS 0x3055 +#define EGL_FALSE 0 +#define EGL_GREEN_SIZE 0x3023 +#define EGL_HEIGHT 0x3056 +#define EGL_LARGEST_PBUFFER 0x3058 +#define EGL_LEVEL 0x3029 +#define EGL_MAX_PBUFFER_HEIGHT 0x302A +#define EGL_MAX_PBUFFER_PIXELS 0x302B +#define EGL_MAX_PBUFFER_WIDTH 0x302C +#define EGL_NATIVE_RENDERABLE 0x302D +#define EGL_NATIVE_VISUAL_ID 0x302E +#define EGL_NATIVE_VISUAL_TYPE 0x302F +#define EGL_NONE 0x3038 +#define EGL_NON_CONFORMANT_CONFIG 0x3051 +#define EGL_NOT_INITIALIZED 0x3001 +#define EGL_NO_CONTEXT ((EGLContext)0) +#define EGL_NO_DISPLAY ((EGLDisplay)0) +#define EGL_NO_SURFACE ((EGLSurface)0) +#define EGL_PBUFFER_BIT 0x0001 +#define EGL_PIXMAP_BIT 0x0002 +#define EGL_READ 0x305A +#define EGL_RED_SIZE 0x3024 +#define EGL_SAMPLES 0x3031 +#define EGL_SAMPLE_BUFFERS 0x3032 +#define EGL_SLOW_CONFIG 0x3050 +#define EGL_STENCIL_SIZE 0x3026 +#define EGL_SUCCESS 0x3000 +#define EGL_SURFACE_TYPE 0x3033 +#define EGL_TRANSPARENT_BLUE_VALUE 0x3035 +#define EGL_TRANSPARENT_GREEN_VALUE 0x3036 +#define EGL_TRANSPARENT_RED_VALUE 0x3037 +#define EGL_TRANSPARENT_RGB 0x3052 +#define EGL_TRANSPARENT_TYPE 0x3034 +#define EGL_TRUE 1 +#define EGL_VENDOR 0x3053 +#define EGL_VERSION 0x3054 +#define EGL_WIDTH 0x3057 +#define EGL_WINDOW_BIT 0x0004 +EGLAPI EGLBoolean EGLAPIENTRY eglChooseConfig (EGLDisplay dpy, const EGLint *attrib_list, EGLConfig *configs, EGLint config_size, EGLint *num_config); +EGLAPI EGLBoolean EGLAPIENTRY eglCopyBuffers (EGLDisplay dpy, EGLSurface surface, EGLNativePixmapType target); +EGLAPI EGLContext EGLAPIENTRY eglCreateContext (EGLDisplay dpy, EGLConfig config, EGLContext share_context, const EGLint *attrib_list); +EGLAPI EGLSurface EGLAPIENTRY eglCreatePbufferSurface (EGLDisplay dpy, EGLConfig config, const EGLint *attrib_list); +EGLAPI EGLSurface EGLAPIENTRY eglCreatePixmapSurface (EGLDisplay dpy, EGLConfig config, EGLNativePixmapType pixmap, const EGLint *attrib_list); +EGLAPI EGLSurface EGLAPIENTRY eglCreateWindowSurface (EGLDisplay dpy, EGLConfig config, EGLNativeWindowType win, const EGLint *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglDestroyContext (EGLDisplay dpy, EGLContext ctx); +EGLAPI EGLBoolean EGLAPIENTRY eglDestroySurface (EGLDisplay dpy, EGLSurface surface); +EGLAPI EGLBoolean EGLAPIENTRY eglGetConfigAttrib (EGLDisplay dpy, EGLConfig config, EGLint attribute, EGLint *value); +EGLAPI EGLBoolean EGLAPIENTRY eglGetConfigs (EGLDisplay dpy, EGLConfig *configs, EGLint config_size, EGLint *num_config); +EGLAPI EGLDisplay EGLAPIENTRY eglGetCurrentDisplay (void); +EGLAPI EGLSurface EGLAPIENTRY eglGetCurrentSurface (EGLint readdraw); +EGLAPI EGLDisplay EGLAPIENTRY eglGetDisplay (EGLNativeDisplayType display_id); +EGLAPI EGLint EGLAPIENTRY eglGetError (void); +EGLAPI __eglMustCastToProperFunctionPointerType EGLAPIENTRY eglGetProcAddress (const char *procname); +EGLAPI EGLBoolean EGLAPIENTRY eglInitialize (EGLDisplay dpy, EGLint *major, EGLint *minor); +EGLAPI EGLBoolean EGLAPIENTRY eglMakeCurrent (EGLDisplay dpy, EGLSurface draw, EGLSurface read, EGLContext ctx); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryContext (EGLDisplay dpy, EGLContext ctx, EGLint attribute, EGLint *value); +EGLAPI const char *EGLAPIENTRY eglQueryString (EGLDisplay dpy, EGLint name); +EGLAPI EGLBoolean EGLAPIENTRY eglQuerySurface (EGLDisplay dpy, EGLSurface surface, EGLint attribute, EGLint *value); +EGLAPI EGLBoolean EGLAPIENTRY eglSwapBuffers (EGLDisplay dpy, EGLSurface surface); +EGLAPI EGLBoolean EGLAPIENTRY eglTerminate (EGLDisplay dpy); +EGLAPI EGLBoolean EGLAPIENTRY eglWaitGL (void); +EGLAPI EGLBoolean EGLAPIENTRY eglWaitNative (EGLint engine); +#endif /* EGL_VERSION_1_0 */ + +#ifndef EGL_VERSION_1_1 +#define EGL_VERSION_1_1 1 +#define EGL_BACK_BUFFER 0x3084 +#define EGL_BIND_TO_TEXTURE_RGB 0x3039 +#define EGL_BIND_TO_TEXTURE_RGBA 0x303A +#define EGL_CONTEXT_LOST 0x300E +#define EGL_MIN_SWAP_INTERVAL 0x303B +#define EGL_MAX_SWAP_INTERVAL 0x303C +#define EGL_MIPMAP_TEXTURE 0x3082 +#define EGL_MIPMAP_LEVEL 0x3083 +#define EGL_NO_TEXTURE 0x305C +#define EGL_TEXTURE_2D 0x305F +#define EGL_TEXTURE_FORMAT 0x3080 +#define EGL_TEXTURE_RGB 0x305D +#define EGL_TEXTURE_RGBA 0x305E +#define EGL_TEXTURE_TARGET 0x3081 +EGLAPI EGLBoolean EGLAPIENTRY eglBindTexImage (EGLDisplay dpy, EGLSurface surface, EGLint buffer); +EGLAPI EGLBoolean EGLAPIENTRY eglReleaseTexImage (EGLDisplay dpy, EGLSurface surface, EGLint buffer); +EGLAPI EGLBoolean EGLAPIENTRY eglSurfaceAttrib (EGLDisplay dpy, EGLSurface surface, EGLint attribute, EGLint value); +EGLAPI EGLBoolean EGLAPIENTRY eglSwapInterval (EGLDisplay dpy, EGLint interval); +#endif /* EGL_VERSION_1_1 */ + +#ifndef EGL_VERSION_1_2 +#define EGL_VERSION_1_2 1 +typedef unsigned int EGLenum; +typedef void *EGLClientBuffer; +#define EGL_ALPHA_FORMAT 0x3088 +#define EGL_ALPHA_FORMAT_NONPRE 0x308B +#define EGL_ALPHA_FORMAT_PRE 0x308C +#define EGL_ALPHA_MASK_SIZE 0x303E +#define EGL_BUFFER_PRESERVED 0x3094 +#define EGL_BUFFER_DESTROYED 0x3095 +#define EGL_CLIENT_APIS 0x308D +#define EGL_COLORSPACE 0x3087 +#define EGL_COLORSPACE_sRGB 0x3089 +#define EGL_COLORSPACE_LINEAR 0x308A +#define EGL_COLOR_BUFFER_TYPE 0x303F +#define EGL_CONTEXT_CLIENT_TYPE 0x3097 +#define EGL_DISPLAY_SCALING 10000 +#define EGL_HORIZONTAL_RESOLUTION 0x3090 +#define EGL_LUMINANCE_BUFFER 0x308F +#define EGL_LUMINANCE_SIZE 0x303D +#define EGL_OPENGL_ES_BIT 0x0001 +#define EGL_OPENVG_BIT 0x0002 +#define EGL_OPENGL_ES_API 0x30A0 +#define EGL_OPENVG_API 0x30A1 +#define EGL_OPENVG_IMAGE 0x3096 +#define EGL_PIXEL_ASPECT_RATIO 0x3092 +#define EGL_RENDERABLE_TYPE 0x3040 +#define EGL_RENDER_BUFFER 0x3086 +#define EGL_RGB_BUFFER 0x308E +#define EGL_SINGLE_BUFFER 0x3085 +#define EGL_SWAP_BEHAVIOR 0x3093 +#define EGL_UNKNOWN ((EGLint)-1) +#define EGL_VERTICAL_RESOLUTION 0x3091 +EGLAPI EGLBoolean EGLAPIENTRY eglBindAPI (EGLenum api); +EGLAPI EGLenum EGLAPIENTRY eglQueryAPI (void); +EGLAPI EGLSurface EGLAPIENTRY eglCreatePbufferFromClientBuffer (EGLDisplay dpy, EGLenum buftype, EGLClientBuffer buffer, EGLConfig config, const EGLint *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglReleaseThread (void); +EGLAPI EGLBoolean EGLAPIENTRY eglWaitClient (void); +#endif /* EGL_VERSION_1_2 */ + +#ifndef EGL_VERSION_1_3 +#define EGL_VERSION_1_3 1 +#define EGL_CONFORMANT 0x3042 +#define EGL_CONTEXT_CLIENT_VERSION 0x3098 +#define EGL_MATCH_NATIVE_PIXMAP 0x3041 +#define EGL_OPENGL_ES2_BIT 0x0004 +#define EGL_VG_ALPHA_FORMAT 0x3088 +#define EGL_VG_ALPHA_FORMAT_NONPRE 0x308B +#define EGL_VG_ALPHA_FORMAT_PRE 0x308C +#define EGL_VG_ALPHA_FORMAT_PRE_BIT 0x0040 +#define EGL_VG_COLORSPACE 0x3087 +#define EGL_VG_COLORSPACE_sRGB 0x3089 +#define EGL_VG_COLORSPACE_LINEAR 0x308A +#define EGL_VG_COLORSPACE_LINEAR_BIT 0x0020 +#endif /* EGL_VERSION_1_3 */ + +#ifndef EGL_VERSION_1_4 +#define EGL_VERSION_1_4 1 +#define EGL_DEFAULT_DISPLAY ((EGLNativeDisplayType)0) +#define EGL_MULTISAMPLE_RESOLVE_BOX_BIT 0x0200 +#define EGL_MULTISAMPLE_RESOLVE 0x3099 +#define EGL_MULTISAMPLE_RESOLVE_DEFAULT 0x309A +#define EGL_MULTISAMPLE_RESOLVE_BOX 0x309B +#define EGL_OPENGL_API 0x30A2 +#define EGL_OPENGL_BIT 0x0008 +#define EGL_SWAP_BEHAVIOR_PRESERVED_BIT 0x0400 +EGLAPI EGLContext EGLAPIENTRY eglGetCurrentContext (void); +#endif /* EGL_VERSION_1_4 */ + +#ifndef EGL_VERSION_1_5 +#define EGL_VERSION_1_5 1 +typedef void *EGLSync; +typedef intptr_t EGLAttrib; +typedef khronos_utime_nanoseconds_t EGLTime; +typedef void *EGLImage; +#define EGL_CONTEXT_MAJOR_VERSION 0x3098 +#define EGL_CONTEXT_MINOR_VERSION 0x30FB +#define EGL_CONTEXT_OPENGL_PROFILE_MASK 0x30FD +#define EGL_CONTEXT_OPENGL_RESET_NOTIFICATION_STRATEGY 0x31BD +#define EGL_NO_RESET_NOTIFICATION 0x31BE +#define EGL_LOSE_CONTEXT_ON_RESET 0x31BF +#define EGL_CONTEXT_OPENGL_CORE_PROFILE_BIT 0x00000001 +#define EGL_CONTEXT_OPENGL_COMPATIBILITY_PROFILE_BIT 0x00000002 +#define EGL_CONTEXT_OPENGL_DEBUG 0x31B0 +#define EGL_CONTEXT_OPENGL_FORWARD_COMPATIBLE 0x31B1 +#define EGL_CONTEXT_OPENGL_ROBUST_ACCESS 0x31B2 +#define EGL_OPENGL_ES3_BIT 0x00000040 +#define EGL_CL_EVENT_HANDLE 0x309C +#define EGL_SYNC_CL_EVENT 0x30FE +#define EGL_SYNC_CL_EVENT_COMPLETE 0x30FF +#define EGL_SYNC_PRIOR_COMMANDS_COMPLETE 0x30F0 +#define EGL_SYNC_TYPE 0x30F7 +#define EGL_SYNC_STATUS 0x30F1 +#define EGL_SYNC_CONDITION 0x30F8 +#define EGL_SIGNALED 0x30F2 +#define EGL_UNSIGNALED 0x30F3 +#define EGL_SYNC_FLUSH_COMMANDS_BIT 0x0001 +#define EGL_FOREVER 0xFFFFFFFFFFFFFFFFull +#define EGL_TIMEOUT_EXPIRED 0x30F5 +#define EGL_CONDITION_SATISFIED 0x30F6 +#define EGL_NO_SYNC ((EGLSync)0) +#define EGL_SYNC_FENCE 0x30F9 +#define EGL_GL_COLORSPACE 0x309D +#define EGL_GL_COLORSPACE_SRGB 0x3089 +#define EGL_GL_COLORSPACE_LINEAR 0x308A +#define EGL_GL_RENDERBUFFER 0x30B9 +#define EGL_GL_TEXTURE_2D 0x30B1 +#define EGL_GL_TEXTURE_LEVEL 0x30BC +#define EGL_GL_TEXTURE_3D 0x30B2 +#define EGL_GL_TEXTURE_ZOFFSET 0x30BD +#define EGL_GL_TEXTURE_CUBE_MAP_POSITIVE_X 0x30B3 +#define EGL_GL_TEXTURE_CUBE_MAP_NEGATIVE_X 0x30B4 +#define EGL_GL_TEXTURE_CUBE_MAP_POSITIVE_Y 0x30B5 +#define EGL_GL_TEXTURE_CUBE_MAP_NEGATIVE_Y 0x30B6 +#define EGL_GL_TEXTURE_CUBE_MAP_POSITIVE_Z 0x30B7 +#define EGL_GL_TEXTURE_CUBE_MAP_NEGATIVE_Z 0x30B8 +#define EGL_IMAGE_PRESERVED 0x30D2 +#define EGL_NO_IMAGE ((EGLImage)0) +EGLAPI EGLSync EGLAPIENTRY eglCreateSync (EGLDisplay dpy, EGLenum type, const EGLAttrib *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglDestroySync (EGLDisplay dpy, EGLSync sync); +EGLAPI EGLint EGLAPIENTRY eglClientWaitSync (EGLDisplay dpy, EGLSync sync, EGLint flags, EGLTime timeout); +EGLAPI EGLBoolean EGLAPIENTRY eglGetSyncAttrib (EGLDisplay dpy, EGLSync sync, EGLint attribute, EGLAttrib *value); +EGLAPI EGLImage EGLAPIENTRY eglCreateImage (EGLDisplay dpy, EGLContext ctx, EGLenum target, EGLClientBuffer buffer, const EGLAttrib *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglDestroyImage (EGLDisplay dpy, EGLImage image); +EGLAPI EGLDisplay EGLAPIENTRY eglGetPlatformDisplay (EGLenum platform, void *native_display, const EGLAttrib *attrib_list); +EGLAPI EGLSurface EGLAPIENTRY eglCreatePlatformWindowSurface (EGLDisplay dpy, EGLConfig config, void *native_window, const EGLAttrib *attrib_list); +EGLAPI EGLSurface EGLAPIENTRY eglCreatePlatformPixmapSurface (EGLDisplay dpy, EGLConfig config, void *native_pixmap, const EGLAttrib *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglWaitSync (EGLDisplay dpy, EGLSync sync, EGLint flags); +#endif /* EGL_VERSION_1_5 */ + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/mujoco_py/gl/eglext.h b/mujoco_py/gl/eglext.h new file mode 100644 index 00000000..4bc7c5d9 --- /dev/null +++ b/mujoco_py/gl/eglext.h @@ -0,0 +1,996 @@ +#ifndef __eglext_h_ +#define __eglext_h_ 1 + +#ifdef __cplusplus +extern "C" { +#endif + +/* +** Copyright (c) 2013-2016 The Khronos Group Inc. +** +** Permission is hereby granted, free of charge, to any person obtaining a +** copy of this software and/or associated documentation files (the +** "Materials"), to deal in the Materials without restriction, including +** without limitation the rights to use, copy, modify, merge, publish, +** distribute, sublicense, and/or sell copies of the Materials, and to +** permit persons to whom the Materials are furnished to do so, subject to +** the following conditions: +** +** The above copyright notice and this permission notice shall be included +** in all copies or substantial portions of the Materials. +** +** THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +** MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +** CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +** TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +** MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. +*/ +/* +** This header is generated from the Khronos OpenGL / OpenGL ES XML +** API Registry. The current version of the Registry, generator scripts +** used to make the header, and the header can be found at +** http://www.opengl.org/registry/ +** +** Khronos $Revision: 32938 $ on $Date: 2016-06-06 17:56:15 -0700 (Mon, 06 Jun 2016) $ +*/ + +#include "eglplatform.h" + +#define EGL_EGLEXT_VERSION 20160606 + +/* Generated C header for: + * API: egl + * Versions considered: .* + * Versions emitted: _nomatch_^ + * Default extensions included: egl + * Additional extensions included: _nomatch_^ + * Extensions removed: _nomatch_^ + */ + +#ifndef EGL_KHR_cl_event +#define EGL_KHR_cl_event 1 +#define EGL_CL_EVENT_HANDLE_KHR 0x309C +#define EGL_SYNC_CL_EVENT_KHR 0x30FE +#define EGL_SYNC_CL_EVENT_COMPLETE_KHR 0x30FF +#endif /* EGL_KHR_cl_event */ + +#ifndef EGL_KHR_cl_event2 +#define EGL_KHR_cl_event2 1 +typedef void *EGLSyncKHR; +typedef intptr_t EGLAttribKHR; +typedef EGLSyncKHR (EGLAPIENTRYP PFNEGLCREATESYNC64KHRPROC) (EGLDisplay dpy, EGLenum type, const EGLAttribKHR *attrib_list); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLSyncKHR EGLAPIENTRY eglCreateSync64KHR (EGLDisplay dpy, EGLenum type, const EGLAttribKHR *attrib_list); +#endif +#endif /* EGL_KHR_cl_event2 */ + +#ifndef EGL_KHR_client_get_all_proc_addresses +#define EGL_KHR_client_get_all_proc_addresses 1 +#endif /* EGL_KHR_client_get_all_proc_addresses */ + +#ifndef EGL_KHR_config_attribs +#define EGL_KHR_config_attribs 1 +#define EGL_CONFORMANT_KHR 0x3042 +#define EGL_VG_COLORSPACE_LINEAR_BIT_KHR 0x0020 +#define EGL_VG_ALPHA_FORMAT_PRE_BIT_KHR 0x0040 +#endif /* EGL_KHR_config_attribs */ + +#ifndef EGL_KHR_create_context +#define EGL_KHR_create_context 1 +#define EGL_CONTEXT_MAJOR_VERSION_KHR 0x3098 +#define EGL_CONTEXT_MINOR_VERSION_KHR 0x30FB +#define EGL_CONTEXT_FLAGS_KHR 0x30FC +#define EGL_CONTEXT_OPENGL_PROFILE_MASK_KHR 0x30FD +#define EGL_CONTEXT_OPENGL_RESET_NOTIFICATION_STRATEGY_KHR 0x31BD +#define EGL_NO_RESET_NOTIFICATION_KHR 0x31BE +#define EGL_LOSE_CONTEXT_ON_RESET_KHR 0x31BF +#define EGL_CONTEXT_OPENGL_DEBUG_BIT_KHR 0x00000001 +#define EGL_CONTEXT_OPENGL_FORWARD_COMPATIBLE_BIT_KHR 0x00000002 +#define EGL_CONTEXT_OPENGL_ROBUST_ACCESS_BIT_KHR 0x00000004 +#define EGL_CONTEXT_OPENGL_CORE_PROFILE_BIT_KHR 0x00000001 +#define EGL_CONTEXT_OPENGL_COMPATIBILITY_PROFILE_BIT_KHR 0x00000002 +#define EGL_OPENGL_ES3_BIT_KHR 0x00000040 +#endif /* EGL_KHR_create_context */ + +#ifndef EGL_KHR_create_context_no_error +#define EGL_KHR_create_context_no_error 1 +#define EGL_CONTEXT_OPENGL_NO_ERROR_KHR 0x31B3 +#endif /* EGL_KHR_create_context_no_error */ + +#ifndef EGL_KHR_debug +#define EGL_KHR_debug 1 +typedef void *EGLLabelKHR; +typedef void *EGLObjectKHR; +typedef void (EGLAPIENTRY *EGLDEBUGPROCKHR)(EGLenum error,const char *command,EGLint messageType,EGLLabelKHR threadLabel,EGLLabelKHR objectLabel,const char* message); +#define EGL_OBJECT_THREAD_KHR 0x33B0 +#define EGL_OBJECT_DISPLAY_KHR 0x33B1 +#define EGL_OBJECT_CONTEXT_KHR 0x33B2 +#define EGL_OBJECT_SURFACE_KHR 0x33B3 +#define EGL_OBJECT_IMAGE_KHR 0x33B4 +#define EGL_OBJECT_SYNC_KHR 0x33B5 +#define EGL_OBJECT_STREAM_KHR 0x33B6 +#define EGL_DEBUG_MSG_CRITICAL_KHR 0x33B9 +#define EGL_DEBUG_MSG_ERROR_KHR 0x33BA +#define EGL_DEBUG_MSG_WARN_KHR 0x33BB +#define EGL_DEBUG_MSG_INFO_KHR 0x33BC +#define EGL_DEBUG_CALLBACK_KHR 0x33B8 +typedef EGLint (EGLAPIENTRYP PFNEGLDEBUGMESSAGECONTROLKHRPROC) (EGLDEBUGPROCKHR callback, const EGLAttrib *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDEBUGKHRPROC) (EGLint attribute, EGLAttrib *value); +typedef EGLint (EGLAPIENTRYP PFNEGLLABELOBJECTKHRPROC) (EGLDisplay display, EGLenum objectType, EGLObjectKHR object, EGLLabelKHR label); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLint EGLAPIENTRY eglDebugMessageControlKHR (EGLDEBUGPROCKHR callback, const EGLAttrib *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryDebugKHR (EGLint attribute, EGLAttrib *value); +EGLAPI EGLint EGLAPIENTRY eglLabelObjectKHR (EGLDisplay display, EGLenum objectType, EGLObjectKHR object, EGLLabelKHR label); +#endif +#endif /* EGL_KHR_debug */ + +#ifndef EGL_KHR_fence_sync +#define EGL_KHR_fence_sync 1 +typedef khronos_utime_nanoseconds_t EGLTimeKHR; +#ifdef KHRONOS_SUPPORT_INT64 +#define EGL_SYNC_PRIOR_COMMANDS_COMPLETE_KHR 0x30F0 +#define EGL_SYNC_CONDITION_KHR 0x30F8 +#define EGL_SYNC_FENCE_KHR 0x30F9 +typedef EGLSyncKHR (EGLAPIENTRYP PFNEGLCREATESYNCKHRPROC) (EGLDisplay dpy, EGLenum type, const EGLint *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYSYNCKHRPROC) (EGLDisplay dpy, EGLSyncKHR sync); +typedef EGLint (EGLAPIENTRYP PFNEGLCLIENTWAITSYNCKHRPROC) (EGLDisplay dpy, EGLSyncKHR sync, EGLint flags, EGLTimeKHR timeout); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETSYNCATTRIBKHRPROC) (EGLDisplay dpy, EGLSyncKHR sync, EGLint attribute, EGLint *value); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLSyncKHR EGLAPIENTRY eglCreateSyncKHR (EGLDisplay dpy, EGLenum type, const EGLint *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglDestroySyncKHR (EGLDisplay dpy, EGLSyncKHR sync); +EGLAPI EGLint EGLAPIENTRY eglClientWaitSyncKHR (EGLDisplay dpy, EGLSyncKHR sync, EGLint flags, EGLTimeKHR timeout); +EGLAPI EGLBoolean EGLAPIENTRY eglGetSyncAttribKHR (EGLDisplay dpy, EGLSyncKHR sync, EGLint attribute, EGLint *value); +#endif +#endif /* KHRONOS_SUPPORT_INT64 */ +#endif /* EGL_KHR_fence_sync */ + +#ifndef EGL_KHR_get_all_proc_addresses +#define EGL_KHR_get_all_proc_addresses 1 +#endif /* EGL_KHR_get_all_proc_addresses */ + +#ifndef EGL_KHR_gl_colorspace +#define EGL_KHR_gl_colorspace 1 +#define EGL_GL_COLORSPACE_KHR 0x309D +#define EGL_GL_COLORSPACE_SRGB_KHR 0x3089 +#define EGL_GL_COLORSPACE_LINEAR_KHR 0x308A +#endif /* EGL_KHR_gl_colorspace */ + +#ifndef EGL_KHR_gl_renderbuffer_image +#define EGL_KHR_gl_renderbuffer_image 1 +#define EGL_GL_RENDERBUFFER_KHR 0x30B9 +#endif /* EGL_KHR_gl_renderbuffer_image */ + +#ifndef EGL_KHR_gl_texture_2D_image +#define EGL_KHR_gl_texture_2D_image 1 +#define EGL_GL_TEXTURE_2D_KHR 0x30B1 +#define EGL_GL_TEXTURE_LEVEL_KHR 0x30BC +#endif /* EGL_KHR_gl_texture_2D_image */ + +#ifndef EGL_KHR_gl_texture_3D_image +#define EGL_KHR_gl_texture_3D_image 1 +#define EGL_GL_TEXTURE_3D_KHR 0x30B2 +#define EGL_GL_TEXTURE_ZOFFSET_KHR 0x30BD +#endif /* EGL_KHR_gl_texture_3D_image */ + +#ifndef EGL_KHR_gl_texture_cubemap_image +#define EGL_KHR_gl_texture_cubemap_image 1 +#define EGL_GL_TEXTURE_CUBE_MAP_POSITIVE_X_KHR 0x30B3 +#define EGL_GL_TEXTURE_CUBE_MAP_NEGATIVE_X_KHR 0x30B4 +#define EGL_GL_TEXTURE_CUBE_MAP_POSITIVE_Y_KHR 0x30B5 +#define EGL_GL_TEXTURE_CUBE_MAP_NEGATIVE_Y_KHR 0x30B6 +#define EGL_GL_TEXTURE_CUBE_MAP_POSITIVE_Z_KHR 0x30B7 +#define EGL_GL_TEXTURE_CUBE_MAP_NEGATIVE_Z_KHR 0x30B8 +#endif /* EGL_KHR_gl_texture_cubemap_image */ + +#ifndef EGL_KHR_image +#define EGL_KHR_image 1 +typedef void *EGLImageKHR; +#define EGL_NATIVE_PIXMAP_KHR 0x30B0 +#define EGL_NO_IMAGE_KHR ((EGLImageKHR)0) +typedef EGLImageKHR (EGLAPIENTRYP PFNEGLCREATEIMAGEKHRPROC) (EGLDisplay dpy, EGLContext ctx, EGLenum target, EGLClientBuffer buffer, const EGLint *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYIMAGEKHRPROC) (EGLDisplay dpy, EGLImageKHR image); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLImageKHR EGLAPIENTRY eglCreateImageKHR (EGLDisplay dpy, EGLContext ctx, EGLenum target, EGLClientBuffer buffer, const EGLint *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglDestroyImageKHR (EGLDisplay dpy, EGLImageKHR image); +#endif +#endif /* EGL_KHR_image */ + +#ifndef EGL_KHR_image_base +#define EGL_KHR_image_base 1 +#define EGL_IMAGE_PRESERVED_KHR 0x30D2 +#endif /* EGL_KHR_image_base */ + +#ifndef EGL_KHR_image_pixmap +#define EGL_KHR_image_pixmap 1 +#endif /* EGL_KHR_image_pixmap */ + +#ifndef EGL_KHR_lock_surface +#define EGL_KHR_lock_surface 1 +#define EGL_READ_SURFACE_BIT_KHR 0x0001 +#define EGL_WRITE_SURFACE_BIT_KHR 0x0002 +#define EGL_LOCK_SURFACE_BIT_KHR 0x0080 +#define EGL_OPTIMAL_FORMAT_BIT_KHR 0x0100 +#define EGL_MATCH_FORMAT_KHR 0x3043 +#define EGL_FORMAT_RGB_565_EXACT_KHR 0x30C0 +#define EGL_FORMAT_RGB_565_KHR 0x30C1 +#define EGL_FORMAT_RGBA_8888_EXACT_KHR 0x30C2 +#define EGL_FORMAT_RGBA_8888_KHR 0x30C3 +#define EGL_MAP_PRESERVE_PIXELS_KHR 0x30C4 +#define EGL_LOCK_USAGE_HINT_KHR 0x30C5 +#define EGL_BITMAP_POINTER_KHR 0x30C6 +#define EGL_BITMAP_PITCH_KHR 0x30C7 +#define EGL_BITMAP_ORIGIN_KHR 0x30C8 +#define EGL_BITMAP_PIXEL_RED_OFFSET_KHR 0x30C9 +#define EGL_BITMAP_PIXEL_GREEN_OFFSET_KHR 0x30CA +#define EGL_BITMAP_PIXEL_BLUE_OFFSET_KHR 0x30CB +#define EGL_BITMAP_PIXEL_ALPHA_OFFSET_KHR 0x30CC +#define EGL_BITMAP_PIXEL_LUMINANCE_OFFSET_KHR 0x30CD +#define EGL_LOWER_LEFT_KHR 0x30CE +#define EGL_UPPER_LEFT_KHR 0x30CF +typedef EGLBoolean (EGLAPIENTRYP PFNEGLLOCKSURFACEKHRPROC) (EGLDisplay dpy, EGLSurface surface, const EGLint *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLUNLOCKSURFACEKHRPROC) (EGLDisplay dpy, EGLSurface surface); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglLockSurfaceKHR (EGLDisplay dpy, EGLSurface surface, const EGLint *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglUnlockSurfaceKHR (EGLDisplay dpy, EGLSurface surface); +#endif +#endif /* EGL_KHR_lock_surface */ + +#ifndef EGL_KHR_lock_surface2 +#define EGL_KHR_lock_surface2 1 +#define EGL_BITMAP_PIXEL_SIZE_KHR 0x3110 +#endif /* EGL_KHR_lock_surface2 */ + +#ifndef EGL_KHR_lock_surface3 +#define EGL_KHR_lock_surface3 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSURFACE64KHRPROC) (EGLDisplay dpy, EGLSurface surface, EGLint attribute, EGLAttribKHR *value); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglQuerySurface64KHR (EGLDisplay dpy, EGLSurface surface, EGLint attribute, EGLAttribKHR *value); +#endif +#endif /* EGL_KHR_lock_surface3 */ + +#ifndef EGL_KHR_mutable_render_buffer +#define EGL_KHR_mutable_render_buffer 1 +#define EGL_MUTABLE_RENDER_BUFFER_BIT_KHR 0x1000 +#endif /* EGL_KHR_mutable_render_buffer */ + +#ifndef EGL_KHR_partial_update +#define EGL_KHR_partial_update 1 +#define EGL_BUFFER_AGE_KHR 0x313D +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSETDAMAGEREGIONKHRPROC) (EGLDisplay dpy, EGLSurface surface, EGLint *rects, EGLint n_rects); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglSetDamageRegionKHR (EGLDisplay dpy, EGLSurface surface, EGLint *rects, EGLint n_rects); +#endif +#endif /* EGL_KHR_partial_update */ + +#ifndef EGL_KHR_platform_android +#define EGL_KHR_platform_android 1 +#define EGL_PLATFORM_ANDROID_KHR 0x3141 +#endif /* EGL_KHR_platform_android */ + +#ifndef EGL_KHR_platform_gbm +#define EGL_KHR_platform_gbm 1 +#define EGL_PLATFORM_GBM_KHR 0x31D7 +#endif /* EGL_KHR_platform_gbm */ + +#ifndef EGL_KHR_platform_wayland +#define EGL_KHR_platform_wayland 1 +#define EGL_PLATFORM_WAYLAND_KHR 0x31D8 +#endif /* EGL_KHR_platform_wayland */ + +#ifndef EGL_KHR_platform_x11 +#define EGL_KHR_platform_x11 1 +#define EGL_PLATFORM_X11_KHR 0x31D5 +#define EGL_PLATFORM_X11_SCREEN_KHR 0x31D6 +#endif /* EGL_KHR_platform_x11 */ + +#ifndef EGL_KHR_reusable_sync +#define EGL_KHR_reusable_sync 1 +#ifdef KHRONOS_SUPPORT_INT64 +#define EGL_SYNC_STATUS_KHR 0x30F1 +#define EGL_SIGNALED_KHR 0x30F2 +#define EGL_UNSIGNALED_KHR 0x30F3 +#define EGL_TIMEOUT_EXPIRED_KHR 0x30F5 +#define EGL_CONDITION_SATISFIED_KHR 0x30F6 +#define EGL_SYNC_TYPE_KHR 0x30F7 +#define EGL_SYNC_REUSABLE_KHR 0x30FA +#define EGL_SYNC_FLUSH_COMMANDS_BIT_KHR 0x0001 +#define EGL_FOREVER_KHR 0xFFFFFFFFFFFFFFFFull +#define EGL_NO_SYNC_KHR ((EGLSyncKHR)0) +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSIGNALSYNCKHRPROC) (EGLDisplay dpy, EGLSyncKHR sync, EGLenum mode); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglSignalSyncKHR (EGLDisplay dpy, EGLSyncKHR sync, EGLenum mode); +#endif +#endif /* KHRONOS_SUPPORT_INT64 */ +#endif /* EGL_KHR_reusable_sync */ + +#ifndef EGL_KHR_stream +#define EGL_KHR_stream 1 +typedef void *EGLStreamKHR; +typedef khronos_uint64_t EGLuint64KHR; +#ifdef KHRONOS_SUPPORT_INT64 +#define EGL_NO_STREAM_KHR ((EGLStreamKHR)0) +#define EGL_CONSUMER_LATENCY_USEC_KHR 0x3210 +#define EGL_PRODUCER_FRAME_KHR 0x3212 +#define EGL_CONSUMER_FRAME_KHR 0x3213 +#define EGL_STREAM_STATE_KHR 0x3214 +#define EGL_STREAM_STATE_CREATED_KHR 0x3215 +#define EGL_STREAM_STATE_CONNECTING_KHR 0x3216 +#define EGL_STREAM_STATE_EMPTY_KHR 0x3217 +#define EGL_STREAM_STATE_NEW_FRAME_AVAILABLE_KHR 0x3218 +#define EGL_STREAM_STATE_OLD_FRAME_AVAILABLE_KHR 0x3219 +#define EGL_STREAM_STATE_DISCONNECTED_KHR 0x321A +#define EGL_BAD_STREAM_KHR 0x321B +#define EGL_BAD_STATE_KHR 0x321C +typedef EGLStreamKHR (EGLAPIENTRYP PFNEGLCREATESTREAMKHRPROC) (EGLDisplay dpy, const EGLint *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYSTREAMKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMATTRIBKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLint value); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSTREAMKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLint *value); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSTREAMU64KHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLuint64KHR *value); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLStreamKHR EGLAPIENTRY eglCreateStreamKHR (EGLDisplay dpy, const EGLint *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglDestroyStreamKHR (EGLDisplay dpy, EGLStreamKHR stream); +EGLAPI EGLBoolean EGLAPIENTRY eglStreamAttribKHR (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLint value); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryStreamKHR (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLint *value); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryStreamu64KHR (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLuint64KHR *value); +#endif +#endif /* KHRONOS_SUPPORT_INT64 */ +#endif /* EGL_KHR_stream */ + +#ifndef EGL_KHR_stream_consumer_gltexture +#define EGL_KHR_stream_consumer_gltexture 1 +#ifdef EGL_KHR_stream +#define EGL_CONSUMER_ACQUIRE_TIMEOUT_USEC_KHR 0x321E +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMCONSUMERGLTEXTUREEXTERNALKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMCONSUMERACQUIREKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMCONSUMERRELEASEKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglStreamConsumerGLTextureExternalKHR (EGLDisplay dpy, EGLStreamKHR stream); +EGLAPI EGLBoolean EGLAPIENTRY eglStreamConsumerAcquireKHR (EGLDisplay dpy, EGLStreamKHR stream); +EGLAPI EGLBoolean EGLAPIENTRY eglStreamConsumerReleaseKHR (EGLDisplay dpy, EGLStreamKHR stream); +#endif +#endif /* EGL_KHR_stream */ +#endif /* EGL_KHR_stream_consumer_gltexture */ + +#ifndef EGL_KHR_stream_cross_process_fd +#define EGL_KHR_stream_cross_process_fd 1 +typedef int EGLNativeFileDescriptorKHR; +#ifdef EGL_KHR_stream +#define EGL_NO_FILE_DESCRIPTOR_KHR ((EGLNativeFileDescriptorKHR)(-1)) +typedef EGLNativeFileDescriptorKHR (EGLAPIENTRYP PFNEGLGETSTREAMFILEDESCRIPTORKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream); +typedef EGLStreamKHR (EGLAPIENTRYP PFNEGLCREATESTREAMFROMFILEDESCRIPTORKHRPROC) (EGLDisplay dpy, EGLNativeFileDescriptorKHR file_descriptor); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLNativeFileDescriptorKHR EGLAPIENTRY eglGetStreamFileDescriptorKHR (EGLDisplay dpy, EGLStreamKHR stream); +EGLAPI EGLStreamKHR EGLAPIENTRY eglCreateStreamFromFileDescriptorKHR (EGLDisplay dpy, EGLNativeFileDescriptorKHR file_descriptor); +#endif +#endif /* EGL_KHR_stream */ +#endif /* EGL_KHR_stream_cross_process_fd */ + +#ifndef EGL_KHR_stream_fifo +#define EGL_KHR_stream_fifo 1 +#ifdef EGL_KHR_stream +#define EGL_STREAM_FIFO_LENGTH_KHR 0x31FC +#define EGL_STREAM_TIME_NOW_KHR 0x31FD +#define EGL_STREAM_TIME_CONSUMER_KHR 0x31FE +#define EGL_STREAM_TIME_PRODUCER_KHR 0x31FF +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSTREAMTIMEKHRPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLTimeKHR *value); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglQueryStreamTimeKHR (EGLDisplay dpy, EGLStreamKHR stream, EGLenum attribute, EGLTimeKHR *value); +#endif +#endif /* EGL_KHR_stream */ +#endif /* EGL_KHR_stream_fifo */ + +#ifndef EGL_KHR_stream_producer_aldatalocator +#define EGL_KHR_stream_producer_aldatalocator 1 +#ifdef EGL_KHR_stream +#endif /* EGL_KHR_stream */ +#endif /* EGL_KHR_stream_producer_aldatalocator */ + +#ifndef EGL_KHR_stream_producer_eglsurface +#define EGL_KHR_stream_producer_eglsurface 1 +#ifdef EGL_KHR_stream +#define EGL_STREAM_BIT_KHR 0x0800 +typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATESTREAMPRODUCERSURFACEKHRPROC) (EGLDisplay dpy, EGLConfig config, EGLStreamKHR stream, const EGLint *attrib_list); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLSurface EGLAPIENTRY eglCreateStreamProducerSurfaceKHR (EGLDisplay dpy, EGLConfig config, EGLStreamKHR stream, const EGLint *attrib_list); +#endif +#endif /* EGL_KHR_stream */ +#endif /* EGL_KHR_stream_producer_eglsurface */ + +#ifndef EGL_KHR_surfaceless_context +#define EGL_KHR_surfaceless_context 1 +#endif /* EGL_KHR_surfaceless_context */ + +#ifndef EGL_KHR_swap_buffers_with_damage +#define EGL_KHR_swap_buffers_with_damage 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSWAPBUFFERSWITHDAMAGEKHRPROC) (EGLDisplay dpy, EGLSurface surface, EGLint *rects, EGLint n_rects); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglSwapBuffersWithDamageKHR (EGLDisplay dpy, EGLSurface surface, EGLint *rects, EGLint n_rects); +#endif +#endif /* EGL_KHR_swap_buffers_with_damage */ + +#ifndef EGL_KHR_vg_parent_image +#define EGL_KHR_vg_parent_image 1 +#define EGL_VG_PARENT_IMAGE_KHR 0x30BA +#endif /* EGL_KHR_vg_parent_image */ + +#ifndef EGL_KHR_wait_sync +#define EGL_KHR_wait_sync 1 +typedef EGLint (EGLAPIENTRYP PFNEGLWAITSYNCKHRPROC) (EGLDisplay dpy, EGLSyncKHR sync, EGLint flags); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLint EGLAPIENTRY eglWaitSyncKHR (EGLDisplay dpy, EGLSyncKHR sync, EGLint flags); +#endif +#endif /* EGL_KHR_wait_sync */ + +#ifndef EGL_ANDROID_blob_cache +#define EGL_ANDROID_blob_cache 1 +typedef khronos_ssize_t EGLsizeiANDROID; +typedef void (*EGLSetBlobFuncANDROID) (const void *key, EGLsizeiANDROID keySize, const void *value, EGLsizeiANDROID valueSize); +typedef EGLsizeiANDROID (*EGLGetBlobFuncANDROID) (const void *key, EGLsizeiANDROID keySize, void *value, EGLsizeiANDROID valueSize); +typedef void (EGLAPIENTRYP PFNEGLSETBLOBCACHEFUNCSANDROIDPROC) (EGLDisplay dpy, EGLSetBlobFuncANDROID set, EGLGetBlobFuncANDROID get); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI void EGLAPIENTRY eglSetBlobCacheFuncsANDROID (EGLDisplay dpy, EGLSetBlobFuncANDROID set, EGLGetBlobFuncANDROID get); +#endif +#endif /* EGL_ANDROID_blob_cache */ + +#ifndef EGL_ANDROID_create_native_client_buffer +#define EGL_ANDROID_create_native_client_buffer 1 +#define EGL_NATIVE_BUFFER_USAGE_ANDROID 0x3143 +#define EGL_NATIVE_BUFFER_USAGE_PROTECTED_BIT_ANDROID 0x00000001 +#define EGL_NATIVE_BUFFER_USAGE_RENDERBUFFER_BIT_ANDROID 0x00000002 +#define EGL_NATIVE_BUFFER_USAGE_TEXTURE_BIT_ANDROID 0x00000004 +typedef EGLClientBuffer (EGLAPIENTRYP PFNEGLCREATENATIVECLIENTBUFFERANDROIDPROC) (const EGLint *attrib_list); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLClientBuffer EGLAPIENTRY eglCreateNativeClientBufferANDROID (const EGLint *attrib_list); +#endif +#endif /* EGL_ANDROID_create_native_client_buffer */ + +#ifndef EGL_ANDROID_framebuffer_target +#define EGL_ANDROID_framebuffer_target 1 +#define EGL_FRAMEBUFFER_TARGET_ANDROID 0x3147 +#endif /* EGL_ANDROID_framebuffer_target */ + +#ifndef EGL_ANDROID_front_buffer_auto_refresh +#define EGL_ANDROID_front_buffer_auto_refresh 1 +#define EGL_FRONT_BUFFER_AUTO_REFRESH_ANDROID 0x314C +#endif /* EGL_ANDROID_front_buffer_auto_refresh */ + +#ifndef EGL_ANDROID_image_native_buffer +#define EGL_ANDROID_image_native_buffer 1 +#define EGL_NATIVE_BUFFER_ANDROID 0x3140 +#endif /* EGL_ANDROID_image_native_buffer */ + +#ifndef EGL_ANDROID_native_fence_sync +#define EGL_ANDROID_native_fence_sync 1 +#define EGL_SYNC_NATIVE_FENCE_ANDROID 0x3144 +#define EGL_SYNC_NATIVE_FENCE_FD_ANDROID 0x3145 +#define EGL_SYNC_NATIVE_FENCE_SIGNALED_ANDROID 0x3146 +#define EGL_NO_NATIVE_FENCE_FD_ANDROID -1 +typedef EGLint (EGLAPIENTRYP PFNEGLDUPNATIVEFENCEFDANDROIDPROC) (EGLDisplay dpy, EGLSyncKHR sync); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLint EGLAPIENTRY eglDupNativeFenceFDANDROID (EGLDisplay dpy, EGLSyncKHR sync); +#endif +#endif /* EGL_ANDROID_native_fence_sync */ + +#ifndef EGL_ANDROID_presentation_time +#define EGL_ANDROID_presentation_time 1 +typedef khronos_stime_nanoseconds_t EGLnsecsANDROID; +typedef EGLBoolean (EGLAPIENTRYP PFNEGLPRESENTATIONTIMEANDROIDPROC) (EGLDisplay dpy, EGLSurface surface, EGLnsecsANDROID time); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglPresentationTimeANDROID (EGLDisplay dpy, EGLSurface surface, EGLnsecsANDROID time); +#endif +#endif /* EGL_ANDROID_presentation_time */ + +#ifndef EGL_ANDROID_recordable +#define EGL_ANDROID_recordable 1 +#define EGL_RECORDABLE_ANDROID 0x3142 +#endif /* EGL_ANDROID_recordable */ + +#ifndef EGL_ANGLE_d3d_share_handle_client_buffer +#define EGL_ANGLE_d3d_share_handle_client_buffer 1 +#define EGL_D3D_TEXTURE_2D_SHARE_HANDLE_ANGLE 0x3200 +#endif /* EGL_ANGLE_d3d_share_handle_client_buffer */ + +#ifndef EGL_ANGLE_device_d3d +#define EGL_ANGLE_device_d3d 1 +#define EGL_D3D9_DEVICE_ANGLE 0x33A0 +#define EGL_D3D11_DEVICE_ANGLE 0x33A1 +#endif /* EGL_ANGLE_device_d3d */ + +#ifndef EGL_ANGLE_query_surface_pointer +#define EGL_ANGLE_query_surface_pointer 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSURFACEPOINTERANGLEPROC) (EGLDisplay dpy, EGLSurface surface, EGLint attribute, void **value); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglQuerySurfacePointerANGLE (EGLDisplay dpy, EGLSurface surface, EGLint attribute, void **value); +#endif +#endif /* EGL_ANGLE_query_surface_pointer */ + +#ifndef EGL_ANGLE_surface_d3d_texture_2d_share_handle +#define EGL_ANGLE_surface_d3d_texture_2d_share_handle 1 +#endif /* EGL_ANGLE_surface_d3d_texture_2d_share_handle */ + +#ifndef EGL_ANGLE_window_fixed_size +#define EGL_ANGLE_window_fixed_size 1 +#define EGL_FIXED_SIZE_ANGLE 0x3201 +#endif /* EGL_ANGLE_window_fixed_size */ + +#ifndef EGL_ARM_pixmap_multisample_discard +#define EGL_ARM_pixmap_multisample_discard 1 +#define EGL_DISCARD_SAMPLES_ARM 0x3286 +#endif /* EGL_ARM_pixmap_multisample_discard */ + +#ifndef EGL_EXT_buffer_age +#define EGL_EXT_buffer_age 1 +#define EGL_BUFFER_AGE_EXT 0x313D +#endif /* EGL_EXT_buffer_age */ + +#ifndef EGL_EXT_client_extensions +#define EGL_EXT_client_extensions 1 +#endif /* EGL_EXT_client_extensions */ + +#ifndef EGL_EXT_create_context_robustness +#define EGL_EXT_create_context_robustness 1 +#define EGL_CONTEXT_OPENGL_ROBUST_ACCESS_EXT 0x30BF +#define EGL_CONTEXT_OPENGL_RESET_NOTIFICATION_STRATEGY_EXT 0x3138 +#define EGL_NO_RESET_NOTIFICATION_EXT 0x31BE +#define EGL_LOSE_CONTEXT_ON_RESET_EXT 0x31BF +#endif /* EGL_EXT_create_context_robustness */ + +#ifndef EGL_EXT_device_base +#define EGL_EXT_device_base 1 +typedef void *EGLDeviceEXT; +#define EGL_NO_DEVICE_EXT ((EGLDeviceEXT)(0)) +#define EGL_BAD_DEVICE_EXT 0x322B +#define EGL_DEVICE_EXT 0x322C +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDEVICEATTRIBEXTPROC) (EGLDeviceEXT device, EGLint attribute, EGLAttrib *value); +typedef const char *(EGLAPIENTRYP PFNEGLQUERYDEVICESTRINGEXTPROC) (EGLDeviceEXT device, EGLint name); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDEVICESEXTPROC) (EGLint max_devices, EGLDeviceEXT *devices, EGLint *num_devices); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDISPLAYATTRIBEXTPROC) (EGLDisplay dpy, EGLint attribute, EGLAttrib *value); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglQueryDeviceAttribEXT (EGLDeviceEXT device, EGLint attribute, EGLAttrib *value); +EGLAPI const char *EGLAPIENTRY eglQueryDeviceStringEXT (EGLDeviceEXT device, EGLint name); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryDevicesEXT (EGLint max_devices, EGLDeviceEXT *devices, EGLint *num_devices); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryDisplayAttribEXT (EGLDisplay dpy, EGLint attribute, EGLAttrib *value); +#endif +#endif /* EGL_EXT_device_base */ + +#ifndef EGL_EXT_device_drm +#define EGL_EXT_device_drm 1 +#define EGL_DRM_DEVICE_FILE_EXT 0x3233 +#endif /* EGL_EXT_device_drm */ + +#ifndef EGL_EXT_device_enumeration +#define EGL_EXT_device_enumeration 1 +#endif /* EGL_EXT_device_enumeration */ + +#ifndef EGL_EXT_device_openwf +#define EGL_EXT_device_openwf 1 +#define EGL_OPENWF_DEVICE_ID_EXT 0x3237 +#endif /* EGL_EXT_device_openwf */ + +#ifndef EGL_EXT_device_query +#define EGL_EXT_device_query 1 +#endif /* EGL_EXT_device_query */ + +#ifndef EGL_EXT_image_dma_buf_import +#define EGL_EXT_image_dma_buf_import 1 +#define EGL_LINUX_DMA_BUF_EXT 0x3270 +#define EGL_LINUX_DRM_FOURCC_EXT 0x3271 +#define EGL_DMA_BUF_PLANE0_FD_EXT 0x3272 +#define EGL_DMA_BUF_PLANE0_OFFSET_EXT 0x3273 +#define EGL_DMA_BUF_PLANE0_PITCH_EXT 0x3274 +#define EGL_DMA_BUF_PLANE1_FD_EXT 0x3275 +#define EGL_DMA_BUF_PLANE1_OFFSET_EXT 0x3276 +#define EGL_DMA_BUF_PLANE1_PITCH_EXT 0x3277 +#define EGL_DMA_BUF_PLANE2_FD_EXT 0x3278 +#define EGL_DMA_BUF_PLANE2_OFFSET_EXT 0x3279 +#define EGL_DMA_BUF_PLANE2_PITCH_EXT 0x327A +#define EGL_YUV_COLOR_SPACE_HINT_EXT 0x327B +#define EGL_SAMPLE_RANGE_HINT_EXT 0x327C +#define EGL_YUV_CHROMA_HORIZONTAL_SITING_HINT_EXT 0x327D +#define EGL_YUV_CHROMA_VERTICAL_SITING_HINT_EXT 0x327E +#define EGL_ITU_REC601_EXT 0x327F +#define EGL_ITU_REC709_EXT 0x3280 +#define EGL_ITU_REC2020_EXT 0x3281 +#define EGL_YUV_FULL_RANGE_EXT 0x3282 +#define EGL_YUV_NARROW_RANGE_EXT 0x3283 +#define EGL_YUV_CHROMA_SITING_0_EXT 0x3284 +#define EGL_YUV_CHROMA_SITING_0_5_EXT 0x3285 +#endif /* EGL_EXT_image_dma_buf_import */ + +#ifndef EGL_EXT_multiview_window +#define EGL_EXT_multiview_window 1 +#define EGL_MULTIVIEW_VIEW_COUNT_EXT 0x3134 +#endif /* EGL_EXT_multiview_window */ + +#ifndef EGL_EXT_output_base +#define EGL_EXT_output_base 1 +typedef void *EGLOutputLayerEXT; +typedef void *EGLOutputPortEXT; +#define EGL_NO_OUTPUT_LAYER_EXT ((EGLOutputLayerEXT)0) +#define EGL_NO_OUTPUT_PORT_EXT ((EGLOutputPortEXT)0) +#define EGL_BAD_OUTPUT_LAYER_EXT 0x322D +#define EGL_BAD_OUTPUT_PORT_EXT 0x322E +#define EGL_SWAP_INTERVAL_EXT 0x322F +typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETOUTPUTLAYERSEXTPROC) (EGLDisplay dpy, const EGLAttrib *attrib_list, EGLOutputLayerEXT *layers, EGLint max_layers, EGLint *num_layers); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETOUTPUTPORTSEXTPROC) (EGLDisplay dpy, const EGLAttrib *attrib_list, EGLOutputPortEXT *ports, EGLint max_ports, EGLint *num_ports); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLOUTPUTLAYERATTRIBEXTPROC) (EGLDisplay dpy, EGLOutputLayerEXT layer, EGLint attribute, EGLAttrib value); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYOUTPUTLAYERATTRIBEXTPROC) (EGLDisplay dpy, EGLOutputLayerEXT layer, EGLint attribute, EGLAttrib *value); +typedef const char *(EGLAPIENTRYP PFNEGLQUERYOUTPUTLAYERSTRINGEXTPROC) (EGLDisplay dpy, EGLOutputLayerEXT layer, EGLint name); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLOUTPUTPORTATTRIBEXTPROC) (EGLDisplay dpy, EGLOutputPortEXT port, EGLint attribute, EGLAttrib value); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYOUTPUTPORTATTRIBEXTPROC) (EGLDisplay dpy, EGLOutputPortEXT port, EGLint attribute, EGLAttrib *value); +typedef const char *(EGLAPIENTRYP PFNEGLQUERYOUTPUTPORTSTRINGEXTPROC) (EGLDisplay dpy, EGLOutputPortEXT port, EGLint name); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglGetOutputLayersEXT (EGLDisplay dpy, const EGLAttrib *attrib_list, EGLOutputLayerEXT *layers, EGLint max_layers, EGLint *num_layers); +EGLAPI EGLBoolean EGLAPIENTRY eglGetOutputPortsEXT (EGLDisplay dpy, const EGLAttrib *attrib_list, EGLOutputPortEXT *ports, EGLint max_ports, EGLint *num_ports); +EGLAPI EGLBoolean EGLAPIENTRY eglOutputLayerAttribEXT (EGLDisplay dpy, EGLOutputLayerEXT layer, EGLint attribute, EGLAttrib value); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryOutputLayerAttribEXT (EGLDisplay dpy, EGLOutputLayerEXT layer, EGLint attribute, EGLAttrib *value); +EGLAPI const char *EGLAPIENTRY eglQueryOutputLayerStringEXT (EGLDisplay dpy, EGLOutputLayerEXT layer, EGLint name); +EGLAPI EGLBoolean EGLAPIENTRY eglOutputPortAttribEXT (EGLDisplay dpy, EGLOutputPortEXT port, EGLint attribute, EGLAttrib value); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryOutputPortAttribEXT (EGLDisplay dpy, EGLOutputPortEXT port, EGLint attribute, EGLAttrib *value); +EGLAPI const char *EGLAPIENTRY eglQueryOutputPortStringEXT (EGLDisplay dpy, EGLOutputPortEXT port, EGLint name); +#endif +#endif /* EGL_EXT_output_base */ + +#ifndef EGL_EXT_output_drm +#define EGL_EXT_output_drm 1 +#define EGL_DRM_CRTC_EXT 0x3234 +#define EGL_DRM_PLANE_EXT 0x3235 +#define EGL_DRM_CONNECTOR_EXT 0x3236 +#endif /* EGL_EXT_output_drm */ + +#ifndef EGL_EXT_output_openwf +#define EGL_EXT_output_openwf 1 +#define EGL_OPENWF_PIPELINE_ID_EXT 0x3238 +#define EGL_OPENWF_PORT_ID_EXT 0x3239 +#endif /* EGL_EXT_output_openwf */ + +#ifndef EGL_EXT_platform_base +#define EGL_EXT_platform_base 1 +typedef EGLDisplay (EGLAPIENTRYP PFNEGLGETPLATFORMDISPLAYEXTPROC) (EGLenum platform, void *native_display, const EGLint *attrib_list); +typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEPLATFORMWINDOWSURFACEEXTPROC) (EGLDisplay dpy, EGLConfig config, void *native_window, const EGLint *attrib_list); +typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEPLATFORMPIXMAPSURFACEEXTPROC) (EGLDisplay dpy, EGLConfig config, void *native_pixmap, const EGLint *attrib_list); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLDisplay EGLAPIENTRY eglGetPlatformDisplayEXT (EGLenum platform, void *native_display, const EGLint *attrib_list); +EGLAPI EGLSurface EGLAPIENTRY eglCreatePlatformWindowSurfaceEXT (EGLDisplay dpy, EGLConfig config, void *native_window, const EGLint *attrib_list); +EGLAPI EGLSurface EGLAPIENTRY eglCreatePlatformPixmapSurfaceEXT (EGLDisplay dpy, EGLConfig config, void *native_pixmap, const EGLint *attrib_list); +#endif +#endif /* EGL_EXT_platform_base */ + +#ifndef EGL_EXT_platform_device +#define EGL_EXT_platform_device 1 +#define EGL_PLATFORM_DEVICE_EXT 0x313F +#endif /* EGL_EXT_platform_device */ + +#ifndef EGL_EXT_platform_wayland +#define EGL_EXT_platform_wayland 1 +#define EGL_PLATFORM_WAYLAND_EXT 0x31D8 +#endif /* EGL_EXT_platform_wayland */ + +#ifndef EGL_EXT_platform_x11 +#define EGL_EXT_platform_x11 1 +#define EGL_PLATFORM_X11_EXT 0x31D5 +#define EGL_PLATFORM_X11_SCREEN_EXT 0x31D6 +#endif /* EGL_EXT_platform_x11 */ + +#ifndef EGL_EXT_protected_content +#define EGL_EXT_protected_content 1 +#define EGL_PROTECTED_CONTENT_EXT 0x32C0 +#endif /* EGL_EXT_protected_content */ + +#ifndef EGL_EXT_protected_surface +#define EGL_EXT_protected_surface 1 +#endif /* EGL_EXT_protected_surface */ + +#ifndef EGL_EXT_stream_consumer_egloutput +#define EGL_EXT_stream_consumer_egloutput 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMCONSUMEROUTPUTEXTPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLOutputLayerEXT layer); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglStreamConsumerOutputEXT (EGLDisplay dpy, EGLStreamKHR stream, EGLOutputLayerEXT layer); +#endif +#endif /* EGL_EXT_stream_consumer_egloutput */ + +#ifndef EGL_EXT_swap_buffers_with_damage +#define EGL_EXT_swap_buffers_with_damage 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSWAPBUFFERSWITHDAMAGEEXTPROC) (EGLDisplay dpy, EGLSurface surface, EGLint *rects, EGLint n_rects); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglSwapBuffersWithDamageEXT (EGLDisplay dpy, EGLSurface surface, EGLint *rects, EGLint n_rects); +#endif +#endif /* EGL_EXT_swap_buffers_with_damage */ + +#ifndef EGL_EXT_yuv_surface +#define EGL_EXT_yuv_surface 1 +#define EGL_YUV_ORDER_EXT 0x3301 +#define EGL_YUV_NUMBER_OF_PLANES_EXT 0x3311 +#define EGL_YUV_SUBSAMPLE_EXT 0x3312 +#define EGL_YUV_DEPTH_RANGE_EXT 0x3317 +#define EGL_YUV_CSC_STANDARD_EXT 0x330A +#define EGL_YUV_PLANE_BPP_EXT 0x331A +#define EGL_YUV_BUFFER_EXT 0x3300 +#define EGL_YUV_ORDER_YUV_EXT 0x3302 +#define EGL_YUV_ORDER_YVU_EXT 0x3303 +#define EGL_YUV_ORDER_YUYV_EXT 0x3304 +#define EGL_YUV_ORDER_UYVY_EXT 0x3305 +#define EGL_YUV_ORDER_YVYU_EXT 0x3306 +#define EGL_YUV_ORDER_VYUY_EXT 0x3307 +#define EGL_YUV_ORDER_AYUV_EXT 0x3308 +#define EGL_YUV_SUBSAMPLE_4_2_0_EXT 0x3313 +#define EGL_YUV_SUBSAMPLE_4_2_2_EXT 0x3314 +#define EGL_YUV_SUBSAMPLE_4_4_4_EXT 0x3315 +#define EGL_YUV_DEPTH_RANGE_LIMITED_EXT 0x3318 +#define EGL_YUV_DEPTH_RANGE_FULL_EXT 0x3319 +#define EGL_YUV_CSC_STANDARD_601_EXT 0x330B +#define EGL_YUV_CSC_STANDARD_709_EXT 0x330C +#define EGL_YUV_CSC_STANDARD_2020_EXT 0x330D +#define EGL_YUV_PLANE_BPP_0_EXT 0x331B +#define EGL_YUV_PLANE_BPP_8_EXT 0x331C +#define EGL_YUV_PLANE_BPP_10_EXT 0x331D +#endif /* EGL_EXT_yuv_surface */ + +#ifndef EGL_HI_clientpixmap +#define EGL_HI_clientpixmap 1 +struct EGLClientPixmapHI { + void *pData; + EGLint iWidth; + EGLint iHeight; + EGLint iStride; +}; +#define EGL_CLIENT_PIXMAP_POINTER_HI 0x8F74 +typedef EGLSurface (EGLAPIENTRYP PFNEGLCREATEPIXMAPSURFACEHIPROC) (EGLDisplay dpy, EGLConfig config, struct EGLClientPixmapHI *pixmap); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLSurface EGLAPIENTRY eglCreatePixmapSurfaceHI (EGLDisplay dpy, EGLConfig config, struct EGLClientPixmapHI *pixmap); +#endif +#endif /* EGL_HI_clientpixmap */ + +#ifndef EGL_HI_colorformats +#define EGL_HI_colorformats 1 +#define EGL_COLOR_FORMAT_HI 0x8F70 +#define EGL_COLOR_RGB_HI 0x8F71 +#define EGL_COLOR_RGBA_HI 0x8F72 +#define EGL_COLOR_ARGB_HI 0x8F73 +#endif /* EGL_HI_colorformats */ + +#ifndef EGL_IMG_context_priority +#define EGL_IMG_context_priority 1 +#define EGL_CONTEXT_PRIORITY_LEVEL_IMG 0x3100 +#define EGL_CONTEXT_PRIORITY_HIGH_IMG 0x3101 +#define EGL_CONTEXT_PRIORITY_MEDIUM_IMG 0x3102 +#define EGL_CONTEXT_PRIORITY_LOW_IMG 0x3103 +#endif /* EGL_IMG_context_priority */ + +#ifndef EGL_IMG_image_plane_attribs +#define EGL_IMG_image_plane_attribs 1 +#define EGL_NATIVE_BUFFER_MULTIPLANE_SEPARATE_IMG 0x3105 +#define EGL_NATIVE_BUFFER_PLANE_OFFSET_IMG 0x3106 +#endif /* EGL_IMG_image_plane_attribs */ + +#ifndef EGL_MESA_drm_image +#define EGL_MESA_drm_image 1 +#define EGL_DRM_BUFFER_FORMAT_MESA 0x31D0 +#define EGL_DRM_BUFFER_USE_MESA 0x31D1 +#define EGL_DRM_BUFFER_FORMAT_ARGB32_MESA 0x31D2 +#define EGL_DRM_BUFFER_MESA 0x31D3 +#define EGL_DRM_BUFFER_STRIDE_MESA 0x31D4 +#define EGL_DRM_BUFFER_USE_SCANOUT_MESA 0x00000001 +#define EGL_DRM_BUFFER_USE_SHARE_MESA 0x00000002 +typedef EGLImageKHR (EGLAPIENTRYP PFNEGLCREATEDRMIMAGEMESAPROC) (EGLDisplay dpy, const EGLint *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLEXPORTDRMIMAGEMESAPROC) (EGLDisplay dpy, EGLImageKHR image, EGLint *name, EGLint *handle, EGLint *stride); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLImageKHR EGLAPIENTRY eglCreateDRMImageMESA (EGLDisplay dpy, const EGLint *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglExportDRMImageMESA (EGLDisplay dpy, EGLImageKHR image, EGLint *name, EGLint *handle, EGLint *stride); +#endif +#endif /* EGL_MESA_drm_image */ + +#ifndef EGL_MESA_image_dma_buf_export +#define EGL_MESA_image_dma_buf_export 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLEXPORTDMABUFIMAGEQUERYMESAPROC) (EGLDisplay dpy, EGLImageKHR image, int *fourcc, int *num_planes, EGLuint64KHR *modifiers); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLEXPORTDMABUFIMAGEMESAPROC) (EGLDisplay dpy, EGLImageKHR image, int *fds, EGLint *strides, EGLint *offsets); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglExportDMABUFImageQueryMESA (EGLDisplay dpy, EGLImageKHR image, int *fourcc, int *num_planes, EGLuint64KHR *modifiers); +EGLAPI EGLBoolean EGLAPIENTRY eglExportDMABUFImageMESA (EGLDisplay dpy, EGLImageKHR image, int *fds, EGLint *strides, EGLint *offsets); +#endif +#endif /* EGL_MESA_image_dma_buf_export */ + +#ifndef EGL_MESA_platform_gbm +#define EGL_MESA_platform_gbm 1 +#define EGL_PLATFORM_GBM_MESA 0x31D7 +#endif /* EGL_MESA_platform_gbm */ + +#ifndef EGL_NOK_swap_region +#define EGL_NOK_swap_region 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSWAPBUFFERSREGIONNOKPROC) (EGLDisplay dpy, EGLSurface surface, EGLint numRects, const EGLint *rects); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglSwapBuffersRegionNOK (EGLDisplay dpy, EGLSurface surface, EGLint numRects, const EGLint *rects); +#endif +#endif /* EGL_NOK_swap_region */ + +#ifndef EGL_NOK_swap_region2 +#define EGL_NOK_swap_region2 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSWAPBUFFERSREGION2NOKPROC) (EGLDisplay dpy, EGLSurface surface, EGLint numRects, const EGLint *rects); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglSwapBuffersRegion2NOK (EGLDisplay dpy, EGLSurface surface, EGLint numRects, const EGLint *rects); +#endif +#endif /* EGL_NOK_swap_region2 */ + +#ifndef EGL_NOK_texture_from_pixmap +#define EGL_NOK_texture_from_pixmap 1 +#define EGL_Y_INVERTED_NOK 0x307F +#endif /* EGL_NOK_texture_from_pixmap */ + +#ifndef EGL_NV_3dvision_surface +#define EGL_NV_3dvision_surface 1 +#define EGL_AUTO_STEREO_NV 0x3136 +#endif /* EGL_NV_3dvision_surface */ + +#ifndef EGL_NV_coverage_sample +#define EGL_NV_coverage_sample 1 +#define EGL_COVERAGE_BUFFERS_NV 0x30E0 +#define EGL_COVERAGE_SAMPLES_NV 0x30E1 +#endif /* EGL_NV_coverage_sample */ + +#ifndef EGL_NV_coverage_sample_resolve +#define EGL_NV_coverage_sample_resolve 1 +#define EGL_COVERAGE_SAMPLE_RESOLVE_NV 0x3131 +#define EGL_COVERAGE_SAMPLE_RESOLVE_DEFAULT_NV 0x3132 +#define EGL_COVERAGE_SAMPLE_RESOLVE_NONE_NV 0x3133 +#endif /* EGL_NV_coverage_sample_resolve */ + +#ifndef EGL_NV_cuda_event +#define EGL_NV_cuda_event 1 +#define EGL_CUDA_EVENT_HANDLE_NV 0x323B +#define EGL_SYNC_CUDA_EVENT_NV 0x323C +#define EGL_SYNC_CUDA_EVENT_COMPLETE_NV 0x323D +#endif /* EGL_NV_cuda_event */ + +#ifndef EGL_NV_depth_nonlinear +#define EGL_NV_depth_nonlinear 1 +#define EGL_DEPTH_ENCODING_NV 0x30E2 +#define EGL_DEPTH_ENCODING_NONE_NV 0 +#define EGL_DEPTH_ENCODING_NONLINEAR_NV 0x30E3 +#endif /* EGL_NV_depth_nonlinear */ + +#ifndef EGL_NV_device_cuda +#define EGL_NV_device_cuda 1 +#define EGL_CUDA_DEVICE_NV 0x323A +#endif /* EGL_NV_device_cuda */ + +#ifndef EGL_NV_native_query +#define EGL_NV_native_query 1 +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYNATIVEDISPLAYNVPROC) (EGLDisplay dpy, EGLNativeDisplayType *display_id); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYNATIVEWINDOWNVPROC) (EGLDisplay dpy, EGLSurface surf, EGLNativeWindowType *window); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYNATIVEPIXMAPNVPROC) (EGLDisplay dpy, EGLSurface surf, EGLNativePixmapType *pixmap); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglQueryNativeDisplayNV (EGLDisplay dpy, EGLNativeDisplayType *display_id); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryNativeWindowNV (EGLDisplay dpy, EGLSurface surf, EGLNativeWindowType *window); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryNativePixmapNV (EGLDisplay dpy, EGLSurface surf, EGLNativePixmapType *pixmap); +#endif +#endif /* EGL_NV_native_query */ + +#ifndef EGL_NV_post_convert_rounding +#define EGL_NV_post_convert_rounding 1 +#endif /* EGL_NV_post_convert_rounding */ + +#ifndef EGL_NV_post_sub_buffer +#define EGL_NV_post_sub_buffer 1 +#define EGL_POST_SUB_BUFFER_SUPPORTED_NV 0x30BE +typedef EGLBoolean (EGLAPIENTRYP PFNEGLPOSTSUBBUFFERNVPROC) (EGLDisplay dpy, EGLSurface surface, EGLint x, EGLint y, EGLint width, EGLint height); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglPostSubBufferNV (EGLDisplay dpy, EGLSurface surface, EGLint x, EGLint y, EGLint width, EGLint height); +#endif +#endif /* EGL_NV_post_sub_buffer */ + +#ifndef EGL_NV_robustness_video_memory_purge +#define EGL_NV_robustness_video_memory_purge 1 +#define EGL_GENERATE_RESET_ON_VIDEO_MEMORY_PURGE_NV 0x334C +#endif /* EGL_NV_robustness_video_memory_purge */ + +#ifndef EGL_NV_stream_consumer_gltexture_yuv +#define EGL_NV_stream_consumer_gltexture_yuv 1 +#define EGL_YUV_PLANE0_TEXTURE_UNIT_NV 0x332C +#define EGL_YUV_PLANE1_TEXTURE_UNIT_NV 0x332D +#define EGL_YUV_PLANE2_TEXTURE_UNIT_NV 0x332E +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSTREAMCONSUMERGLTEXTUREEXTERNALATTRIBSNVPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLAttrib *attrib_list); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglStreamConsumerGLTextureExternalAttribsNV (EGLDisplay dpy, EGLStreamKHR stream, EGLAttrib *attrib_list); +#endif +#endif /* EGL_NV_stream_consumer_gltexture_yuv */ + +#ifndef EGL_NV_stream_metadata +#define EGL_NV_stream_metadata 1 +#define EGL_MAX_STREAM_METADATA_BLOCKS_NV 0x3250 +#define EGL_MAX_STREAM_METADATA_BLOCK_SIZE_NV 0x3251 +#define EGL_MAX_STREAM_METADATA_TOTAL_SIZE_NV 0x3252 +#define EGL_PRODUCER_METADATA_NV 0x3253 +#define EGL_CONSUMER_METADATA_NV 0x3254 +#define EGL_PENDING_METADATA_NV 0x3328 +#define EGL_METADATA0_SIZE_NV 0x3255 +#define EGL_METADATA1_SIZE_NV 0x3256 +#define EGL_METADATA2_SIZE_NV 0x3257 +#define EGL_METADATA3_SIZE_NV 0x3258 +#define EGL_METADATA0_TYPE_NV 0x3259 +#define EGL_METADATA1_TYPE_NV 0x325A +#define EGL_METADATA2_TYPE_NV 0x325B +#define EGL_METADATA3_TYPE_NV 0x325C +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYDISPLAYATTRIBNVPROC) (EGLDisplay dpy, EGLint attribute, EGLAttrib *value); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSETSTREAMMETADATANVPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLint n, EGLint offset, EGLint size, const void *data); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLQUERYSTREAMMETADATANVPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum name, EGLint n, EGLint offset, EGLint size, void *data); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLBoolean EGLAPIENTRY eglQueryDisplayAttribNV (EGLDisplay dpy, EGLint attribute, EGLAttrib *value); +EGLAPI EGLBoolean EGLAPIENTRY eglSetStreamMetadataNV (EGLDisplay dpy, EGLStreamKHR stream, EGLint n, EGLint offset, EGLint size, const void *data); +EGLAPI EGLBoolean EGLAPIENTRY eglQueryStreamMetadataNV (EGLDisplay dpy, EGLStreamKHR stream, EGLenum name, EGLint n, EGLint offset, EGLint size, void *data); +#endif +#endif /* EGL_NV_stream_metadata */ + +#ifndef EGL_NV_stream_sync +#define EGL_NV_stream_sync 1 +#define EGL_SYNC_NEW_FRAME_NV 0x321F +typedef EGLSyncKHR (EGLAPIENTRYP PFNEGLCREATESTREAMSYNCNVPROC) (EGLDisplay dpy, EGLStreamKHR stream, EGLenum type, const EGLint *attrib_list); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLSyncKHR EGLAPIENTRY eglCreateStreamSyncNV (EGLDisplay dpy, EGLStreamKHR stream, EGLenum type, const EGLint *attrib_list); +#endif +#endif /* EGL_NV_stream_sync */ + +#ifndef EGL_NV_sync +#define EGL_NV_sync 1 +typedef void *EGLSyncNV; +typedef khronos_utime_nanoseconds_t EGLTimeNV; +#ifdef KHRONOS_SUPPORT_INT64 +#define EGL_SYNC_PRIOR_COMMANDS_COMPLETE_NV 0x30E6 +#define EGL_SYNC_STATUS_NV 0x30E7 +#define EGL_SIGNALED_NV 0x30E8 +#define EGL_UNSIGNALED_NV 0x30E9 +#define EGL_SYNC_FLUSH_COMMANDS_BIT_NV 0x0001 +#define EGL_FOREVER_NV 0xFFFFFFFFFFFFFFFFull +#define EGL_ALREADY_SIGNALED_NV 0x30EA +#define EGL_TIMEOUT_EXPIRED_NV 0x30EB +#define EGL_CONDITION_SATISFIED_NV 0x30EC +#define EGL_SYNC_TYPE_NV 0x30ED +#define EGL_SYNC_CONDITION_NV 0x30EE +#define EGL_SYNC_FENCE_NV 0x30EF +#define EGL_NO_SYNC_NV ((EGLSyncNV)0) +typedef EGLSyncNV (EGLAPIENTRYP PFNEGLCREATEFENCESYNCNVPROC) (EGLDisplay dpy, EGLenum condition, const EGLint *attrib_list); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLDESTROYSYNCNVPROC) (EGLSyncNV sync); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLFENCENVPROC) (EGLSyncNV sync); +typedef EGLint (EGLAPIENTRYP PFNEGLCLIENTWAITSYNCNVPROC) (EGLSyncNV sync, EGLint flags, EGLTimeNV timeout); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLSIGNALSYNCNVPROC) (EGLSyncNV sync, EGLenum mode); +typedef EGLBoolean (EGLAPIENTRYP PFNEGLGETSYNCATTRIBNVPROC) (EGLSyncNV sync, EGLint attribute, EGLint *value); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLSyncNV EGLAPIENTRY eglCreateFenceSyncNV (EGLDisplay dpy, EGLenum condition, const EGLint *attrib_list); +EGLAPI EGLBoolean EGLAPIENTRY eglDestroySyncNV (EGLSyncNV sync); +EGLAPI EGLBoolean EGLAPIENTRY eglFenceNV (EGLSyncNV sync); +EGLAPI EGLint EGLAPIENTRY eglClientWaitSyncNV (EGLSyncNV sync, EGLint flags, EGLTimeNV timeout); +EGLAPI EGLBoolean EGLAPIENTRY eglSignalSyncNV (EGLSyncNV sync, EGLenum mode); +EGLAPI EGLBoolean EGLAPIENTRY eglGetSyncAttribNV (EGLSyncNV sync, EGLint attribute, EGLint *value); +#endif +#endif /* KHRONOS_SUPPORT_INT64 */ +#endif /* EGL_NV_sync */ + +#ifndef EGL_NV_system_time +#define EGL_NV_system_time 1 +typedef khronos_utime_nanoseconds_t EGLuint64NV; +#ifdef KHRONOS_SUPPORT_INT64 +typedef EGLuint64NV (EGLAPIENTRYP PFNEGLGETSYSTEMTIMEFREQUENCYNVPROC) (void); +typedef EGLuint64NV (EGLAPIENTRYP PFNEGLGETSYSTEMTIMENVPROC) (void); +#ifdef EGL_EGLEXT_PROTOTYPES +EGLAPI EGLuint64NV EGLAPIENTRY eglGetSystemTimeFrequencyNV (void); +EGLAPI EGLuint64NV EGLAPIENTRY eglGetSystemTimeNV (void); +#endif +#endif /* KHRONOS_SUPPORT_INT64 */ +#endif /* EGL_NV_system_time */ + +#ifndef EGL_TIZEN_image_native_buffer +#define EGL_TIZEN_image_native_buffer 1 +#define EGL_NATIVE_BUFFER_TIZEN 0x32A0 +#endif /* EGL_TIZEN_image_native_buffer */ + +#ifndef EGL_TIZEN_image_native_surface +#define EGL_TIZEN_image_native_surface 1 +#define EGL_NATIVE_SURFACE_TIZEN 0x32A1 +#endif /* EGL_TIZEN_image_native_surface */ + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/mujoco_py/gl/eglplatform.h b/mujoco_py/gl/eglplatform.h new file mode 100644 index 00000000..2203cccb --- /dev/null +++ b/mujoco_py/gl/eglplatform.h @@ -0,0 +1,125 @@ +#ifndef __eglplatform_h_ +#define __eglplatform_h_ + +/* +** Copyright (c) 2007-2013 The Khronos Group Inc. +** +** Permission is hereby granted, free of charge, to any person obtaining a +** copy of this software and/or associated documentation files (the +** "Materials"), to deal in the Materials without restriction, including +** without limitation the rights to use, copy, modify, merge, publish, +** distribute, sublicense, and/or sell copies of the Materials, and to +** permit persons to whom the Materials are furnished to do so, subject to +** the following conditions: +** +** The above copyright notice and this permission notice shall be included +** in all copies or substantial portions of the Materials. +** +** THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +** MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +** CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +** TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +** MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. +*/ + +/* Platform-specific types and definitions for egl.h + * $Revision: 30994 $ on $Date: 2015-04-30 13:36:48 -0700 (Thu, 30 Apr 2015) $ + * + * Adopters may modify khrplatform.h and this file to suit their platform. + * You are encouraged to submit all modifications to the Khronos group so that + * they can be included in future versions of this file. Please submit changes + * by sending them to the public Khronos Bugzilla (http://khronos.org/bugzilla) + * by filing a bug against product "EGL" component "Registry". + */ + +#include "khrplatform.h" + +/* Macros used in EGL function prototype declarations. + * + * EGL functions should be prototyped as: + * + * EGLAPI return-type EGLAPIENTRY eglFunction(arguments); + * typedef return-type (EXPAPIENTRYP PFNEGLFUNCTIONPROC) (arguments); + * + * KHRONOS_APICALL and KHRONOS_APIENTRY are defined in KHR/khrplatform.h + */ + +#ifndef EGLAPI +#define EGLAPI KHRONOS_APICALL +#endif + +#ifndef EGLAPIENTRY +#define EGLAPIENTRY KHRONOS_APIENTRY +#endif +#define EGLAPIENTRYP EGLAPIENTRY* + +/* The types NativeDisplayType, NativeWindowType, and NativePixmapType + * are aliases of window-system-dependent types, such as X Display * or + * Windows Device Context. They must be defined in platform-specific + * code below. The EGL-prefixed versions of Native*Type are the same + * types, renamed in EGL 1.3 so all types in the API start with "EGL". + * + * Khronos STRONGLY RECOMMENDS that you use the default definitions + * provided below, since these changes affect both binary and source + * portability of applications using EGL running on different EGL + * implementations. + */ + +#if defined(_WIN32) || defined(__VC32__) && !defined(__CYGWIN__) && !defined(__SCITECH_SNAP__) /* Win32 and WinCE */ +#ifndef WIN32_LEAN_AND_MEAN +#define WIN32_LEAN_AND_MEAN 1 +#endif +#include + +typedef HDC EGLNativeDisplayType; +typedef HBITMAP EGLNativePixmapType; +typedef HWND EGLNativeWindowType; + +#elif defined(__APPLE__) || defined(__WINSCW__) || defined(__SYMBIAN32__) /* Symbian */ + +typedef int EGLNativeDisplayType; +typedef void *EGLNativeWindowType; +typedef void *EGLNativePixmapType; + +#elif defined(__ANDROID__) || defined(ANDROID) + +#include + +struct egl_native_pixmap_t; + +typedef struct ANativeWindow* EGLNativeWindowType; +typedef struct egl_native_pixmap_t* EGLNativePixmapType; +typedef void* EGLNativeDisplayType; + +#elif defined(__unix__) + +/* X11 (tentative) */ +#include +#include + +typedef Display *EGLNativeDisplayType; +typedef Pixmap EGLNativePixmapType; +typedef Window EGLNativeWindowType; + +#else +#error "Platform not recognized" +#endif + +/* EGL 1.2 types, renamed for consistency in EGL 1.3 */ +typedef EGLNativeDisplayType NativeDisplayType; +typedef EGLNativePixmapType NativePixmapType; +typedef EGLNativeWindowType NativeWindowType; + + +/* Define EGLint. This must be a signed integral type large enough to contain + * all legal attribute names and values passed into and out of EGL, whether + * their type is boolean, bitmask, enumerant (symbolic constant), integer, + * handle, or other. While in general a 32-bit integer will suffice, if + * handles are 64 bit types, then EGLint should be defined as a signed 64-bit + * integer type. + */ +typedef khronos_int32_t EGLint; + +#endif /* __eglplatform_h */ diff --git a/mujoco_py/gl/eglshim.c b/mujoco_py/gl/eglshim.c new file mode 100644 index 00000000..8a000a23 --- /dev/null +++ b/mujoco_py/gl/eglshim.c @@ -0,0 +1,127 @@ +#define EGL_EGLEXT_PROTOTYPES +#include "egl.h" +#include "eglext.h" +#include "mujoco.h" +#include "glshim.h" + +#define MAX_DEVICES 8 + +int is_initialized = 0; + +int initOpenGL(int device_id) +{ + if (is_initialized) + return 1; + + // desired config + const EGLint configAttribs[] = { + EGL_RED_SIZE, 8, + EGL_GREEN_SIZE, 8, + EGL_BLUE_SIZE, 8, + EGL_ALPHA_SIZE, 8, + EGL_DEPTH_SIZE, 24, + EGL_STENCIL_SIZE, 8, + EGL_COLOR_BUFFER_TYPE, EGL_RGB_BUFFER, + EGL_SURFACE_TYPE, EGL_PBUFFER_BIT, + EGL_RENDERABLE_TYPE, EGL_OPENGL_BIT, + EGL_NONE + }; + + EGLDeviceEXT eglDevs[MAX_DEVICES]; + EGLint numDevices; + + PFNEGLQUERYDEVICESEXTPROC eglQueryDevicesEXT = + (PFNEGLQUERYDEVICESEXTPROC) + eglGetProcAddress("eglQueryDevicesEXT"); + + eglQueryDevicesEXT(MAX_DEVICES, eglDevs, &numDevices); + printf("Found %d GPUs for rendering. Using device %d.\n", numDevices, device_id); + if (device_id >= numDevices) { + printf("Device id outside of range of available devices.\n"); + return -1; + } + + PFNEGLGETPLATFORMDISPLAYEXTPROC eglGetPlatformDisplayEXT = + (PFNEGLGETPLATFORMDISPLAYEXTPROC) + eglGetProcAddress("eglGetPlatformDisplayEXT"); + if (eglGetPlatformDisplayEXT == NULL) { + printf("Failed to get eglGetPlatformDisplayEXT\n"); + return -2; + } + + EGLDisplay eglDpy = eglGetPlatformDisplayEXT( + EGL_PLATFORM_DEVICE_EXT, eglDevs[device_id], 0); + + // get default display + // EGLDisplay eglDpy = eglGetDisplay(EGL_DEFAULT_DISPLAY); + if (eglDpy == EGL_NO_DISPLAY) { + printf("Could not get EGL display\n"); + return -3; + } + + // initialize + EGLint major, minor; + if (eglInitialize(eglDpy, &major, &minor) != EGL_TRUE) { + printf("Could not initialize EGL\n"); + return -4; + } + + // choose config + EGLint numConfigs; + EGLConfig eglCfg; + if (eglChooseConfig(eglDpy, configAttribs, &eglCfg, 1, &numConfigs)!=EGL_TRUE ) { + printf("Could not choose EGL config\n"); + return -5; + } + + // bind OpenGL API + if( eglBindAPI(EGL_OPENGL_API)!=EGL_TRUE ) { + printf("Could not bind EGL OpenGL API\n"); + return -6; + } + + // create context + EGLContext eglCtx = eglCreateContext(eglDpy, eglCfg, EGL_NO_CONTEXT, NULL); + if( eglCtx==EGL_NO_CONTEXT ) { + printf("Could not create EGL context\n"); + return -7; + } + + // make context current, no surface (let OpenGL handle FBO) + if( eglMakeCurrent(eglDpy, EGL_NO_SURFACE, EGL_NO_SURFACE, eglCtx)!=EGL_TRUE ) { + eglDestroyContext(eglDpy, eglCtx); + printf("Could not make EGL context current\n"); + return -8; + } + + is_initialized = 1; + return 1; +} + +int setOpenGLBufferSize(int width, int height) { + // Noop since we don't need to change buffer here. + return 1; +} + +void closeOpenGL() +{ + if (!is_initialized) + return; + + EGLDisplay eglDpy = eglGetCurrentDisplay(); + if( eglDpy==EGL_NO_DISPLAY ) + return; + + // get current context + EGLContext eglCtx = eglGetCurrentContext(); + + // release context + eglMakeCurrent(eglDpy, EGL_NO_SURFACE, EGL_NO_SURFACE, EGL_NO_CONTEXT); + + // destroy context if valid + if( eglCtx!=EGL_NO_CONTEXT ) + eglDestroyContext(eglDpy, eglCtx); + + // terminate display + eglTerminate(eglDpy); +} diff --git a/mujoco_py/gl/glshim.h b/mujoco_py/gl/glshim.h new file mode 100644 index 00000000..394b92f9 --- /dev/null +++ b/mujoco_py/gl/glshim.h @@ -0,0 +1,8 @@ +#ifndef __GLSHIM_H__ +#define __GLSHIM_H__ + +int initOpenGL(int device_id); +void closeOpenGL(); +int setOpenGLBufferSize(int width, int height); + +#endif diff --git a/mujoco_py/gl/khrplatform.h b/mujoco_py/gl/khrplatform.h new file mode 100644 index 00000000..07b61b9b --- /dev/null +++ b/mujoco_py/gl/khrplatform.h @@ -0,0 +1,285 @@ +#ifndef __khrplatform_h_ +#define __khrplatform_h_ + +/* +** Copyright (c) 2008-2009 The Khronos Group Inc. +** +** Permission is hereby granted, free of charge, to any person obtaining a +** copy of this software and/or associated documentation files (the +** "Materials"), to deal in the Materials without restriction, including +** without limitation the rights to use, copy, modify, merge, publish, +** distribute, sublicense, and/or sell copies of the Materials, and to +** permit persons to whom the Materials are furnished to do so, subject to +** the following conditions: +** +** The above copyright notice and this permission notice shall be included +** in all copies or substantial portions of the Materials. +** +** THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +** MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +** CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +** TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +** MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. +*/ + +/* Khronos platform-specific types and definitions. + * + * $Revision: 32517 $ on $Date: 2016-03-11 02:41:19 -0800 (Fri, 11 Mar 2016) $ + * + * Adopters may modify this file to suit their platform. Adopters are + * encouraged to submit platform specific modifications to the Khronos + * group so that they can be included in future versions of this file. + * Please submit changes by sending them to the public Khronos Bugzilla + * (http://khronos.org/bugzilla) by filing a bug against product + * "Khronos (general)" component "Registry". + * + * A predefined template which fills in some of the bug fields can be + * reached using http://tinyurl.com/khrplatform-h-bugreport, but you + * must create a Bugzilla login first. + * + * + * See the Implementer's Guidelines for information about where this file + * should be located on your system and for more details of its use: + * http://www.khronos.org/registry/implementers_guide.pdf + * + * This file should be included as + * #include + * by Khronos client API header files that use its types and defines. + * + * The types in khrplatform.h should only be used to define API-specific types. + * + * Types defined in khrplatform.h: + * khronos_int8_t signed 8 bit + * khronos_uint8_t unsigned 8 bit + * khronos_int16_t signed 16 bit + * khronos_uint16_t unsigned 16 bit + * khronos_int32_t signed 32 bit + * khronos_uint32_t unsigned 32 bit + * khronos_int64_t signed 64 bit + * khronos_uint64_t unsigned 64 bit + * khronos_intptr_t signed same number of bits as a pointer + * khronos_uintptr_t unsigned same number of bits as a pointer + * khronos_ssize_t signed size + * khronos_usize_t unsigned size + * khronos_float_t signed 32 bit floating point + * khronos_time_ns_t unsigned 64 bit time in nanoseconds + * khronos_utime_nanoseconds_t unsigned time interval or absolute time in + * nanoseconds + * khronos_stime_nanoseconds_t signed time interval in nanoseconds + * khronos_boolean_enum_t enumerated boolean type. This should + * only be used as a base type when a client API's boolean type is + * an enum. Client APIs which use an integer or other type for + * booleans cannot use this as the base type for their boolean. + * + * Tokens defined in khrplatform.h: + * + * KHRONOS_FALSE, KHRONOS_TRUE Enumerated boolean false/true values. + * + * KHRONOS_SUPPORT_INT64 is 1 if 64 bit integers are supported; otherwise 0. + * KHRONOS_SUPPORT_FLOAT is 1 if floats are supported; otherwise 0. + * + * Calling convention macros defined in this file: + * KHRONOS_APICALL + * KHRONOS_APIENTRY + * KHRONOS_APIATTRIBUTES + * + * These may be used in function prototypes as: + * + * KHRONOS_APICALL void KHRONOS_APIENTRY funcname( + * int arg1, + * int arg2) KHRONOS_APIATTRIBUTES; + */ + +/*------------------------------------------------------------------------- + * Definition of KHRONOS_APICALL + *------------------------------------------------------------------------- + * This precedes the return type of the function in the function prototype. + */ +#if defined(_WIN32) && !defined(__SCITECH_SNAP__) +# define KHRONOS_APICALL __declspec(dllimport) +#elif defined (__SYMBIAN32__) +# define KHRONOS_APICALL IMPORT_C +#elif defined(__ANDROID__) +# include +# define KHRONOS_APICALL __attribute__((visibility("default"))) __NDK_FPABI__ +#else +# define KHRONOS_APICALL +#endif + +/*------------------------------------------------------------------------- + * Definition of KHRONOS_APIENTRY + *------------------------------------------------------------------------- + * This follows the return type of the function and precedes the function + * name in the function prototype. + */ +#if defined(_WIN32) && !defined(_WIN32_WCE) && !defined(__SCITECH_SNAP__) + /* Win32 but not WinCE */ +# define KHRONOS_APIENTRY __stdcall +#else +# define KHRONOS_APIENTRY +#endif + +/*------------------------------------------------------------------------- + * Definition of KHRONOS_APIATTRIBUTES + *------------------------------------------------------------------------- + * This follows the closing parenthesis of the function prototype arguments. + */ +#if defined (__ARMCC_2__) +#define KHRONOS_APIATTRIBUTES __softfp +#else +#define KHRONOS_APIATTRIBUTES +#endif + +/*------------------------------------------------------------------------- + * basic type definitions + *-----------------------------------------------------------------------*/ +#if (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L) || defined(__GNUC__) || defined(__SCO__) || defined(__USLC__) + + +/* + * Using + */ +#include +typedef int32_t khronos_int32_t; +typedef uint32_t khronos_uint32_t; +typedef int64_t khronos_int64_t; +typedef uint64_t khronos_uint64_t; +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 + +#elif defined(__VMS ) || defined(__sgi) + +/* + * Using + */ +#include +typedef int32_t khronos_int32_t; +typedef uint32_t khronos_uint32_t; +typedef int64_t khronos_int64_t; +typedef uint64_t khronos_uint64_t; +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 + +#elif defined(_WIN32) && !defined(__SCITECH_SNAP__) + +/* + * Win32 + */ +typedef __int32 khronos_int32_t; +typedef unsigned __int32 khronos_uint32_t; +typedef __int64 khronos_int64_t; +typedef unsigned __int64 khronos_uint64_t; +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 + +#elif defined(__sun__) || defined(__digital__) + +/* + * Sun or Digital + */ +typedef int khronos_int32_t; +typedef unsigned int khronos_uint32_t; +#if defined(__arch64__) || defined(_LP64) +typedef long int khronos_int64_t; +typedef unsigned long int khronos_uint64_t; +#else +typedef long long int khronos_int64_t; +typedef unsigned long long int khronos_uint64_t; +#endif /* __arch64__ */ +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 + +#elif 0 + +/* + * Hypothetical platform with no float or int64 support + */ +typedef int khronos_int32_t; +typedef unsigned int khronos_uint32_t; +#define KHRONOS_SUPPORT_INT64 0 +#define KHRONOS_SUPPORT_FLOAT 0 + +#else + +/* + * Generic fallback + */ +#include +typedef int32_t khronos_int32_t; +typedef uint32_t khronos_uint32_t; +typedef int64_t khronos_int64_t; +typedef uint64_t khronos_uint64_t; +#define KHRONOS_SUPPORT_INT64 1 +#define KHRONOS_SUPPORT_FLOAT 1 + +#endif + + +/* + * Types that are (so far) the same on all platforms + */ +typedef signed char khronos_int8_t; +typedef unsigned char khronos_uint8_t; +typedef signed short int khronos_int16_t; +typedef unsigned short int khronos_uint16_t; + +/* + * Types that differ between LLP64 and LP64 architectures - in LLP64, + * pointers are 64 bits, but 'long' is still 32 bits. Win64 appears + * to be the only LLP64 architecture in current use. + */ +#ifdef _WIN64 +typedef signed long long int khronos_intptr_t; +typedef unsigned long long int khronos_uintptr_t; +typedef signed long long int khronos_ssize_t; +typedef unsigned long long int khronos_usize_t; +#else +typedef signed long int khronos_intptr_t; +typedef unsigned long int khronos_uintptr_t; +typedef signed long int khronos_ssize_t; +typedef unsigned long int khronos_usize_t; +#endif + +#if KHRONOS_SUPPORT_FLOAT +/* + * Float type + */ +typedef float khronos_float_t; +#endif + +#if KHRONOS_SUPPORT_INT64 +/* Time types + * + * These types can be used to represent a time interval in nanoseconds or + * an absolute Unadjusted System Time. Unadjusted System Time is the number + * of nanoseconds since some arbitrary system event (e.g. since the last + * time the system booted). The Unadjusted System Time is an unsigned + * 64 bit value that wraps back to 0 every 584 years. Time intervals + * may be either signed or unsigned. + */ +typedef khronos_uint64_t khronos_utime_nanoseconds_t; +typedef khronos_int64_t khronos_stime_nanoseconds_t; +#endif + +/* + * Dummy value used to pad enum types to 32 bits. + */ +#ifndef KHRONOS_MAX_ENUM +#define KHRONOS_MAX_ENUM 0x7FFFFFFF +#endif + +/* + * Enumerated boolean type + * + * Values other than zero should be considered to be true. Therefore + * comparisons should not be made against KHRONOS_TRUE. + */ +typedef enum { + KHRONOS_FALSE = 0, + KHRONOS_TRUE = 1, + KHRONOS_BOOLEAN_ENUM_FORCE_SIZE = KHRONOS_MAX_ENUM +} khronos_boolean_enum_t; + +#endif /* __khrplatform_h_ */ diff --git a/mujoco_py/gl/osmesashim.c b/mujoco_py/gl/osmesashim.c new file mode 100644 index 00000000..e146af7e --- /dev/null +++ b/mujoco_py/gl/osmesashim.c @@ -0,0 +1,49 @@ +#include +#include "glshim.h" + +OSMesaContext ctx; + +// this size was picked pretty arbitrarily +int BUFFER_WIDTH = 1024; +int BUFFER_HEIGHT = 1024; +// 4 channels for RGBA +unsigned char buffer[1024 * 1024 * 4]; + +int is_initialized = 0; + +int initOpenGL(int device_id) { + if (is_initialized) + return 1; + + // note: device id not used here + ctx = OSMesaCreateContextExt(GL_RGBA, 24, 8, 8, 0); + if( !ctx ) { + printf("OSMesa context creation failed\n"); + return -1; + } + + if( !OSMesaMakeCurrent(ctx, buffer, GL_UNSIGNED_BYTE, BUFFER_WIDTH, BUFFER_HEIGHT) ) { + printf("OSMesa make current failed\n"); + return -1; + } + + is_initialized = 1; + + return 1; +} + +int setOpenGLBufferSize(int width, int height) { + if (width > BUFFER_WIDTH || height > BUFFER_HEIGHT) { + printf("Buffer size too big\n"); + return -1; + } + // Noop since we don't support changing the actual buffer + return 1; +} + +void closeOpenGL() { + if (is_initialized) { + OSMesaDestroyContext(ctx); + is_initialized = 0; + } +} diff --git a/mujoco_py/glfw.py b/mujoco_py/glfw.py deleted file mode 100644 index 1705a0ad..00000000 --- a/mujoco_py/glfw.py +++ /dev/null @@ -1,1643 +0,0 @@ -''' -Python bindings for GLFW. -''' - -from __future__ import print_function -from __future__ import division -from __future__ import unicode_literals - -__author__ = 'Florian Rhiem (florian.rhiem@gmail.com)' -__copyright__ = 'Copyright (c) 2013 Florian Rhiem' -__license__ = 'MIT' -__version__ = '1.0.1' - -import ctypes -import os -import glob -import sys -import subprocess -import textwrap - -from mujoco_py import config - -# Python 3 compatibility: -try: - _getcwd = os.getcwdu -except AttributeError: - _getcwd = os.getcwd -if sys.version_info.major > 2: - _to_char_p = lambda s: s.encode('utf-8') -else: - _to_char_p = lambda s: s - - -def _find_library_candidates(library_names, - library_file_extensions, - library_search_paths): - ''' - Finds and returns filenames which might be the library you are looking for. - ''' - candidates = set() - for library_name in library_names: - for search_path in library_search_paths: - glob_query = os.path.join(search_path, '*'+library_name+'*') - for filename in glob.iglob(glob_query): - filename = os.path.realpath(filename) - if filename in candidates: - continue - basename = os.path.basename(filename) - if basename.startswith('lib'+library_name): - basename_end = basename[len('lib'+library_name):] - elif basename.startswith(library_name): - basename_end = basename[len(library_name):] - else: - continue - for file_extension in library_file_extensions: - if basename_end.startswith(file_extension): - if basename_end[len(file_extension):][:1] in ('', '.'): - candidates.add(filename) - if basename_end.endswith(file_extension): - basename_middle = basename_end[:-len(file_extension)] - if all(c in '0123456789.' for c in basename_middle): - candidates.add(filename) - return candidates - - -def _load_library(): - ''' - Finds, loads and returns the most recent version of the library. - ''' - path_prefix = config.mjpro_path - if sys.platform.startswith("darwin"): - libfile = os.path.join(path_prefix, "bin/libglfw.3.dylib") - elif sys.platform.startswith("linux"): - libfile = os.path.join(path_prefix, "bin/libglfw.so.3") - elif sys.platform.startswith("win"): - libfile = os.path.join(path_prefix, "bin/glfw3.dll") - else: - raise RuntimeError("Unrecognized platform %s" % sys.platform) - - if not os.path.exists(libfile): - raise RuntimeError("Missing path: %s. (HINT: you should have unzipped the mjpro131.zip bundle without modification.)" % libfile) - - return ctypes.CDLL(os.path.abspath(libfile)) - - -def _glfw_get_version(filename): - ''' - Queries and returns the library version tuple or None by using a - subprocess. - ''' - version_checker_source = """ - import sys - import ctypes - - def get_version(library_handle): - ''' - Queries and returns the library version tuple or None. - ''' - major_value = ctypes.c_int(0) - major = ctypes.pointer(major_value) - minor_value = ctypes.c_int(0) - minor = ctypes.pointer(minor_value) - rev_value = ctypes.c_int(0) - rev = ctypes.pointer(rev_value) - if hasattr(library_handle, 'glfwGetVersion'): - library_handle.glfwGetVersion(major, minor, rev) - version = (major_value.value, - minor_value.value, - rev_value.value) - return version - else: - return None - - try: - input_func = raw_input - except NameError: - input_func = input - filename = input_func().strip() - - try: - library_handle = ctypes.CDLL(filename) - except OSError: - pass - else: - version = get_version(library_handle) - print(version) - """ - - args = [sys.executable, '-c', textwrap.dedent(version_checker_source)] - process = subprocess.Popen(args, universal_newlines=True, - stdin=subprocess.PIPE, stdout=subprocess.PIPE) - out = process.communicate(_to_char_p(filename))[0] - out = out.strip() - if out: - return eval(out) - else: - return None - - - -_glfw = _load_library() -if _glfw is None: - raise ImportError("Failed to load GLFW3 shared library.") - -_callback_repositories = [] - - -class _GLFWwindow(ctypes.Structure): - ''' - Wrapper for: - typedef struct GLFWwindow GLFWwindow; - ''' - _fields_ = [("dummy", ctypes.c_int)] - - -class _GLFWmonitor(ctypes.Structure): - ''' - Wrapper for: - typedef struct GLFWmonitor GLFWmonitor; - ''' - _fields_ = [("dummy", ctypes.c_int)] - - -class _GLFWvidmode(ctypes.Structure): - ''' - Wrapper for: - typedef struct GLFWvidmode GLFWvidmode; - ''' - _fields_ = [("width", ctypes.c_int), - ("height", ctypes.c_int), - ("red_bits", ctypes.c_int), - ("green_bits", ctypes.c_int), - ("blue_bits", ctypes.c_int), - ("refresh_rate", ctypes.c_uint)] - - def __init__(self): - ctypes.Structure.__init__(self) - self.width = 0 - self.height = 0 - self.red_bits = 0 - self.green_bits = 0 - self.blue_bits = 0 - self.refresh_rate = 0 - - def wrap(self, video_mode): - ''' - Wraps a nested python sequence. - ''' - size, bits, self.refresh_rate = video_mode - self.width, self.height = size - self.red_bits, self.green_bits, self.blue_bits = bits - - def unwrap(self): - ''' - Returns a nested python sequence. - ''' - size = self.width, self.height - bits = self.red_bits, self.green_bits, self.blue_bits - return size, bits, self.refresh_rate - - -class _GLFWgammaramp(ctypes.Structure): - ''' - Wrapper for: - typedef struct GLFWgammaramp GLFWgammaramp; - ''' - _fields_ = [("red", ctypes.POINTER(ctypes.c_ushort)), - ("green", ctypes.POINTER(ctypes.c_ushort)), - ("blue", ctypes.POINTER(ctypes.c_ushort)), - ("size", ctypes.c_uint)] - - def __init__(self): - ctypes.Structure.__init__(self) - self.red = None - self.red_array = None - self.green = None - self.green_array = None - self.blue = None - self.blue_array = None - self.size = 0 - - def wrap(self, gammaramp): - ''' - Wraps a nested python sequence. - ''' - red, green, blue = gammaramp - size = min(len(red), len(green), len(blue)) - array_type = ctypes.c_ushort*size - self.size = ctypes.c_uint(size) - self.red_array = array_type() - self.green_array = array_type() - self.blue_array = array_type() - for i in range(self.size): - self.red_array[i] = int(red[i]*65535) - self.green_array[i] = int(green[i]*65535) - self.blue_array[i] = int(blue[i]*65535) - pointer_type = ctypes.POINTER(ctypes.c_ushort) - self.red = ctypes.cast(self.red_array, pointer_type) - self.green = ctypes.cast(self.green_array, pointer_type) - self.blue = ctypes.cast(self.blue_array, pointer_type) - - def unwrap(self): - ''' - Returns a nested python sequence. - ''' - red = [self.red[i]/65535.0 for i in range(self.size)] - green = [self.green[i]/65535.0 for i in range(self.size)] - blue = [self.blue[i]/65535.0 for i in range(self.size)] - return red, green, blue - - -VERSION_MAJOR = 3 -VERSION_MINOR = 0 -VERSION_REVISION = 3 -RELEASE = 0 -PRESS = 1 -REPEAT = 2 -KEY_UNKNOWN = -1 -KEY_SPACE = 32 -KEY_APOSTROPHE = 39 -KEY_COMMA = 44 -KEY_MINUS = 45 -KEY_PERIOD = 46 -KEY_SLASH = 47 -KEY_0 = 48 -KEY_1 = 49 -KEY_2 = 50 -KEY_3 = 51 -KEY_4 = 52 -KEY_5 = 53 -KEY_6 = 54 -KEY_7 = 55 -KEY_8 = 56 -KEY_9 = 57 -KEY_SEMICOLON = 59 -KEY_EQUAL = 61 -KEY_A = 65 -KEY_B = 66 -KEY_C = 67 -KEY_D = 68 -KEY_E = 69 -KEY_F = 70 -KEY_G = 71 -KEY_H = 72 -KEY_I = 73 -KEY_J = 74 -KEY_K = 75 -KEY_L = 76 -KEY_M = 77 -KEY_N = 78 -KEY_O = 79 -KEY_P = 80 -KEY_Q = 81 -KEY_R = 82 -KEY_S = 83 -KEY_T = 84 -KEY_U = 85 -KEY_V = 86 -KEY_W = 87 -KEY_X = 88 -KEY_Y = 89 -KEY_Z = 90 -KEY_LEFT_BRACKET = 91 -KEY_BACKSLASH = 92 -KEY_RIGHT_BRACKET = 93 -KEY_GRAVE_ACCENT = 96 -KEY_WORLD_1 = 161 -KEY_WORLD_2 = 162 -KEY_ESCAPE = 256 -KEY_ENTER = 257 -KEY_TAB = 258 -KEY_BACKSPACE = 259 -KEY_INSERT = 260 -KEY_DELETE = 261 -KEY_RIGHT = 262 -KEY_LEFT = 263 -KEY_DOWN = 264 -KEY_UP = 265 -KEY_PAGE_UP = 266 -KEY_PAGE_DOWN = 267 -KEY_HOME = 268 -KEY_END = 269 -KEY_CAPS_LOCK = 280 -KEY_SCROLL_LOCK = 281 -KEY_NUM_LOCK = 282 -KEY_PRINT_SCREEN = 283 -KEY_PAUSE = 284 -KEY_F1 = 290 -KEY_F2 = 291 -KEY_F3 = 292 -KEY_F4 = 293 -KEY_F5 = 294 -KEY_F6 = 295 -KEY_F7 = 296 -KEY_F8 = 297 -KEY_F9 = 298 -KEY_F10 = 299 -KEY_F11 = 300 -KEY_F12 = 301 -KEY_F13 = 302 -KEY_F14 = 303 -KEY_F15 = 304 -KEY_F16 = 305 -KEY_F17 = 306 -KEY_F18 = 307 -KEY_F19 = 308 -KEY_F20 = 309 -KEY_F21 = 310 -KEY_F22 = 311 -KEY_F23 = 312 -KEY_F24 = 313 -KEY_F25 = 314 -KEY_KP_0 = 320 -KEY_KP_1 = 321 -KEY_KP_2 = 322 -KEY_KP_3 = 323 -KEY_KP_4 = 324 -KEY_KP_5 = 325 -KEY_KP_6 = 326 -KEY_KP_7 = 327 -KEY_KP_8 = 328 -KEY_KP_9 = 329 -KEY_KP_DECIMAL = 330 -KEY_KP_DIVIDE = 331 -KEY_KP_MULTIPLY = 332 -KEY_KP_SUBTRACT = 333 -KEY_KP_ADD = 334 -KEY_KP_ENTER = 335 -KEY_KP_EQUAL = 336 -KEY_LEFT_SHIFT = 340 -KEY_LEFT_CONTROL = 341 -KEY_LEFT_ALT = 342 -KEY_LEFT_SUPER = 343 -KEY_RIGHT_SHIFT = 344 -KEY_RIGHT_CONTROL = 345 -KEY_RIGHT_ALT = 346 -KEY_RIGHT_SUPER = 347 -KEY_MENU = 348 -KEY_LAST = KEY_MENU -MOD_SHIFT = 0x0001 -MOD_CONTROL = 0x0002 -MOD_ALT = 0x0004 -MOD_SUPER = 0x0008 -MOUSE_BUTTON_1 = 0 -MOUSE_BUTTON_2 = 1 -MOUSE_BUTTON_3 = 2 -MOUSE_BUTTON_4 = 3 -MOUSE_BUTTON_5 = 4 -MOUSE_BUTTON_6 = 5 -MOUSE_BUTTON_7 = 6 -MOUSE_BUTTON_8 = 7 -MOUSE_BUTTON_LAST = MOUSE_BUTTON_8 -MOUSE_BUTTON_LEFT = MOUSE_BUTTON_1 -MOUSE_BUTTON_RIGHT = MOUSE_BUTTON_2 -MOUSE_BUTTON_MIDDLE = MOUSE_BUTTON_3 -JOYSTICK_1 = 0 -JOYSTICK_2 = 1 -JOYSTICK_3 = 2 -JOYSTICK_4 = 3 -JOYSTICK_5 = 4 -JOYSTICK_6 = 5 -JOYSTICK_7 = 6 -JOYSTICK_8 = 7 -JOYSTICK_9 = 8 -JOYSTICK_10 = 9 -JOYSTICK_11 = 10 -JOYSTICK_12 = 11 -JOYSTICK_13 = 12 -JOYSTICK_14 = 13 -JOYSTICK_15 = 14 -JOYSTICK_16 = 15 -JOYSTICK_LAST = JOYSTICK_16 -NOT_INITIALIZED = 0x00010001 -NO_CURRENT_CONTEXT = 0x00010002 -INVALID_ENUM = 0x00010003 -INVALID_VALUE = 0x00010004 -OUT_OF_MEMORY = 0x00010005 -API_UNAVAILABLE = 0x00010006 -VERSION_UNAVAILABLE = 0x00010007 -PLATFORM_ERROR = 0x00010008 -FORMAT_UNAVAILABLE = 0x00010009 -FOCUSED = 0x00020001 -ICONIFIED = 0x00020002 -RESIZABLE = 0x00020003 -VISIBLE = 0x00020004 -DECORATED = 0x00020005 -RED_BITS = 0x00021001 -GREEN_BITS = 0x00021002 -BLUE_BITS = 0x00021003 -ALPHA_BITS = 0x00021004 -DEPTH_BITS = 0x00021005 -STENCIL_BITS = 0x00021006 -ACCUM_RED_BITS = 0x00021007 -ACCUM_GREEN_BITS = 0x00021008 -ACCUM_BLUE_BITS = 0x00021009 -ACCUM_ALPHA_BITS = 0x0002100A -AUX_BUFFERS = 0x0002100B -STEREO = 0x0002100C -SAMPLES = 0x0002100D -SRGB_CAPABLE = 0x0002100E -REFRESH_RATE = 0x0002100F -CLIENT_API = 0x00022001 -CONTEXT_VERSION_MAJOR = 0x00022002 -CONTEXT_VERSION_MINOR = 0x00022003 -CONTEXT_REVISION = 0x00022004 -CONTEXT_ROBUSTNESS = 0x00022005 -OPENGL_FORWARD_COMPAT = 0x00022006 -OPENGL_DEBUG_CONTEXT = 0x00022007 -OPENGL_PROFILE = 0x00022008 -OPENGL_API = 0x00030001 -OPENGL_ES_API = 0x00030002 -NO_ROBUSTNESS = 0 -NO_RESET_NOTIFICATION = 0x00031001 -LOSE_CONTEXT_ON_RESET = 0x00031002 -OPENGL_ANY_PROFILE = 0 -OPENGL_CORE_PROFILE = 0x00032001 -OPENGL_COMPAT_PROFILE = 0x00032002 -CURSOR = 0x00033001 -STICKY_KEYS = 0x00033002 -STICKY_MOUSE_BUTTONS = 0x00033003 -CURSOR_NORMAL = 0x00034001 -CURSOR_HIDDEN = 0x00034002 -CURSOR_DISABLED = 0x00034003 -CONNECTED = 0x00040001 -DISCONNECTED = 0x00040002 - - -_GLFWerrorfun = ctypes.CFUNCTYPE(None, - ctypes.c_int, - ctypes.c_char_p) -_GLFWwindowposfun = ctypes.CFUNCTYPE(None, - ctypes.POINTER(_GLFWwindow), - ctypes.c_int, - ctypes.c_int) -_GLFWwindowsizefun = ctypes.CFUNCTYPE(None, - ctypes.POINTER(_GLFWwindow), - ctypes.c_int, - ctypes.c_int) -_GLFWwindowclosefun = ctypes.CFUNCTYPE(None, - ctypes.POINTER(_GLFWwindow)) -_GLFWwindowrefreshfun = ctypes.CFUNCTYPE(None, - ctypes.POINTER(_GLFWwindow)) -_GLFWwindowfocusfun = ctypes.CFUNCTYPE(None, - ctypes.POINTER(_GLFWwindow), - ctypes.c_int) -_GLFWwindowiconifyfun = ctypes.CFUNCTYPE(None, - ctypes.POINTER(_GLFWwindow), - ctypes.c_int) -_GLFWframebuffersizefun = ctypes.CFUNCTYPE(None, - ctypes.POINTER(_GLFWwindow), - ctypes.c_int, - ctypes.c_int) -_GLFWmousebuttonfun = ctypes.CFUNCTYPE(None, - ctypes.POINTER(_GLFWwindow), - ctypes.c_int, - ctypes.c_int, - ctypes.c_int) -_GLFWcursorposfun = ctypes.CFUNCTYPE(None, - ctypes.POINTER(_GLFWwindow), - ctypes.c_double, - ctypes.c_double) -_GLFWcursorenterfun = ctypes.CFUNCTYPE(None, - ctypes.POINTER(_GLFWwindow), - ctypes.c_int) -_GLFWscrollfun = ctypes.CFUNCTYPE(None, - ctypes.POINTER(_GLFWwindow), - ctypes.c_double, - ctypes.c_double) -_GLFWkeyfun = ctypes.CFUNCTYPE(None, - ctypes.POINTER(_GLFWwindow), - ctypes.c_int, - ctypes.c_int, - ctypes.c_int, - ctypes.c_int) -_GLFWcharfun = ctypes.CFUNCTYPE(None, - ctypes.POINTER(_GLFWwindow), - ctypes.c_int) -_GLFWmonitorfun = ctypes.CFUNCTYPE(None, - ctypes.POINTER(_GLFWmonitor), - ctypes.c_int) - - -_glfw.glfwInit.restype = ctypes.c_int -_glfw.glfwInit.argtypes = [] -def init(): - ''' - Initializes the GLFW library. - - Wrapper for: - int glfwInit(void); - ''' - cwd = _getcwd() - res = _glfw.glfwInit() - os.chdir(cwd) - return res - -_glfw.glfwTerminate.restype = None -_glfw.glfwTerminate.argtypes = [] -def terminate(): - ''' - Terminates the GLFW library. - - Wrapper for: - void glfwTerminate(void); - ''' - _glfw.glfwTerminate() - -_glfw.glfwGetVersion.restype = None -_glfw.glfwGetVersion.argtypes = [ctypes.POINTER(ctypes.c_int), - ctypes.POINTER(ctypes.c_int), - ctypes.POINTER(ctypes.c_int)] -def get_version(): - ''' - Retrieves the version of the GLFW library. - - Wrapper for: - void glfwGetVersion(int* major, int* minor, int* rev); - ''' - major_value = ctypes.c_int(0) - major = ctypes.pointer(major_value) - minor_value = ctypes.c_int(0) - minor = ctypes.pointer(minor_value) - rev_value = ctypes.c_int(0) - rev = ctypes.pointer(rev_value) - _glfw.glfwGetVersion(major, minor, rev) - return major_value.value, minor_value.value, rev_value.value - -_glfw.glfwGetVersionString.restype = ctypes.c_char_p -_glfw.glfwGetVersionString.argtypes = [] -def get_version_string(): - ''' - Returns a string describing the compile-time configuration. - - Wrapper for: - const char* glfwGetVersionString(void); - ''' - return _glfw.glfwGetVersionString() - -_error_callback = None -_glfw.glfwSetErrorCallback.restype = _GLFWerrorfun -_glfw.glfwSetErrorCallback.argtypes = [_GLFWerrorfun] -def set_error_callback(cbfun): - ''' - Sets the error callback. - - Wrapper for: - GLFWerrorfun glfwSetErrorCallback(GLFWerrorfun cbfun); - ''' - global _error_callback - previous_callback = _error_callback - if cbfun is None: - cbfun = 0 - c_cbfun = _GLFWerrorfun(cbfun) - _error_callback = (cbfun, c_cbfun) - cbfun = c_cbfun - _glfw.glfwSetErrorCallback(cbfun) - if previous_callback is not None and previous_callback[0] != 0: - return previous_callback[0] - -_glfw.glfwGetMonitors.restype = ctypes.POINTER(ctypes.POINTER(_GLFWmonitor)) -_glfw.glfwGetMonitors.argtypes = [ctypes.POINTER(ctypes.c_int)] -def get_monitors(): - ''' - Returns the currently connected monitors. - - Wrapper for: - GLFWmonitor** glfwGetMonitors(int* count); - ''' - count_value = ctypes.c_int(0) - count = ctypes.pointer(count_value) - result = _glfw.glfwGetMonitors(count) - monitors = [result[i] for i in range(count_value.value)] - return monitors - -_glfw.glfwGetPrimaryMonitor.restype = ctypes.POINTER(_GLFWmonitor) -_glfw.glfwGetPrimaryMonitor.argtypes = [] -def get_primary_monitor(): - ''' - Returns the primary monitor. - - Wrapper for: - GLFWmonitor* glfwGetPrimaryMonitor(void); - ''' - return _glfw.glfwGetPrimaryMonitor() - -_glfw.glfwGetMonitorPos.restype = None -_glfw.glfwGetMonitorPos.argtypes = [ctypes.POINTER(_GLFWmonitor), - ctypes.POINTER(ctypes.c_int), - ctypes.POINTER(ctypes.c_int)] -def get_monitor_pos(monitor): - ''' - Returns the position of the monitor's viewport on the virtual screen. - - Wrapper for: - void glfwGetMonitorPos(GLFWmonitor* monitor, int* xpos, int* ypos); - ''' - xpos_value = ctypes.c_int(0) - xpos = ctypes.pointer(xpos_value) - ypos_value = ctypes.c_int(0) - ypos = ctypes.pointer(ypos_value) - _glfw.glfwGetMonitorPos(monitor, xpos, ypos) - return xpos_value.value, ypos_value.value - -_glfw.glfwGetMonitorPhysicalSize.restype = None -_glfw.glfwGetMonitorPhysicalSize.argtypes = [ctypes.POINTER(_GLFWmonitor), - ctypes.POINTER(ctypes.c_int), - ctypes.POINTER(ctypes.c_int)] -def get_monitor_physical_size(monitor): - ''' - Returns the physical size of the monitor. - - Wrapper for: - void glfwGetMonitorPhysicalSize(GLFWmonitor* monitor, int* width, int* height); - ''' - width_value = ctypes.c_int(0) - width = ctypes.pointer(width_value) - height_value = ctypes.c_int(0) - height = ctypes.pointer(height_value) - _glfw.glfwGetMonitorPhysicalSize(monitor, width, height) - return width_value.value, height_value.value - -_glfw.glfwGetMonitorName.restype = ctypes.c_char_p -_glfw.glfwGetMonitorName.argtypes = [ctypes.POINTER(_GLFWmonitor)] -def get_monitor_name(monitor): - ''' - Returns the name of the specified monitor. - - Wrapper for: - const char* glfwGetMonitorName(GLFWmonitor* monitor); - ''' - return _glfw.glfwGetMonitorName(monitor) - -_monitor_callback = None -_glfw.glfwSetMonitorCallback.restype = _GLFWmonitorfun -_glfw.glfwSetMonitorCallback.argtypes = [_GLFWmonitorfun] -def set_monitor_callback(cbfun): - ''' - Sets the monitor configuration callback. - - Wrapper for: - GLFWmonitorfun glfwSetMonitorCallback(GLFWmonitorfun cbfun); - ''' - global _monitor_callback - previous_callback = _monitor_callback - if cbfun is None: - cbfun = 0 - c_cbfun = _GLFWmonitorfun(cbfun) - _monitor_callback = (cbfun, c_cbfun) - cbfun = c_cbfun - _glfw.glfwSetMonitorCallback(cbfun) - if previous_callback is not None and previous_callback[0] != 0: - return previous_callback[0] - -_glfw.glfwGetVideoModes.restype = ctypes.POINTER(_GLFWvidmode) -_glfw.glfwGetVideoModes.argtypes = [ctypes.POINTER(_GLFWmonitor), - ctypes.POINTER(ctypes.c_int)] -def get_video_modes(monitor): - ''' - Returns the available video modes for the specified monitor. - - Wrapper for: - const GLFWvidmode* glfwGetVideoModes(GLFWmonitor* monitor, int* count); - ''' - count_value = ctypes.c_int(0) - count = ctypes.pointer(count_value) - result = _glfw.glfwGetVideoModes(monitor, count) - videomodes = [result[i].unwrap() for i in range(count_value.value)] - return videomodes - -_glfw.glfwGetVideoMode.restype = ctypes.POINTER(_GLFWvidmode) -_glfw.glfwGetVideoMode.argtypes = [ctypes.POINTER(_GLFWmonitor)] -def get_video_mode(monitor): - ''' - Returns the current mode of the specified monitor. - - Wrapper for: - const GLFWvidmode* glfwGetVideoMode(GLFWmonitor* monitor); - ''' - videomode = _glfw.glfwGetVideoMode(monitor).contents - return videomode.unwrap() - -_glfw.glfwSetGamma.restype = None -_glfw.glfwSetGamma.argtypes = [ctypes.POINTER(_GLFWmonitor), - ctypes.c_float] -def set_gamma(monitor, gamma): - ''' - Generates a gamma ramp and sets it for the specified monitor. - - Wrapper for: - void glfwSetGamma(GLFWmonitor* monitor, float gamma); - ''' - _glfw.glfwSetGamma(monitor, gamma) - -_glfw.glfwGetGammaRamp.restype = ctypes.POINTER(_GLFWgammaramp) -_glfw.glfwGetGammaRamp.argtypes = [ctypes.POINTER(_GLFWmonitor)] -def get_gamma_ramp(monitor): - ''' - Retrieves the current gamma ramp for the specified monitor. - - Wrapper for: - const GLFWgammaramp* glfwGetGammaRamp(GLFWmonitor* monitor); - ''' - gammaramp = _glfw.glfwGetGammaRamp(monitor).contents - return gammaramp.unwrap() - -_glfw.glfwSetGammaRamp.restype = None -_glfw.glfwSetGammaRamp.argtypes = [ctypes.POINTER(_GLFWmonitor), - ctypes.POINTER(_GLFWgammaramp)] -def set_gamma_ramp(monitor, ramp): - ''' - Sets the current gamma ramp for the specified monitor. - - Wrapper for: - void glfwSetGammaRamp(GLFWmonitor* monitor, const GLFWgammaramp* ramp); - ''' - gammaramp = _GLFWgammaramp() - gammaramp.wrap(ramp) - _glfw.glfwSetGammaRamp(monitor, ctypes.pointer(gammaramp)) - -_glfw.glfwDefaultWindowHints.restype = None -_glfw.glfwDefaultWindowHints.argtypes = [] -def default_window_hints(): - ''' - Resets all window hints to their default values. - - Wrapper for: - void glfwDefaultWindowHints(void); - ''' - _glfw.glfwDefaultWindowHints() - -_glfw.glfwWindowHint.restype = None -_glfw.glfwWindowHint.argtypes = [ctypes.c_int, - ctypes.c_int] -def window_hint(target, hint): - ''' - Sets the specified window hint to the desired value. - - Wrapper for: - void glfwWindowHint(int target, int hint); - ''' - _glfw.glfwWindowHint(target, hint) - -_glfw.glfwCreateWindow.restype = ctypes.POINTER(_GLFWwindow) -_glfw.glfwCreateWindow.argtypes = [ctypes.c_int, - ctypes.c_int, - ctypes.c_char_p, - ctypes.POINTER(_GLFWmonitor), - ctypes.POINTER(_GLFWwindow)] -def create_window(width, height, title, monitor, share): - ''' - Creates a window and its associated context. - - Wrapper for: - GLFWwindow* glfwCreateWindow(int width, int height, const char* title, GLFWmonitor* monitor, GLFWwindow* share); - ''' - return _glfw.glfwCreateWindow(width, height, _to_char_p(title), - monitor, share) - -_glfw.glfwDestroyWindow.restype = None -_glfw.glfwDestroyWindow.argtypes = [ctypes.POINTER(_GLFWwindow)] -def destroy_window(window): - ''' - Destroys the specified window and its context. - - Wrapper for: - void glfwDestroyWindow(GLFWwindow* window); - ''' - _glfw.glfwDestroyWindow(window) - window_addr = ctypes.cast(ctypes.pointer(window), - ctypes.POINTER(ctypes.c_ulong)).contents.value - for callback_repository in _callback_repositories: - if window_addr in callback_repository: - del callback_repository[window_addr] - -_glfw.glfwWindowShouldClose.restype = ctypes.c_int -_glfw.glfwWindowShouldClose.argtypes = [ctypes.POINTER(_GLFWwindow)] -def window_should_close(window): - ''' - Checks the close flag of the specified window. - - Wrapper for: - int glfwWindowShouldClose(GLFWwindow* window); - ''' - return _glfw.glfwWindowShouldClose(window) - -_glfw.glfwSetWindowShouldClose.restype = None -_glfw.glfwSetWindowShouldClose.argtypes = [ctypes.POINTER(_GLFWwindow), - ctypes.c_int] -def set_window_should_close(window, value): - ''' - Sets the close flag of the specified window. - - Wrapper for: - void glfwSetWindowShouldClose(GLFWwindow* window, int value); - ''' - _glfw.glfwSetWindowShouldClose(window, value) - -_glfw.glfwSetWindowTitle.restype = None -_glfw.glfwSetWindowTitle.argtypes = [ctypes.POINTER(_GLFWwindow), - ctypes.c_char_p] -def set_window_title(window, title): - ''' - Sets the title of the specified window. - - Wrapper for: - void glfwSetWindowTitle(GLFWwindow* window, const char* title); - ''' - _glfw.glfwSetWindowTitle(window, _to_char_p(title)) - -_glfw.glfwGetWindowPos.restype = None -_glfw.glfwGetWindowPos.argtypes = [ctypes.POINTER(_GLFWwindow), - ctypes.POINTER(ctypes.c_int), - ctypes.POINTER(ctypes.c_int)] -def get_window_pos(window): - ''' - Retrieves the position of the client area of the specified window. - - Wrapper for: - void glfwGetWindowPos(GLFWwindow* window, int* xpos, int* ypos); - ''' - xpos_value = ctypes.c_int(0) - xpos = ctypes.pointer(xpos_value) - ypos_value = ctypes.c_int(0) - ypos = ctypes.pointer(ypos_value) - _glfw.glfwGetWindowPos(window, xpos, ypos) - return xpos_value.value, ypos_value.value - -_glfw.glfwSetWindowPos.restype = None -_glfw.glfwSetWindowPos.argtypes = [ctypes.POINTER(_GLFWwindow), - ctypes.c_int, - ctypes.c_int] -def set_window_pos(window, xpos, ypos): - ''' - Sets the position of the client area of the specified window. - - Wrapper for: - void glfwSetWindowPos(GLFWwindow* window, int xpos, int ypos); - ''' - _glfw.glfwSetWindowPos(window, xpos, ypos) - -_glfw.glfwGetWindowSize.restype = None -_glfw.glfwGetWindowSize.argtypes = [ctypes.POINTER(_GLFWwindow), - ctypes.POINTER(ctypes.c_int), - ctypes.POINTER(ctypes.c_int)] -def get_window_size(window): - ''' - Retrieves the size of the client area of the specified window. - - Wrapper for: - void glfwGetWindowSize(GLFWwindow* window, int* width, int* height); - ''' - width_value = ctypes.c_int(0) - width = ctypes.pointer(width_value) - height_value = ctypes.c_int(0) - height = ctypes.pointer(height_value) - _glfw.glfwGetWindowSize(window, width, height) - return width_value.value, height_value.value - -_glfw.glfwSetWindowSize.restype = None -_glfw.glfwSetWindowSize.argtypes = [ctypes.POINTER(_GLFWwindow), - ctypes.c_int, - ctypes.c_int] -def set_window_size(window, width, height): - ''' - Sets the size of the client area of the specified window. - - Wrapper for: - void glfwSetWindowSize(GLFWwindow* window, int width, int height); - ''' - _glfw.glfwSetWindowSize(window, width, height) - -_glfw.glfwGetFramebufferSize.restype = None -_glfw.glfwGetFramebufferSize.argtypes = [ctypes.POINTER(_GLFWwindow), - ctypes.POINTER(ctypes.c_int), - ctypes.POINTER(ctypes.c_int)] -def get_framebuffer_size(window): - ''' - Retrieves the size of the framebuffer of the specified window. - - Wrapper for: - void glfwGetFramebufferSize(GLFWwindow* window, int* width, int* height); - ''' - width_value = ctypes.c_int(0) - width = ctypes.pointer(width_value) - height_value = ctypes.c_int(0) - height = ctypes.pointer(height_value) - _glfw.glfwGetFramebufferSize(window, width, height) - return width_value.value, height_value.value - -_glfw.glfwIconifyWindow.restype = None -_glfw.glfwIconifyWindow.argtypes = [ctypes.POINTER(_GLFWwindow)] -def iconify_window(window): - ''' - Iconifies the specified window. - - Wrapper for: - void glfwIconifyWindow(GLFWwindow* window); - ''' - _glfw.glfwIconifyWindow(window) - -_glfw.glfwRestoreWindow.restype = None -_glfw.glfwRestoreWindow.argtypes = [ctypes.POINTER(_GLFWwindow)] -def restore_window(window): - ''' - Restores the specified window. - - Wrapper for: - void glfwRestoreWindow(GLFWwindow* window); - ''' - _glfw.glfwRestoreWindow(window) - -_glfw.glfwShowWindow.restype = None -_glfw.glfwShowWindow.argtypes = [ctypes.POINTER(_GLFWwindow)] -def show_window(window): - ''' - Makes the specified window visible. - - Wrapper for: - void glfwShowWindow(GLFWwindow* window); - ''' - _glfw.glfwShowWindow(window) - -_glfw.glfwHideWindow.restype = None -_glfw.glfwHideWindow.argtypes = [ctypes.POINTER(_GLFWwindow)] -def hide_window(window): - ''' - Hides the specified window. - - Wrapper for: - void glfwHideWindow(GLFWwindow* window); - ''' - _glfw.glfwHideWindow(window) - -_glfw.glfwGetWindowMonitor.restype = ctypes.POINTER(_GLFWmonitor) -_glfw.glfwGetWindowMonitor.argtypes = [ctypes.POINTER(_GLFWwindow)] -def get_window_monitor(window): - ''' - Returns the monitor that the window uses for full screen mode. - - Wrapper for: - GLFWmonitor* glfwGetWindowMonitor(GLFWwindow* window); - ''' - return _glfw.glfwGetWindowMonitor(window) - -_glfw.glfwGetWindowAttrib.restype = ctypes.c_int -_glfw.glfwGetWindowAttrib.argtypes = [ctypes.POINTER(_GLFWwindow), - ctypes.c_int] -def get_window_attrib(window, attrib): - ''' - Returns an attribute of the specified window. - - Wrapper for: - int glfwGetWindowAttrib(GLFWwindow* window, int attrib); - ''' - return _glfw.glfwGetWindowAttrib(window, attrib) - -_glfw.glfwSetWindowUserPointer.restype = None -_glfw.glfwSetWindowUserPointer.argtypes = [ctypes.POINTER(_GLFWwindow), - ctypes.c_void_p] -def set_window_user_pointer(window, pointer): - ''' - Sets the user pointer of the specified window. - - Wrapper for: - void glfwSetWindowUserPointer(GLFWwindow* window, void* pointer); - ''' - _glfw.glfwSetWindowUserPointer(window, pointer) - -_glfw.glfwGetWindowUserPointer.restype = ctypes.c_void_p -_glfw.glfwGetWindowUserPointer.argtypes = [ctypes.POINTER(_GLFWwindow)] -def get_window_user_pointer(window): - ''' - Returns the user pointer of the specified window. - - Wrapper for: - void* glfwGetWindowUserPointer(GLFWwindow* window); - ''' - return _glfw.glfwGetWindowUserPointer(window) - -_window_pos_callback_repository = {} -_callback_repositories.append(_window_pos_callback_repository) -_glfw.glfwSetWindowPosCallback.restype = _GLFWwindowposfun -_glfw.glfwSetWindowPosCallback.argtypes = [ctypes.POINTER(_GLFWwindow), - _GLFWwindowposfun] -def set_window_pos_callback(window, cbfun): - ''' - Sets the position callback for the specified window. - - Wrapper for: - GLFWwindowposfun glfwSetWindowPosCallback(GLFWwindow* window, GLFWwindowposfun cbfun); - ''' - window_addr = ctypes.cast(ctypes.pointer(window), - ctypes.POINTER(ctypes.c_long)).contents.value - if window_addr in _window_pos_callback_repository: - previous_callback = _window_pos_callback_repository[window_addr] - else: - previous_callback = None - if cbfun is None: - cbfun = 0 - c_cbfun = _GLFWwindowposfun(cbfun) - _window_pos_callback_repository[window_addr] = (cbfun, c_cbfun) - cbfun = c_cbfun - _glfw.glfwSetWindowPosCallback(window, cbfun) - if previous_callback is not None and previous_callback[0] != 0: - return previous_callback[0] - -_window_size_callback_repository = {} -_callback_repositories.append(_window_size_callback_repository) -_glfw.glfwSetWindowSizeCallback.restype = _GLFWwindowsizefun -_glfw.glfwSetWindowSizeCallback.argtypes = [ctypes.POINTER(_GLFWwindow), - _GLFWwindowsizefun] -def set_window_size_callback(window, cbfun): - ''' - Sets the size callback for the specified window. - - Wrapper for: - GLFWwindowsizefun glfwSetWindowSizeCallback(GLFWwindow* window, GLFWwindowsizefun cbfun); - ''' - window_addr = ctypes.cast(ctypes.pointer(window), - ctypes.POINTER(ctypes.c_long)).contents.value - if window_addr in _window_size_callback_repository: - previous_callback = _window_size_callback_repository[window_addr] - else: - previous_callback = None - if cbfun is None: - cbfun = 0 - c_cbfun = _GLFWwindowsizefun(cbfun) - _window_size_callback_repository[window_addr] = (cbfun, c_cbfun) - cbfun = c_cbfun - _glfw.glfwSetWindowSizeCallback(window, cbfun) - if previous_callback is not None and previous_callback[0] != 0: - return previous_callback[0] - -_window_close_callback_repository = {} -_callback_repositories.append(_window_close_callback_repository) -_glfw.glfwSetWindowCloseCallback.restype = _GLFWwindowclosefun -_glfw.glfwSetWindowCloseCallback.argtypes = [ctypes.POINTER(_GLFWwindow), - _GLFWwindowclosefun] -def set_window_close_callback(window, cbfun): - ''' - Sets the close callback for the specified window. - - Wrapper for: - GLFWwindowclosefun glfwSetWindowCloseCallback(GLFWwindow* window, GLFWwindowclosefun cbfun); - ''' - window_addr = ctypes.cast(ctypes.pointer(window), - ctypes.POINTER(ctypes.c_long)).contents.value - if window_addr in _window_close_callback_repository: - previous_callback = _window_close_callback_repository[window_addr] - else: - previous_callback = None - if cbfun is None: - cbfun = 0 - c_cbfun = _GLFWwindowclosefun(cbfun) - _window_close_callback_repository[window_addr] = (cbfun, c_cbfun) - cbfun = c_cbfun - _glfw.glfwSetWindowCloseCallback(window, cbfun) - if previous_callback is not None and previous_callback[0] != 0: - return previous_callback[0] - -_window_refresh_callback_repository = {} -_callback_repositories.append(_window_refresh_callback_repository) -_glfw.glfwSetWindowRefreshCallback.restype = _GLFWwindowrefreshfun -_glfw.glfwSetWindowRefreshCallback.argtypes = [ctypes.POINTER(_GLFWwindow), - _GLFWwindowrefreshfun] -def set_window_refresh_callback(window, cbfun): - ''' - Sets the refresh callback for the specified window. - - Wrapper for: - GLFWwindowrefreshfun glfwSetWindowRefreshCallback(GLFWwindow* window, GLFWwindowrefreshfun cbfun); - ''' - window_addr = ctypes.cast(ctypes.pointer(window), - ctypes.POINTER(ctypes.c_long)).contents.value - if window_addr in _window_refresh_callback_repository: - previous_callback = _window_refresh_callback_repository[window_addr] - else: - previous_callback = None - if cbfun is None: - cbfun = 0 - c_cbfun = _GLFWwindowrefreshfun(cbfun) - _window_refresh_callback_repository[window_addr] = (cbfun, c_cbfun) - cbfun = c_cbfun - _glfw.glfwSetWindowRefreshCallback(window, cbfun) - if previous_callback is not None and previous_callback[0] != 0: - return previous_callback[0] - -_window_focus_callback_repository = {} -_callback_repositories.append(_window_focus_callback_repository) -_glfw.glfwSetWindowFocusCallback.restype = _GLFWwindowfocusfun -_glfw.glfwSetWindowFocusCallback.argtypes = [ctypes.POINTER(_GLFWwindow), - _GLFWwindowfocusfun] -def set_window_focus_callback(window, cbfun): - ''' - Sets the focus callback for the specified window. - - Wrapper for: - GLFWwindowfocusfun glfwSetWindowFocusCallback(GLFWwindow* window, GLFWwindowfocusfun cbfun); - ''' - window_addr = ctypes.cast(ctypes.pointer(window), - ctypes.POINTER(ctypes.c_long)).contents.value - if window_addr in _window_focus_callback_repository: - previous_callback = _window_focus_callback_repository[window_addr] - else: - previous_callback = None - if cbfun is None: - cbfun = 0 - c_cbfun = _GLFWwindowfocusfun(cbfun) - _window_focus_callback_repository[window_addr] = (cbfun, c_cbfun) - cbfun = c_cbfun - _glfw.glfwSetWindowFocusCallback(window, cbfun) - if previous_callback is not None and previous_callback[0] != 0: - return previous_callback[0] - -_window_iconify_callback_repository = {} -_callback_repositories.append(_window_iconify_callback_repository) -_glfw.glfwSetWindowIconifyCallback.restype = _GLFWwindowiconifyfun -_glfw.glfwSetWindowIconifyCallback.argtypes = [ctypes.POINTER(_GLFWwindow), - _GLFWwindowiconifyfun] -def set_window_iconify_callback(window, cbfun): - ''' - Sets the iconify callback for the specified window. - - Wrapper for: - GLFWwindowiconifyfun glfwSetWindowIconifyCallback(GLFWwindow* window, GLFWwindowiconifyfun cbfun); - ''' - window_addr = ctypes.cast(ctypes.pointer(window), - ctypes.POINTER(ctypes.c_long)).contents.value - if window_addr in _window_iconify_callback_repository: - previous_callback = _window_iconify_callback_repository[window_addr] - else: - previous_callback = None - if cbfun is None: - cbfun = 0 - c_cbfun = _GLFWwindowiconifyfun(cbfun) - _window_iconify_callback_repository[window_addr] = (cbfun, c_cbfun) - cbfun = c_cbfun - _glfw.glfwSetWindowIconifyCallback(window, cbfun) - if previous_callback is not None and previous_callback[0] != 0: - return previous_callback[0] - -_framebuffer_size_callback_repository = {} -_callback_repositories.append(_framebuffer_size_callback_repository) -_glfw.glfwSetFramebufferSizeCallback.restype = _GLFWframebuffersizefun -_glfw.glfwSetFramebufferSizeCallback.argtypes = [ctypes.POINTER(_GLFWwindow), - _GLFWframebuffersizefun] -def set_framebuffer_size_callback(window, cbfun): - ''' - Sets the framebuffer resize callback for the specified window. - - Wrapper for: - GLFWframebuffersizefun glfwSetFramebufferSizeCallback(GLFWwindow* window, GLFWframebuffersizefun cbfun); - ''' - window_addr = ctypes.cast(ctypes.pointer(window), - ctypes.POINTER(ctypes.c_long)).contents.value - if window_addr in _framebuffer_size_callback_repository: - previous_callback = _framebuffer_size_callback_repository[window_addr] - else: - previous_callback = None - if cbfun is None: - cbfun = 0 - c_cbfun = _GLFWframebuffersizefun(cbfun) - _framebuffer_size_callback_repository[window_addr] = (cbfun, c_cbfun) - cbfun = c_cbfun - _glfw.glfwSetFramebufferSizeCallback(window, cbfun) - if previous_callback is not None and previous_callback[0] != 0: - return previous_callback[0] - -_glfw.glfwPollEvents.restype = None -_glfw.glfwPollEvents.argtypes = [] -def poll_events(): - ''' - Processes all pending events. - - Wrapper for: - void glfwPollEvents(void); - ''' - _glfw.glfwPollEvents() - -_glfw.glfwWaitEvents.restype = None -_glfw.glfwWaitEvents.argtypes = [] -def wait_events(): - ''' - Waits until events are pending and processes them. - - Wrapper for: - void glfwWaitEvents(void); - ''' - _glfw.glfwWaitEvents() - -_glfw.glfwGetInputMode.restype = ctypes.c_int -_glfw.glfwGetInputMode.argtypes = [ctypes.POINTER(_GLFWwindow), - ctypes.c_int] -def get_input_mode(window, mode): - ''' - Returns the value of an input option for the specified window. - - Wrapper for: - int glfwGetInputMode(GLFWwindow* window, int mode); - ''' - return _glfw.glfwGetInputMode(window, mode) - -_glfw.glfwSetInputMode.restype = None -_glfw.glfwSetInputMode.argtypes = [ctypes.POINTER(_GLFWwindow), - ctypes.c_int, - ctypes.c_int] -def set_input_mode(window, mode, value): - ''' - Sets an input option for the specified window. - @param[in] window The window whose input mode to set. - @param[in] mode One of `GLFW_CURSOR`, `GLFW_STICKY_KEYS` or - `GLFW_STICKY_MOUSE_BUTTONS`. - @param[in] value The new value of the specified input mode. - - Wrapper for: - void glfwSetInputMode(GLFWwindow* window, int mode, int value); - ''' - _glfw.glfwSetInputMode(window, mode, value) - -_glfw.glfwGetKey.restype = ctypes.c_int -_glfw.glfwGetKey.argtypes = [ctypes.POINTER(_GLFWwindow), - ctypes.c_int] -def get_key(window, key): - ''' - Returns the last reported state of a keyboard key for the specified - window. - - Wrapper for: - int glfwGetKey(GLFWwindow* window, int key); - ''' - return _glfw.glfwGetKey(window, key) - -_glfw.glfwGetMouseButton.restype = ctypes.c_int -_glfw.glfwGetMouseButton.argtypes = [ctypes.POINTER(_GLFWwindow), - ctypes.c_int] -def get_mouse_button(window, button): - ''' - Returns the last reported state of a mouse button for the specified - window. - - Wrapper for: - int glfwGetMouseButton(GLFWwindow* window, int button); - ''' - return _glfw.glfwGetMouseButton(window, button) - -_glfw.glfwGetCursorPos.restype = None -_glfw.glfwGetCursorPos.argtypes = [ctypes.POINTER(_GLFWwindow), - ctypes.POINTER(ctypes.c_double), - ctypes.POINTER(ctypes.c_double)] -def get_cursor_pos(window): - ''' - Retrieves the last reported cursor position, relative to the client - area of the window. - - Wrapper for: - void glfwGetCursorPos(GLFWwindow* window, double* xpos, double* ypos); - ''' - xpos_value = ctypes.c_double(0.0) - xpos = ctypes.pointer(xpos_value) - ypos_value = ctypes.c_double(0.0) - ypos = ctypes.pointer(ypos_value) - _glfw.glfwGetCursorPos(window, xpos, ypos) - return xpos_value.value, ypos_value.value - -_glfw.glfwSetCursorPos.restype = None -_glfw.glfwSetCursorPos.argtypes = [ctypes.POINTER(_GLFWwindow), - ctypes.c_double, - ctypes.c_double] -def set_cursor_pos(window, xpos, ypos): - ''' - Sets the position of the cursor, relative to the client area of the window. - - Wrapper for: - void glfwSetCursorPos(GLFWwindow* window, double xpos, double ypos); - ''' - _glfw.glfwSetCursorPos(window, xpos, ypos) - -_key_callback_repository = {} -_callback_repositories.append(_key_callback_repository) -_glfw.glfwSetKeyCallback.restype = _GLFWkeyfun -_glfw.glfwSetKeyCallback.argtypes = [ctypes.POINTER(_GLFWwindow), - _GLFWkeyfun] -def set_key_callback(window, cbfun): - ''' - Sets the key callback. - - Wrapper for: - GLFWkeyfun glfwSetKeyCallback(GLFWwindow* window, GLFWkeyfun cbfun); - ''' - window_addr = ctypes.cast(ctypes.pointer(window), - ctypes.POINTER(ctypes.c_long)).contents.value - if window_addr in _key_callback_repository: - previous_callback = _key_callback_repository[window_addr] - else: - previous_callback = None - if cbfun is None: - cbfun = 0 - c_cbfun = _GLFWkeyfun(cbfun) - _key_callback_repository[window_addr] = (cbfun, c_cbfun) - cbfun = c_cbfun - _glfw.glfwSetKeyCallback(window, cbfun) - if previous_callback is not None and previous_callback[0] != 0: - return previous_callback[0] - -_char_callback_repository = {} -_callback_repositories.append(_char_callback_repository) -_glfw.glfwSetCharCallback.restype = _GLFWcharfun -_glfw.glfwSetCharCallback.argtypes = [ctypes.POINTER(_GLFWwindow), - _GLFWcharfun] -def set_char_callback(window, cbfun): - ''' - Sets the Unicode character callback. - - Wrapper for: - GLFWcharfun glfwSetCharCallback(GLFWwindow* window, GLFWcharfun cbfun); - ''' - window_addr = ctypes.cast(ctypes.pointer(window), - ctypes.POINTER(ctypes.c_long)).contents.value - if window_addr in _char_callback_repository: - previous_callback = _char_callback_repository[window_addr] - else: - previous_callback = None - if cbfun is None: - cbfun = 0 - c_cbfun = _GLFWcharfun(cbfun) - _char_callback_repository[window_addr] = (cbfun, c_cbfun) - cbfun = c_cbfun - _glfw.glfwSetCharCallback(window, cbfun) - if previous_callback is not None and previous_callback[0] != 0: - return previous_callback[0] - -_mouse_button_callback_repository = {} -_callback_repositories.append(_mouse_button_callback_repository) -_glfw.glfwSetMouseButtonCallback.restype = _GLFWmousebuttonfun -_glfw.glfwSetMouseButtonCallback.argtypes = [ctypes.POINTER(_GLFWwindow), - _GLFWmousebuttonfun] -def set_mouse_button_callback(window, cbfun): - ''' - Sets the mouse button callback. - - Wrapper for: - GLFWmousebuttonfun glfwSetMouseButtonCallback(GLFWwindow* window, GLFWmousebuttonfun cbfun); - ''' - window_addr = ctypes.cast(ctypes.pointer(window), - ctypes.POINTER(ctypes.c_long)).contents.value - if window_addr in _mouse_button_callback_repository: - previous_callback = _mouse_button_callback_repository[window_addr] - else: - previous_callback = None - if cbfun is None: - cbfun = 0 - c_cbfun = _GLFWmousebuttonfun(cbfun) - _mouse_button_callback_repository[window_addr] = (cbfun, c_cbfun) - cbfun = c_cbfun - _glfw.glfwSetMouseButtonCallback(window, cbfun) - if previous_callback is not None and previous_callback[0] != 0: - return previous_callback[0] - -_cursor_pos_callback_repository = {} -_callback_repositories.append(_cursor_pos_callback_repository) -_glfw.glfwSetCursorPosCallback.restype = _GLFWcursorposfun -_glfw.glfwSetCursorPosCallback.argtypes = [ctypes.POINTER(_GLFWwindow), - _GLFWcursorposfun] -def set_cursor_pos_callback(window, cbfun): - ''' - Sets the cursor position callback. - - Wrapper for: - GLFWcursorposfun glfwSetCursorPosCallback(GLFWwindow* window, GLFWcursorposfun cbfun); - ''' - window_addr = ctypes.cast(ctypes.pointer(window), - ctypes.POINTER(ctypes.c_long)).contents.value - if window_addr in _cursor_pos_callback_repository: - previous_callback = _cursor_pos_callback_repository[window_addr] - else: - previous_callback = None - if cbfun is None: - cbfun = 0 - c_cbfun = _GLFWcursorposfun(cbfun) - _cursor_pos_callback_repository[window_addr] = (cbfun, c_cbfun) - cbfun = c_cbfun - _glfw.glfwSetCursorPosCallback(window, cbfun) - if previous_callback is not None and previous_callback[0] != 0: - return previous_callback[0] - -_cursor_enter_callback_repository = {} -_callback_repositories.append(_cursor_enter_callback_repository) -_glfw.glfwSetCursorEnterCallback.restype = _GLFWcursorenterfun -_glfw.glfwSetCursorEnterCallback.argtypes = [ctypes.POINTER(_GLFWwindow), - _GLFWcursorenterfun] -def set_cursor_enter_callback(window, cbfun): - ''' - Sets the cursor enter/exit callback. - - Wrapper for: - GLFWcursorenterfun glfwSetCursorEnterCallback(GLFWwindow* window, GLFWcursorenterfun cbfun); - ''' - window_addr = ctypes.cast(ctypes.pointer(window), - ctypes.POINTER(ctypes.c_long)).contents.value - if window_addr in _cursor_enter_callback_repository: - previous_callback = _cursor_enter_callback_repository[window_addr] - else: - previous_callback = None - if cbfun is None: - cbfun = 0 - c_cbfun = _GLFWcursorenterfun(cbfun) - _cursor_enter_callback_repository[window_addr] = (cbfun, c_cbfun) - cbfun = c_cbfun - _glfw.glfwSetCursorEnterCallback(window, cbfun) - if previous_callback is not None and previous_callback[0] != 0: - return previous_callback[0] - -_scroll_callback_repository = {} -_callback_repositories.append(_scroll_callback_repository) -_glfw.glfwSetScrollCallback.restype = _GLFWscrollfun -_glfw.glfwSetScrollCallback.argtypes = [ctypes.POINTER(_GLFWwindow), - _GLFWscrollfun] -def set_scroll_callback(window, cbfun): - ''' - Sets the scroll callback. - - Wrapper for: - GLFWscrollfun glfwSetScrollCallback(GLFWwindow* window, GLFWscrollfun cbfun); - ''' - window_addr = ctypes.cast(ctypes.pointer(window), - ctypes.POINTER(ctypes.c_long)).contents.value - if window_addr in _scroll_callback_repository: - previous_callback = _scroll_callback_repository[window_addr] - else: - previous_callback = None - if cbfun is None: - cbfun = 0 - c_cbfun = _GLFWscrollfun(cbfun) - _scroll_callback_repository[window_addr] = (cbfun, c_cbfun) - cbfun = c_cbfun - _glfw.glfwSetScrollCallback(window, cbfun) - if previous_callback is not None and previous_callback[0] != 0: - return previous_callback[0] - -_glfw.glfwJoystickPresent.restype = ctypes.c_int -_glfw.glfwJoystickPresent.argtypes = [ctypes.c_int] -def joystick_present(joy): - ''' - Returns whether the specified joystick is present. - - Wrapper for: - int glfwJoystickPresent(int joy); - ''' - return _glfw.glfwJoystickPresent(joy) - -_glfw.glfwGetJoystickAxes.restype = ctypes.POINTER(ctypes.c_float) -_glfw.glfwGetJoystickAxes.argtypes = [ctypes.c_int, - ctypes.POINTER(ctypes.c_int)] -def get_joystick_axes(joy): - ''' - Returns the values of all axes of the specified joystick. - - Wrapper for: - const float* glfwGetJoystickAxes(int joy, int* count); - ''' - count_value = ctypes.c_int(0) - count = ctypes.pointer(count_value) - result = _glfw.glfwGetJoystickAxes(joy, count) - return result, count_value.value - -_glfw.glfwGetJoystickButtons.restype = ctypes.POINTER(ctypes.c_ubyte) -_glfw.glfwGetJoystickButtons.argtypes = [ctypes.c_int, - ctypes.POINTER(ctypes.c_int)] -def get_joystick_buttons(joy): - ''' - Returns the state of all buttons of the specified joystick. - - Wrapper for: - const unsigned char* glfwGetJoystickButtons(int joy, int* count); - ''' - count_value = ctypes.c_int(0) - count = ctypes.pointer(count_value) - result = _glfw.glfwGetJoystickButtons(joy, count) - return result, count_value.value - -_glfw.glfwGetJoystickName.restype = ctypes.c_char_p -_glfw.glfwGetJoystickName.argtypes = [ctypes.c_int] -def get_joystick_name(joy): - ''' - Returns the name of the specified joystick. - - Wrapper for: - const char* glfwGetJoystickName(int joy); - ''' - return _glfw.glfwGetJoystickName(joy) - -_glfw.glfwSetClipboardString.restype = None -_glfw.glfwSetClipboardString.argtypes = [ctypes.POINTER(_GLFWwindow), - ctypes.c_char_p] -def set_clipboard_string(window, string): - ''' - Sets the clipboard to the specified string. - - Wrapper for: - void glfwSetClipboardString(GLFWwindow* window, const char* string); - ''' - _glfw.glfwSetClipboardString(window, _to_char_p(string)) - -_glfw.glfwGetClipboardString.restype = ctypes.c_char_p -_glfw.glfwGetClipboardString.argtypes = [ctypes.POINTER(_GLFWwindow)] -def get_clipboard_string(window): - ''' - Retrieves the contents of the clipboard as a string. - - Wrapper for: - const char* glfwGetClipboardString(GLFWwindow* window); - ''' - return _glfw.glfwGetClipboardString(window) - -_glfw.glfwGetTime.restype = ctypes.c_double -_glfw.glfwGetTime.argtypes = [] -def get_time(): - ''' - Returns the value of the GLFW timer. - - Wrapper for: - double glfwGetTime(void); - ''' - return _glfw.glfwGetTime() - -_glfw.glfwSetTime.restype = None -_glfw.glfwSetTime.argtypes = [ctypes.c_double] -def set_time(time): - ''' - Sets the GLFW timer. - - Wrapper for: - void glfwSetTime(double time); - ''' - _glfw.glfwSetTime(time) - -_glfw.glfwMakeContextCurrent.restype = None -_glfw.glfwMakeContextCurrent.argtypes = [ctypes.POINTER(_GLFWwindow)] -def make_context_current(window): - ''' - Makes the context of the specified window current for the calling - thread. - - Wrapper for: - void glfwMakeContextCurrent(GLFWwindow* window); - ''' - _glfw.glfwMakeContextCurrent(window) - -_glfw.glfwGetCurrentContext.restype = ctypes.POINTER(_GLFWwindow) -_glfw.glfwGetCurrentContext.argtypes = [] -def get_current_context(): - ''' - Returns the window whose context is current on the calling thread. - - Wrapper for: - GLFWwindow* glfwGetCurrentContext(void); - ''' - return _glfw.glfwGetCurrentContext() - -_glfw.glfwSwapBuffers.restype = None -_glfw.glfwSwapBuffers.argtypes = [ctypes.POINTER(_GLFWwindow)] -def swap_buffers(window): - ''' - Swaps the front and back buffers of the specified window. - - Wrapper for: - void glfwSwapBuffers(GLFWwindow* window); - ''' - _glfw.glfwSwapBuffers(window) - -_glfw.glfwSwapInterval.restype = None -_glfw.glfwSwapInterval.argtypes = [ctypes.c_int] -def swap_interval(interval): - ''' - Sets the swap interval for the current context. - - Wrapper for: - void glfwSwapInterval(int interval); - ''' - _glfw.glfwSwapInterval(interval) - -_glfw.glfwExtensionSupported.restype = ctypes.c_int -_glfw.glfwExtensionSupported.argtypes = [ctypes.c_char_p] -def extension_supported(extension): - ''' - Returns whether the specified extension is available. - - Wrapper for: - int glfwExtensionSupported(const char* extension); - ''' - return _glfw.glfwExtensionSupported(_to_char_p(extension)) - -_glfw.glfwGetProcAddress.restype = ctypes.c_void_p -_glfw.glfwGetProcAddress.argtypes = [ctypes.c_char_p] -def get_proc_address(procname): - ''' - Returns the address of the specified function for the current - context. - - Wrapper for: - GLFWglproc glfwGetProcAddress(const char* procname); - ''' - return _glfw.glfwGetProcAddress(_to_char_p(procname)) diff --git a/mujoco_py/mjconstants.py b/mujoco_py/mjconstants.py deleted file mode 100644 index 0fa78747..00000000 --- a/mujoco_py/mjconstants.py +++ /dev/null @@ -1,23 +0,0 @@ -MOUSE_ROTATE_V = 1 -MOUSE_ROTATE_H = 2 -MOUSE_MOVE_V = 3 -MOUSE_MOVE_H = 4 -MOUSE_ZOOM = 5 - -mjOBJ_BODY = 1 -mjOBJ_JOINT = 2 - -mjJNT_FREE = 0 -mjJNT_BALL = 1 -mjJNT_SLIDE = 2 -mjJNT_HINGE = 3 - -# mjtCatBit - geom categories -mjCAT_STATIC = 1 -mjCAT_DYNAMIC = 2 -mjCAT_DECOR = 4 -mjCAT_ALL = 7 - -# mjtPertBit - mouse perturbation -mjPERT_TRANSLATE = 1 -mjPERT_ROTATE = 2 diff --git a/mujoco_py/mjcore.py b/mujoco_py/mjcore.py deleted file mode 100644 index 4b62b21a..00000000 --- a/mujoco_py/mjcore.py +++ /dev/null @@ -1,162 +0,0 @@ -from ctypes import create_string_buffer -import ctypes -from . import mjconstants as C - -from .mjtypes import * # import all for backwards compatibility -from .mjlib import mjlib -from six.moves import xrange - -def register_license(file_path): - """ - activates mujoco with license at `file_path` - - this does not check the return code, per usage example at simulate.cpp - and test.cpp. - """ - result = mjlib.mj_activate(file_path) - return result - - -class dict2(dict): - def __init__(self, **kwargs): - dict.__init__(self, kwargs) - self.__dict__ = self - - -class MjModel(MjModelWrapper): - - def __init__(self, xml_path): - buf = create_string_buffer(1000) - model_ptr = mjlib.mj_loadXML(xml_path, None, buf, 1000) - if len(buf.value) > 0: - print("Warning: %s" % buf.value) - super(MjModel, self).__init__(model_ptr) - data_ptr = mjlib.mj_makeData(model_ptr) - fields = ["nq","nv","na","nu","nbody","nmocap","nuserdata","nsensordata","njnt","ngeom","nsite","ncam","nlight","ntendon","nwrap","nM","njmax","nemax"] - sizes = dict2(**{ k: getattr(self, k) for k in fields }) - data = MjData(data_ptr, sizes) - self.data = data - self._body_comvels = None - self.forward() - - def forward(self): - mjlib.mj_forward(self.ptr, self.data.ptr) - mjlib.mj_sensor(self.ptr, self.data.ptr) - mjlib.mj_energy(self.ptr, self.data.ptr) - self._body_comvels = None - - @property - def body_comvels(self): - if self._body_comvels is None: - self._body_comvels = self._compute_subtree() - return self._body_comvels - - def _compute_subtree(self): - body_vels = np.zeros((self.nbody, 6)) - # bodywise quantities - mass = self.body_mass.flatten() - for i in xrange(self.nbody): - # body velocity - mjlib.mj_objectVelocity( - self.ptr, self.data.ptr, C.mjOBJ_BODY, i, - body_vels[i].ctypes.data_as(POINTER(c_double)), 0 - ) - # body linear momentum - lin_moms = body_vels[:, 3:] * mass.reshape((-1, 1)) - - # init subtree mass - body_parentid = self.body_parentid - # subtree com and com_vel - for i in xrange(self.nbody - 1, -1, -1): - if i > 0: - parent = body_parentid[i] - # add scaled velocities - lin_moms[parent] += lin_moms[i] - # accumulate mass - mass[parent] += mass[i] - return lin_moms / mass.reshape((-1, 1)) - - def step(self): - mjlib.mj_step(self.ptr, self.data.ptr) - - def __del__(self): - if self._wrapped is not None: - # At the very end of the process, mjlib can be unloaded before we are deleted. - # At that point, it's okay to leak this memory. - if mjlib: mjlib.mj_deleteModel(self._wrapped) - - @property - def body_names(self): - start_addr = ctypes.addressof(self.names.contents) - return [ctypes.string_at(start_addr + int(inc)) - for inc in self.name_bodyadr.flatten()] - - @property - def joint_names(self): - start_addr = ctypes.addressof(self.names.contents) - return [ctypes.string_at(start_addr + int(inc)) - for inc in self.name_jntadr.flatten()] - - def joint_adr(self, joint_name): - """Return (qposadr, qveladr, dof) for the given joint name. - - If dof is 4 or 7, then the last 4 degrees of freedom in qpos represent a - unit quaternion.""" - jntadr = mjlib.mj_name2id(self.ptr, C.mjOBJ_JOINT, joint_name) - assert(jntadr >= 0) - dofmap = {C.mjJNT_FREE: 7, - C.mjJNT_BALL: 4, - C.mjJNT_SLIDE: 1, - C.mjJNT_HINGE: 1} - qposadr = self.jnt_qposadr[jntadr][0] - qveladr = self.jnt_dofadr[jntadr][0] - dof = dofmap[self.jnt_type[jntadr][0]] - return (qposadr, qveladr, dof) - - @property - def geom_names(self): - start_addr = ctypes.addressof(self.names.contents) - return [ctypes.string_at(start_addr + int(inc)) - for inc in self.name_geomadr.flatten()] - - @property - def site_names(self): - start_addr = ctypes.addressof(self.names.contents) - return [ctypes.string_at(start_addr + int(inc)) - for inc in self.name_siteadr.flatten()] - - @property - def mesh_names(self): - start_addr = ctypes.addressof(self.names.contents) - return [ctypes.string_at(start_addr + int(inc)) - for inc in self.name_meshadr.flatten()] - - @property - def numeric_names(self): - start_addr = ctypes.addressof(self.names.contents) - return [ctypes.string_at(start_addr + int(inc)) - for inc in self.name_numericadr.flatten()] - - @property - def actuator_names(self): - start_addr = ctypes.addressof(self.names.contents) - return [ctypes.string_at(start_addr + int(inc)) - for inc in self.name_actuatoradr.flatten()] - - @property - def camera_names(self): - start_addr = ctypes.addressof(self.names.contents) - return [ctypes.string_at(start_addr + int(inc)) - for inc in self.name_camadr.flatten()] - - -class MjData(MjDataWrapper): - - def __init__(self, wrapped, size_src=None): - super(MjData, self).__init__(wrapped, size_src) - - def __del__(self): - if self._wrapped is not None: - # At the very end of the process, mjlib can be unloaded before we are deleted. - # At that point, it's okay to leak this memory. - if mjlib: mjlib.mj_deleteData(self._wrapped) diff --git a/mujoco_py/mjextra.py b/mujoco_py/mjextra.py deleted file mode 100644 index 40bba746..00000000 --- a/mujoco_py/mjextra.py +++ /dev/null @@ -1,6 +0,0 @@ -def append_objects(cur, extra): - for i in range(cur.ngeom, cur.ngeom + extra.ngeom): - cur.geoms[i] = extra.geoms[i - cur.ngeom] - cur.ngeom = cur.ngeom + extra.ngeom - if cur.ngeom > cur.maxgeom: - raise ValueError("buffer limit exceeded!") diff --git a/mujoco_py/mjlib.py b/mujoco_py/mjlib.py deleted file mode 100644 index 9966573e..00000000 --- a/mujoco_py/mjlib.py +++ /dev/null @@ -1,413 +0,0 @@ -from ctypes import * -import os -from .util import * -from .mjtypes import * - -from mujoco_py import config - -path_prefix = config.mjpro_path -if sys.platform.startswith("darwin"): - libfile = os.path.join(path_prefix, "bin/libmujoco131.dylib") -elif sys.platform.startswith("linux"): - libfile = os.path.join(path_prefix, "bin/libmujoco131.so") -elif sys.platform.startswith("win"): - libfile = os.path.join(path_prefix, "bin/mujoco131.lib") -else: - raise RuntimeError("Unrecognized platform %s" % sys.platform) - -if not os.path.exists(libfile): - raise RuntimeError("Missing path: %s. (HINT: you should have unzipped the mjpro131.zip bundle without modification.)" % libfile) - -mjlib = cdll.LoadLibrary(os.path.abspath(libfile)) - -mjlib.mj_loadXML.argtypes = [String, String, c_char_p, c_int] -mjlib.mj_loadXML.restype = POINTER(MJMODEL) -mjlib.mj_saveXML.argtypes = [String, POINTER(MJMODEL), String] -mjlib.mj_saveXML.restype = c_int -#mjlib.mj_printSchema.argtypes = [String, String, c_int, c_int, c_int] -#mjlib.mj_printSchema.restype = c_int -mjlib.mj_activate.argtypes = [String] -mjlib.mj_activate.restype = c_int -mjlib.mj_step.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -mjlib.mj_step.restype = None -mjlib.mj_step1.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -mjlib.mj_step1.restype = None -mjlib.mj_step2.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -mjlib.mj_step2.restype = None -mjlib.mj_forward.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -mjlib.mj_forward.restype = None -#mjlib.mj_inverse.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_inverse.restype = None -#mjlib.mj_forwardSkip.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), c_int] -#mjlib.mj_forwardSkip.restype = None -#mjlib.mj_inverseSkip.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), c_int] -#mjlib.mj_inverseSkip.restype = None -#mjlib.mj_sensor.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_sensor.restype = None -#mjlib.mj_energy.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_energy.restype = None -#mjlib.mj_defaultSolRefImp.argtypes = [POINTER(c_double), POINTER(c_double)] -#mjlib.mj_defaultSolRefImp.restype = None -#mjlib.mj_defaultOption.argtypes = [POINTER(mjOption)] -#mjlib.mj_defaultOption.restype = None -#mjlib.mj_defaultVisual.argtypes = [POINTER(mjVisual)] -#mjlib.mj_defaultVisual.restype = None -#mjlib.mj_copyModel.argtypes = [POINTER(MJMODEL), POINTER(MJMODEL)] -#mjlib.mj_copyModel.restype = POINTER(MJMODEL) -#mjlib.mj_saveModel.argtypes = [POINTER(MJMODEL), String, c_int, POINTER(None)] -#mjlib.mj_saveModel.restype = None -#mjlib.mj_loadModel.argtypes = [String, c_int, POINTER(None)] -#mjlib.mj_loadModel.restype = POINTER(MJMODEL) -mjlib.mj_deleteModel.argtypes = [POINTER(MJMODEL)] -mjlib.mj_deleteModel.restype = None -#mjlib.mj_sizeModel.argtypes = [POINTER(MJMODEL)] -#mjlib.mj_sizeModel.restype = c_int -mjlib.mj_makeData.argtypes = [POINTER(MJMODEL)] -mjlib.mj_makeData.restype = POINTER(MJDATA) -#mjlib.mj_copyData.argtypes = [POINTER(MJDATA), POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_copyData.restype = POINTER(MJDATA) -mjlib.mj_resetData.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -mjlib.mj_resetData.restype = None -#mjlib.mj_stackAlloc.argtypes = [POINTER(MJDATA), c_int] -#mjlib.mj_stackAlloc.restype = POINTER(c_double) -mjlib.mj_deleteData.argtypes = [POINTER(MJDATA)] -mjlib.mj_deleteData.restype = None -#mjlib.mj_resetCallbacks.argtypes = [] -#mjlib.mj_resetCallbacks.restype = None -#mjlib.mj_setConst.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), c_int] -#mjlib.mj_setConst.restype = None -#mjlib.mj_printModel.argtypes = [POINTER(MJMODEL), String] -#mjlib.mj_printModel.restype = None -#mjlib.mj_printData.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), String] -#mjlib.mj_printData.restype = None -#mjlib.mju_printMat.argtypes = [POINTER(c_double), c_int, c_int] -#mjlib.mju_printMat.restype = None -#mjlib.mj_fwdPosition.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_fwdPosition.restype = None -#mjlib.mj_fwdVelocity.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_fwdVelocity.restype = None -#mjlib.mj_fwdActuation.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_fwdActuation.restype = None -#mjlib.mj_fwdAcceleration.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_fwdAcceleration.restype = None -#mjlib.mj_fwdConstraint.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_fwdConstraint.restype = None -#mjlib.mj_Euler.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_Euler.restype = None -#mjlib.mj_RungeKutta.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), c_int] -#mjlib.mj_RungeKutta.restype = None -#mjlib.mj_invPosition.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_invPosition.restype = None -#mjlib.mj_invVelocity.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_invVelocity.restype = None -#mjlib.mj_invConstraint.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_invConstraint.restype = None -#mjlib.mj_compareFwdInv.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_compareFwdInv.restype = None -#mjlib.mj_checkPos.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_checkPos.restype = None -#mjlib.mj_checkVel.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_checkVel.restype = None -#mjlib.mj_checkAcc.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_checkAcc.restype = None -#mjlib.mj_kinematics.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_kinematics.restype = None -#mjlib.mj_comPos.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_comPos.restype = None -#mjlib.mj_tendon.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_tendon.restype = None -#mjlib.mj_transmission.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_transmission.restype = None -#mjlib.mj_crb.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_crb.restype = None -#mjlib.mj_factorM.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_factorM.restype = None -#mjlib.mj_backsubM.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), POINTER(c_double), POINTER(c_double), c_int] -#mjlib.mj_backsubM.restype = None -#mjlib.mj_backsubM2.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), POINTER(c_double), POINTER(c_double), c_int] -#mjlib.mj_backsubM2.restype = None -#mjlib.mj_comVel.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_comVel.restype = None -#mjlib.mj_passive.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_passive.restype = None -#mjlib.mj_rne.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), c_int, POINTER(c_double)] -#mjlib.mj_rne.restype = None -#mjlib.mj_rnePostConstraint.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_rnePostConstraint.restype = None -#mjlib.mj_collision.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_collision.restype = None -#mjlib.mj_makeConstraint.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_makeConstraint.restype = None -#mjlib.mj_projectConstraint.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_projectConstraint.restype = None -#mjlib.mj_referenceConstraint.argtypes = [POINTER(MJMODEL), POINTER(MJDATA)] -#mjlib.mj_referenceConstraint.restype = None -#mjlib.mj_isPyramid.argtypes = [POINTER(MJMODEL)] -#mjlib.mj_isPyramid.restype = c_int -#mjlib.mj_isSparse.argtypes = [POINTER(MJMODEL)] -#mjlib.mj_isSparse.restype = c_int -#mjlib.mj_mulJacVec.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), POINTER(c_double), POINTER(c_double)] -#mjlib.mj_mulJacVec.restype = None -#mjlib.mj_mulJacTVec.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), POINTER(c_double), POINTER(c_double)] -#mjlib.mj_mulJacTVec.restype = None -#mjlib.mj_jac.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), POINTER(c_double), POINTER(c_double), POINTER(c_double), c_int] -#mjlib.mj_jac.restype = None -#mjlib.mj_jacBody.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), POINTER(c_double), POINTER(c_double), c_int] -#mjlib.mj_jacBody.restype = None -#mjlib.mj_jacBodyCom.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), POINTER(c_double), POINTER(c_double), c_int] -#mjlib.mj_jacBodyCom.restype = None -#mjlib.mj_jacGeom.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), POINTER(c_double), POINTER(c_double), c_int] -#mjlib.mj_jacGeom.restype = None -#mjlib.mj_jacSite.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), POINTER(c_double), POINTER(c_double), c_int] -#mjlib.mj_jacSite.restype = None -#mjlib.mj_jacPointAxis.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), POINTER(c_double), POINTER(c_double), POINTER(c_double), POINTER(c_double), c_int] -#mjlib.mj_jacPointAxis.restype = None -mjlib.mj_name2id.argtypes = [POINTER(MJMODEL), c_int, String] # The middle term is a mjtObj (an enum) in C. -mjlib.mj_name2id.restype = c_int -#mjlib.mj_id2name.argtypes = [POINTER(MJMODEL), mjtObj, c_int] -#mjlib. mj_id2name.restype = ReturnString -#mjlib.else: -#mjlib. mj_id2name.restype = String -#mjlib. mj_id2name.errcheck = ReturnString -#mjlib.mj_fullM.argtypes = [POINTER(MJMODEL), POINTER(c_double), POINTER(c_double)] -#mjlib.mj_fullM.restype = None -#mjlib.mj_mulM.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), POINTER(c_double), POINTER(c_double)] -#mjlib.mj_mulM.restype = None -#mjlib.mj_applyFT.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), POINTER(c_double), POINTER(c_double), POINTER(c_double), c_int, POINTER(c_double)] -#mjlib.mj_applyFT.restype = None -#mjlib.mj_objectVelocity.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), c_int, c_int, POINTER(c_double), mjtByte] -#mjlib.mj_objectVelocity.restype = None -#mjlib.mj_objectAcceleration.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), c_int, c_int, POINTER(c_double), mjtByte] -#mjlib.mj_objectAcceleration.restype = None -#mjlib.mj_contactForce.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), c_int, POINTER(c_double)] -#mjlib.mj_contactForce.restype = None -#mjlib.mj_integratePos.argtypes = [POINTER(MJMODEL), POINTER(c_double), POINTER(c_double), c_double] -#mjlib.mj_integratePos.restype = None -#mjlib.mj_normalizeQuat.argtypes = [POINTER(MJMODEL), POINTER(c_double)] -#mjlib.mj_normalizeQuat.restype = None -#mjlib.mj_local2Global.argtypes = [POINTER(MJDATA), POINTER(c_double), POINTER(c_double), POINTER(c_double), POINTER(c_double), c_int] -#mjlib.mj_local2Global.restype = None -#mjlib.mj_getTotalmass.argtypes = [POINTER(MJMODEL)] -#mjlib.mj_getTotalmass.restype = c_double -#mjlib.mj_setTotalmass.argtypes = [POINTER(MJMODEL), c_double] -#mjlib.mj_setTotalmass.restype = None -#mjlib.mj_version.argtypes = [] -#mjlib.mj_version.restype = c_double -mjlib.mjv_makeObjects.argtypes = [POINTER(MJVOBJECTS), c_int] -mjlib.mjv_makeObjects.restype = None -mjlib.mjv_freeObjects.argtypes = [POINTER(MJVOBJECTS)] -mjlib.mjv_freeObjects.restype = None -mjlib.mjv_defaultOption.argtypes = [POINTER(MJVOPTION)] -mjlib.mjv_defaultOption.restype = None -#mjlib.mjv_defaultCameraPose.argtypes = [POINTER(MJVCAMERAPOSE)] -#mjlib.mjv_defaultCameraPose.restype = None -mjlib.mjv_defaultCamera.argtypes = [POINTER(MJVCAMERA)] -mjlib.mjv_defaultCamera.restype = None -mjlib.mjv_setCamera.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), POINTER(MJVCAMERA)] -mjlib.mjv_setCamera.restype = None -mjlib.mjv_updateCameraPose.argtypes = [POINTER(MJVCAMERA), c_double] -mjlib.mjv_updateCameraPose.restype = None -#mjlib.mjv_convert3D.argtypes = [POINTER(c_double), POINTER(c_double), c_double, POINTER(MJVCAMERAPOSE)] -#mjlib.mjv_convert3D.restype = None -#mjlib.mjv_convert2D.argtypes = [POINTER(c_double), mjtMouse, c_double, c_double, c_double, POINTER(MJVCAMERAPOSE)] -#mjlib.mjv_convert2D.restype = None -mjlib.mjv_moveCamera.argtypes = [c_int, c_float, c_float, POINTER(MJVCAMERA), c_float, c_float] -mjlib.mjv_moveCamera.restype = None -#mjlib.mjv_moveObject.argtypes = [mjtMouse, c_float, c_float, POINTER(MJVCAMERAPOSE), c_float, c_float, POINTER(c_double), POINTER(c_double)] -#mjlib.mjv_moveObject.restype = None -mjlib.mjv_mousePerturb.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), c_int, c_int, POINTER(c_double), POINTER(c_double), POINTER(c_double)] -mjlib.mjv_mousePerturb.restype = None -#mjlib.mjv_mouseEdit.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), c_int, c_int, POINTER(c_double), POINTER(c_double)] -#mjlib.mjv_mouseEdit.restype = None -mjlib.mjv_makeGeoms.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), POINTER(MJVOBJECTS), POINTER(MJVOPTION), c_int, c_int, POINTER(c_double), POINTER(c_double), POINTER(c_double)] -mjlib.mjv_makeGeoms.restype = None -mjlib.mjv_makeLights.argtypes = [POINTER(MJMODEL), POINTER(MJDATA), POINTER(MJVOBJECTS)] -mjlib.mjv_makeLights.restype = None -mjlib.mjr_overlay.argtypes = [MJRRECT, c_int, c_int, String, String, POINTER(MJRCONTEXT)] -mjlib.mjr_overlay.restype = None -#mjlib.mjr_rectangle.argtypes = [c_int, MJRRECT, c_double, c_double, c_double, c_double, c_double, c_double, c_double, c_double] -#mjlib.mjr_rectangle.restype = None -#mjlib.mjr_finish.argtypes = [] -#mjlib.mjr_finish.restype = None -#mjlib.mjr_text.argtypes = [String, POINTER(MJRCONTEXT), c_int, c_float, c_float, c_float, c_float, c_float, c_float] -#mjlib.mjr_text.restype = None -#mjlib.mjr_textback.argtypes = [String, POINTER(MJRCONTEXT), c_float, c_float, c_float, c_float, c_float, c_float] -#mjlib.mjr_textback.restype = None -#mjlib.mjr_textWidth.argtypes = [String, POINTER(MJRCONTEXT), c_int] -#mjlib.mjr_textWidth.restype = c_int -mjlib.mjr_defaultOption.argtypes = [POINTER(MJROPTION)] -mjlib.mjr_defaultOption.restype = None -mjlib.mjr_defaultContext.argtypes = [POINTER(MJRCONTEXT)] -mjlib.mjr_defaultContext.restype = None -#mjlib.mjr_uploadTexture.argtypes = [POINTER(MJMODEL), POINTER(MJRCONTEXT), c_int] -#mjlib.mjr_uploadTexture.restype = None -mjlib.mjr_makeContext.argtypes = [POINTER(MJMODEL), POINTER(MJRCONTEXT), c_int] -mjlib.mjr_makeContext.restype = None -mjlib.mjr_freeContext.argtypes = [POINTER(MJRCONTEXT)] -mjlib.mjr_freeContext.restype = None -mjlib.mjr_render.argtypes = [c_int, MJRRECT, POINTER(MJVOBJECTS), POINTER(MJROPTION), POINTER(MJVCAMERAPOSE), POINTER(MJRCONTEXT)] -mjlib.mjr_render.restype = None -#mjlib.mjr_select.argtypes = [MJRRECT, POINTER(MJVOBJECTS), c_int, c_int, POINTER(c_double), POINTER(c_double), POINTER(MJROPTION), POINTER(MJVCAMERAPOSE), POINTER(MJRCONTEXT)] -#mjlib.mjr_select.restype = c_int -#mjlib.mjr_showOffscreen.argtypes = [c_int, c_int, POINTER(MJRCONTEXT)] -#mjlib.mjr_showOffscreen.restype = None -#mjlib.mjr_showBuffer.argtypes = [POINTER(c_ubyte), c_int, c_int, c_int, c_int, POINTER(MJRCONTEXT)] -#mjlib.mjr_showBuffer.restype = None -#mjlib.mjr_getOffscreen.argtypes = [POINTER(c_ubyte), POINTER(c_float), MJRRECT, POINTER(MJRCONTEXT)] -#mjlib.mjr_getOffscreen.restype = None -#mjlib.mjr_getBackbuffer.argtypes = [POINTER(c_ubyte), POINTER(c_float), MJRRECT, POINTER(MJRCONTEXT)] -#mjlib.mjr_getBackbuffer.restype = None -#mjlib. -#mjlib. -#mjlib.mju_error.argtypes = [String] -#mjlib.mju_error.restype = None -#mjlib.mju_error_i.argtypes = [String, c_int] -#mjlib.mju_error_i.restype = None -#mjlib.mju_error_s.argtypes = [String, String] -#mjlib.mju_error_s.restype = None -#mjlib.mju_warning.argtypes = [String] -#mjlib.mju_warning.restype = None -#mjlib.mju_warning_i.argtypes = [String, c_int] -#mjlib.mju_warning_i.restype = None -#mjlib.mju_warning_s.argtypes = [String, String] -#mjlib.mju_warning_s.restype = None -#mjlib.mju_clearHandlers.argtypes = [] -#mjlib.mju_clearHandlers.restype = None -#mjlib.mju_malloc.argtypes = [c_size_t] -#mjlib.mju_malloc.restype = POINTER(None) -#mjlib.mju_free.argtypes = [POINTER(None)] -#mjlib.mju_free.restype = None -#mjlib.mj_warning.argtypes = [POINTER(MJDATA), c_int] -#mjlib.mj_warning.restype = None -#mjlib.mju_zero3.argtypes = [POINTER(c_double)] -#mjlib.mju_zero3.restype = None -#mjlib.mju_copy3.argtypes = [POINTER(c_double), POINTER(c_double)] -#mjlib.mju_copy3.restype = None -#mjlib.mju_scl3.argtypes = [POINTER(c_double), POINTER(c_double), c_double] -#mjlib.mju_scl3.restype = None -#mjlib.mju_add3.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double)] -#mjlib.mju_add3.restype = None -#mjlib.mju_sub3.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double)] -#mjlib.mju_sub3.restype = None -#mjlib.mju_addTo3.argtypes = [POINTER(c_double), POINTER(c_double)] -#mjlib.mju_addTo3.restype = None -#mjlib.mju_addToScl3.argtypes = [POINTER(c_double), POINTER(c_double), c_double] -#mjlib.mju_addToScl3.restype = None -#mjlib.mju_addScl3.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double), c_double] -#mjlib.mju_addScl3.restype = None -#mjlib.mju_normalize3.argtypes = [POINTER(c_double)] -#mjlib.mju_normalize3.restype = c_double -#mjlib.mju_norm3.argtypes = [POINTER(c_double)] -#mjlib.mju_norm3.restype = c_double -#mjlib.mju_dot3.argtypes = [POINTER(c_double), POINTER(c_double)] -#mjlib.mju_dot3.restype = c_double -#mjlib.mju_dist3.argtypes = [POINTER(c_double), POINTER(c_double)] -#mjlib.mju_dist3.restype = c_double -#mjlib.mju_rotVecMat.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double)] -#mjlib.mju_rotVecMat.restype = None -#mjlib.mju_rotVecMatT.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double)] -#mjlib.mju_rotVecMatT.restype = None -#mjlib.mju_cross.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double)] -#mjlib.mju_cross.restype = None -#mjlib.mju_zero.argtypes = [POINTER(c_double), c_int] -#mjlib.mju_zero.restype = None -#mjlib.mju_copy.argtypes = [POINTER(c_double), POINTER(c_double), c_int] -#mjlib.mju_copy.restype = None -#mjlib.mju_scl.argtypes = [POINTER(c_double), POINTER(c_double), c_double, c_int] -#mjlib.mju_scl.restype = None -#mjlib.mju_add.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double), c_int] -#mjlib.mju_add.restype = None -#mjlib.mju_sub.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double), c_int] -#mjlib.mju_sub.restype = None -#mjlib.mju_addTo.argtypes = [POINTER(c_double), POINTER(c_double), c_int] -#mjlib.mju_addTo.restype = None -#mjlib.mju_addToScl.argtypes = [POINTER(c_double), POINTER(c_double), c_double, c_int] -#mjlib.mju_addToScl.restype = None -#mjlib.mju_addScl.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double), c_double, c_int] -#mjlib.mju_addScl.restype = None -#mjlib.mju_normalize.argtypes = [POINTER(c_double), c_int] -#mjlib.mju_normalize.restype = c_double -#mjlib.mju_norm.argtypes = [POINTER(c_double), c_int] -#mjlib.mju_norm.restype = c_double -#mjlib.mju_dot.argtypes = [POINTER(c_double), POINTER(c_double), c_int] -#mjlib.mju_dot.restype = c_double -#mjlib.mju_mulMatVec.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double), c_int, c_int] -#mjlib.mju_mulMatVec.restype = None -#mjlib.mju_mulMatTVec.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double), c_int, c_int] -#mjlib.mju_mulMatTVec.restype = None -#mjlib.mju_transpose.argtypes = [POINTER(c_double), POINTER(c_double), c_int, c_int] -#mjlib.mju_transpose.restype = None -#mjlib.mju_mulMatMat.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double), c_int, c_int, c_int] -#mjlib.mju_mulMatMat.restype = None -#mjlib.mju_mulMatMatT.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double), c_int, c_int, c_int] -#mjlib.mju_mulMatMatT.restype = None -#mjlib.mju_sqrMat.argtypes = [POINTER(c_double), POINTER(c_double), c_int, c_int, POINTER(c_double), c_int] -#mjlib.mju_sqrMat.restype = None -#mjlib.mju_mulMatTMat.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double), c_int, c_int, c_int] -#mjlib.mju_mulMatTMat.restype = None -#mjlib.mju_transformSpatial.argtypes = [POINTER(c_double), POINTER(c_double), mjtByte, POINTER(c_double), POINTER(c_double), POINTER(c_double)] -#mjlib.mju_transformSpatial.restype = None -#mjlib.mju_rotVecQuat.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double)] -#mjlib.mju_rotVecQuat.restype = None -#mjlib.mju_negQuat.argtypes = [POINTER(c_double), POINTER(c_double)] -#mjlib.mju_negQuat.restype = None -#mjlib.mju_mulQuat.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double)] -#mjlib.mju_mulQuat.restype = None -#mjlib.mju_mulQuatAxis.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double)] -#mjlib.mju_mulQuatAxis.restype = None -#mjlib.mju_axisAngle2Quat.argtypes = [POINTER(c_double), POINTER(c_double), c_double] -#mjlib.mju_axisAngle2Quat.restype = None -#mjlib.mju_quat2Vel.argtypes = [POINTER(c_double), POINTER(c_double), c_double] -#mjlib.mju_quat2Vel.restype = None -#mjlib.mju_quat2Mat.argtypes = [POINTER(c_double), POINTER(c_double)] -#mjlib.mju_quat2Mat.restype = None -#mjlib.mju_mat2Quat.argtypes = [POINTER(c_double), POINTER(c_double)] -#mjlib.mju_mat2Quat.restype = None -#mjlib.mju_derivQuat.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double)] -#mjlib.mju_derivQuat.restype = None -#mjlib.mju_quatIntegrate.argtypes = [POINTER(c_double), POINTER(c_double), c_double] -#mjlib.mju_quatIntegrate.restype = None -#mjlib.mju_quatZ2Vec.argtypes = [POINTER(c_double), POINTER(c_double)] -#mjlib.mju_quatZ2Vec.restype = None -#mjlib.mju_cholFactor.argtypes = [POINTER(c_double), POINTER(c_double), c_int, c_double, c_double, POINTER(c_double)] -#mjlib.mju_cholFactor.restype = c_int -#mjlib.mju_cholBacksub.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double), c_int, c_int, c_int] -#mjlib.mju_cholBacksub.restype = None -#mjlib.mju_eig3.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double), POINTER(c_double)] -#mjlib.mju_eig3.restype = c_int -#mjlib.mju_muscleFVL.argtypes = [c_double, c_double, c_double, c_double, POINTER(c_double)] -#mjlib.mju_muscleFVL.restype = c_double -#mjlib.mju_musclePassive.argtypes = [c_double, c_double, c_double, POINTER(c_double)] -#mjlib.mju_musclePassive.restype = c_double -#mjlib.mju_pneumatic.argtypes = [c_double, c_double, c_double, POINTER(c_double), c_double, c_double, c_double, POINTER(c_double)] -#mjlib.mju_pneumatic.restype = c_double -#mjlib.mju_encodePyramid.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double), c_int] -#mjlib.mju_encodePyramid.restype = None -#mjlib.mju_decodePyramid.argtypes = [POINTER(c_double), POINTER(c_double), POINTER(c_double), c_int] -#mjlib.mju_decodePyramid.restype = None -#mjlib.mju_springDamper.argtypes = [c_double, c_double, c_double, c_double, c_double] -#mjlib.mju_springDamper.restype = c_double -#mjlib.mju_min.argtypes = [c_double, c_double] -#mjlib.mju_min.restype = c_double -#mjlib.mju_max.argtypes = [c_double, c_double] -#mjlib.mju_max.restype = c_double -#mjlib.mju_sign.argtypes = [c_double] -#mjlib.mju_sign.restype = c_double -#mjlib.mju_round.argtypes = [c_double] -#mjlib.mju_round.restype = c_int -#mjlib.mju_type2Str.argtypes = [c_int] -#mjlib. mju_type2Str.restype = ReturnString -#mjlib.else: -#mjlib. mju_type2Str.restype = String -#mjlib. mju_type2Str.errcheck = ReturnString -#mjlib.mju_str2Type.argtypes = [String] -#mjlib.mju_str2Type.restype = mjtObj -#mjlib.mju_warningText.argtypes = [c_int] -#mjlib. mju_warningText.restype = ReturnString -#mjlib.else: -#mjlib. mju_warningText.restype = String -#mjlib. mju_warningText.errcheck = ReturnString -#mjlib.mju_isBad.argtypes = [c_double] -#mjlib.mju_isBad.restype = c_int -#mjlib.mju_isZero.argtypes = [POINTER(c_double), c_int] -#mjlib.mju_isZero.restype = c_int diff --git a/mujoco_py/mjrendercontext.pyx b/mujoco_py/mjrendercontext.pyx new file mode 100644 index 00000000..3c85d6e2 --- /dev/null +++ b/mujoco_py/mjrendercontext.pyx @@ -0,0 +1,259 @@ +from threading import Lock +from mujoco_py.generated import const + +cdef class MjRenderContext(object): + """ + Class that encapsulates rendering functionality for a + MuJoCo simulation. + """ + + cdef mjModel *_model_ptr + cdef mjData *_data_ptr + + cdef mjvScene _scn + cdef mjvCamera _cam + cdef mjvOption _vopt + cdef mjvPerturb _pert + cdef mjrContext _con + + # Public wrappers + cdef readonly PyMjvScene scn + cdef readonly PyMjvCamera cam + cdef readonly PyMjvOption vopt + cdef readonly PyMjvPerturb pert + cdef readonly PyMjrContext con + + cdef readonly object _opengl_context + cdef readonly int _visible + cdef readonly list _markers + cdef readonly dict _overlay + + cdef readonly bint offscreen + cdef public object sim + + def __cinit__(self): + maxgeom = 1000 + mjv_makeScene(&self._scn, maxgeom) + mjv_defaultCamera(&self._cam) + mjv_defaultOption(&self._vopt) + mjr_defaultContext(&self._con) + + def __init__(self, MjSim sim, bint offscreen=True): + self.sim = sim + self._setup_opengl_context(offscreen) + self.offscreen = offscreen + + # Ensure the model data has been updated so that there + # is something to render + sim.forward() + + sim.add_render_context(self) + + self._model_ptr = sim.model.ptr + self._data_ptr = sim.data.ptr + self.scn = WrapMjvScene(&self._scn) + self.cam = WrapMjvCamera(&self._cam) + self.vopt = WrapMjvOption(&self._vopt) + self.con = WrapMjrContext(&self._con) + self._pert.active = 0 + self._pert.select = 0 + self.pert = WrapMjvPerturb(&self._pert) + + self._markers = [] + self._overlay = {} + + self._init_camera(sim) + self._set_mujoco_buffers() + + def update_sim(self, MjSim new_sim): + if new_sim == self.sim: + return + self._model_ptr = new_sim.model.ptr + self._data_ptr = new_sim.data.ptr + self._set_mujoco_buffers() + for render_context in self.sim.render_contexts: + new_sim.add_render_context(render_context) + self.sim = new_sim + + def _set_mujoco_buffers(self): + mjr_makeContext(self._model_ptr, &self._con, mjFONTSCALE_150) + if self.offscreen: + mjr_setBuffer(mjFB_OFFSCREEN, &self._con); + if self._con.currentBuffer != mjFB_OFFSCREEN: + raise RuntimeError('Offscreen rendering not supported') + else: + mjr_setBuffer(mjFB_WINDOW, &self._con); + if self._con.currentBuffer != mjFB_WINDOW: + raise RuntimeError('Window rendering not supported') + self.con = WrapMjrContext(&self._con) + + def _setup_opengl_context(self, offscreen): + if not offscreen or sys.platform == 'darwin': + self._opengl_context = GlfwContext(offscreen=offscreen) + else: + self._opengl_context = OffscreenOpenGLContext() + + def _init_camera(self, sim): + # Make the free camera look at the scene + self.cam.type = const.CAMERA_FREE + self.cam.fixedcamid = -1 + for i in range(3): + self.cam.lookat[i] = sim.model.stat.center[i] + self.cam.distance = sim.model.stat.extent + + def render(self, width, height, camera_id=None): + cdef mjrRect rect + rect.left = 0 + rect.bottom = 0 + rect.width = width + rect.height = height + + # Sometimes buffers are too small. + if width > self._con.offWidth or height > self._con.offHeight: + self._model_ptr.vis.global_.offwidth = max(width, self._model_ptr.vis.global_.offwidth) + self._model_ptr.vis.global_.offheight = max(height, self._model_ptr.vis.global_.offheight) + mjr_freeContext(&self._con) + self._set_mujoco_buffers() + + if camera_id is not None: + if camera_id == -1: + self.cam.type = const.CAMERA_FREE + else: + self.cam.type = const.CAMERA_FIXED + self.cam.fixedcamid = camera_id + + self._opengl_context.set_buffer_size(width, height) + + mjv_updateScene(self._model_ptr, self._data_ptr, &self._vopt, + &self._pert, &self._cam, mjCAT_ALL, &self._scn) + + for marker_params in self._markers: + self._add_marker_to_scene(marker_params) + + mjr_render(rect, &self._scn, &self._con) + for gridpos, (text1, text2) in self._overlay.items(): + mjr_overlay(const.FONTSCALE_150, gridpos, rect, text1.encode(), text2.encode(), &self._con) + + def read_pixels(self, width, height, depth=True): + cdef mjrRect rect + rect.left = 0 + rect.bottom = 0 + rect.width = width + rect.height = height + + rgb_arr = np.zeros(3 * rect.width * rect.height, dtype=np.uint8) + depth_arr = np.zeros(rect.width * rect.height, dtype=np.float32) + cdef unsigned char[::view.contiguous] rgb_view = rgb_arr + cdef float[::view.contiguous] depth_view = depth_arr + mjr_readPixels(&rgb_view[0], &depth_view[0], rect, &self._con) + rgb_img = np.flipud(rgb_arr.reshape(rect.height, rect.width, 3)) + if depth: + depth_img = np.flipud(depth_arr.reshape(rect.height, rect.width)) + return (rgb_img, depth_img) + else: + return rgb_img + + def upload_texture(self, int tex_id): + """ Uploads given texture to the GPU. """ + self._opengl_context.make_context_current() + mjr_uploadTexture(self._model_ptr, &self._con, tex_id) + + def draw_pixels(self, np.ndarray[np.uint8_t, ndim=3] image, int left, int bottom): + """Draw an image into the OpenGL buffer.""" + cdef unsigned char[::view.contiguous] image_view = image.ravel() + cdef mjrRect viewport + viewport.left = left + viewport.bottom = bottom + viewport.width = image.shape[1] + viewport.height = image.shape[0] + mjr_drawPixels(&image_view[0], NULL, viewport, &self._con) + + def move_camera(self, int action, double reldx, double reldy): + """ Moves the camera based on mouse movements. Action is one of mjMOUSE_*. """ + mjv_moveCamera(self._model_ptr, action, reldx, reldy, &self._scn, &self._cam) + + def add_overlay(self, int gridpos, str text1, str text2): + """ Overlays text on the scene. """ + if gridpos not in self._overlay: + self._overlay[gridpos] = ["", ""] + self._overlay[gridpos][0] += text1 + "\n" + self._overlay[gridpos][1] += text2 + "\n" + + def add_marker(self, **marker_params): + self._markers.append(marker_params) + + def _add_marker_to_scene(self, marker_params): + """ Adds marker to scene, and returns the corresponding object. """ + if self._scn.ngeom >= self._scn.maxgeom: + raise RuntimeError('Ran out of geoms. maxgeom: %d' % self._scn.maxgeom) + + cdef mjvGeom *g = self._scn.geoms + self._scn.ngeom + + # default values. + g.dataid = -1 + g.objtype = const.OBJ_UNKNOWN + g.objid = -1 + g.category = const.CAT_DECOR + g.texid = -1 + g.texuniform = 0 + g.texrepeat[0] = 1 + g.texrepeat[1] = 1 + g.emission = 0 + g.specular = 0.5 + g.shininess = 0.5 + g.reflectance = 0 + g.type = const.GEOM_BOX + g.size[:] = np.ones(3) * 0.1 + g.mat[:] = np.eye(3).flatten() + g.rgba[:] = np.ones(4) + wrapped = WrapMjvGeom(g) + + for key, value in marker_params.items(): + if isinstance(value, (int, float)): + setattr(wrapped, key, value) + elif isinstance(value, (tuple, list, np.ndarray)): + attr = getattr(wrapped, key) + attr[:] = np.asarray(value).reshape(attr.shape) + elif isinstance(value, str): + assert key == "label", "Only label is a string in mjvGeom." + if value == None: + g.label[0] = 0 + else: + strncpy(g.label, value.encode(), 100) + elif hasattr(wrapped, key): + raise ValueError("mjvGeom has attr {} but type {} is invalid".format(key, type(value))) + else: + raise ValueError("mjvGeom doesn't have field %s" % key) + + self._scn.ngeom += 1 + + + def __dealloc__(self): + mjr_freeContext(&self._con) + mjv_freeScene(&self._scn) + + +class MjRenderContextOffscreen(MjRenderContext): + + def __cinit__(self, MjSim sim): + super().__init__(sim, offscreen=True) + +class MjRenderContextWindow(MjRenderContext): + + def __init__(self, MjSim sim): + super().__init__(sim, offscreen=False) + + assert isinstance(self._opengl_context, GlfwContext), ( + "Only GlfwContext supported for windowed rendering") + + @property + def window(self): + return self._opengl_context.window + + def render(self): + if self.window is None or glfw.window_should_close(self.window): + return + + glfw.make_context_current(self.window) + super().render(*glfw.get_framebuffer_size(self.window)) + glfw.swap_buffers(self.window) diff --git a/mujoco_py/mjsim.pyx b/mujoco_py/mjsim.pyx new file mode 100644 index 00000000..946e9d81 --- /dev/null +++ b/mujoco_py/mjsim.pyx @@ -0,0 +1,278 @@ +from xml.dom import minidom +from mujoco_py.utils import remove_empty_lines + + +cdef class MjSim(object): + """MjSim represents a running simulation including its state. + + Similar to Gym's ``MujocoEnv``, it internally wraps a :class:`.PyMjModel` + and a :class:`.PyMjData`. + + Parameters + ---------- + model : :class:`.PyMjModel` + The model to simulate. + data : :class:`.PyMjData` + Optional container for the simulation state. Will be created if ``None``. + nsubsteps : int + Optional number of MuJoCo steps to run for every call to :meth:`.step`. + Buffers will be swapped only once per step. + udd_callback : fn(:class:`.MjSim`) -> dict + Optional callback for user-defined dynamics. At every call to + :meth:`.step`, it receives an MjSim object ``sim`` containing the + current user-defined dynamics state in ``sim.udd_state``, and returns the + next ``udd_state`` after applying the user-defined dynamics. This is + useful e.g. for reward functions that operate over functions of historical + state. + """ + # MjRenderContext for rendering camera views. + cdef readonly list render_contexts + cdef readonly object _render_context_window + cdef readonly object _render_context_offscreen + + # MuJoCo model + cdef readonly PyMjModel model + # MuJoCo data + """ + DATAZ + """ + cdef readonly PyMjData data + # Number of substeps when calling .step + cdef readonly int nsubsteps + # User defined state. + cdef readonly dict udd_state + # User defined dynamics callback + cdef readonly object _udd_callback + # Allows to store extra information in MjSim. + cdef readonly dict extras + + def __cinit__(self, PyMjModel model, PyMjData data=None, int nsubsteps=1, + udd_callback=None): + self.nsubsteps = nsubsteps + self.model = model + if data is None: + with wrap_mujoco_warning(): + _data = mj_makeData(self.model.ptr) + if _data == NULL: + raise Exception('mj_makeData failed!') + self.data = WrapMjData(_data, self.model) + else: + self.data = data + + self.render_contexts = [] + self._render_context_offscreen = None + self._render_context_window = None + self.udd_state = None + self.udd_callback = udd_callback + self.extras = {} + + def reset(self): + """ + Resets the simulation data and clears buffers. + """ + with wrap_mujoco_warning(): + mj_resetData(self.model.ptr, self.data.ptr) + + self.udd_state = None + self.step_udd() + + def forward(self): + """ + Computes the forward kinematics. Calls ``mj_forward`` internally. + """ + with wrap_mujoco_warning(): + mj_forward(self.model.ptr, self.data.ptr) + + def step(self): + """ + Advances the simulation by calling ``mj_step``. + + If ``qpos`` or ``qvel`` have been modified directly, the user is required to call + :meth:`.forward` before :meth:`.step` if their ``udd_callback`` requires access to MuJoCo state + set during the forward dynamics. + """ + self.step_udd() + + with wrap_mujoco_warning(): + for _ in range(self.nsubsteps): + mj_step(self.model.ptr, self.data.ptr) + + def render(self, width=None, height=None, *, camera_name=None, depth=False, + mode='offscreen'): + """ + Renders view from a camera and returns image as an `numpy.ndarray`. + + Args: + - width (int): desired image width. + - height (int): desired image height. + - camera_name (str): name of camera in model. If None, the free + camera will be used. + - depth (bool): if True, also return depth buffer + + Returns: + - rgb (uint8 array): image buffer from camera + - depth (float array): depth buffer from camera (only returned + if depth=True) + """ + if camera_name is None: + camera_id = None + else: + camera_id = self.model.camera_name2id(camera_name) + + if mode == 'offscreen': + if self._render_context_offscreen is None: + render_context = MjRenderContextOffscreen(self) + else: + render_context = self._render_context_offscreen + + render_context.render( + width=width, height=height, camera_id=camera_id) + return render_context.read_pixels( + width, height, depth=depth) + elif mode == 'window': + if self._render_context_window is None: + from mujoco_py.mjviewer import MjViewer + render_context = MjViewer(self) + else: + render_context = self._render_context_window + + render_context.render() + + else: + raise ValueError("Mode must be either 'window' or 'offscreen'.") + + def add_render_context(self, render_context): + self.render_contexts.append(render_context) + if render_context.offscreen and self._render_context_offscreen is None: + self._render_context_offscreen = render_context + elif not render_context.offscreen and self._render_context_window is None: + self._render_context_window = render_context + + @property + def udd_callback(self): + return self._udd_callback + + @udd_callback.setter + def udd_callback(self, value): + self._udd_callback = value + self.udd_state = None + self.step_udd() + + def step_udd(self): + if self._udd_callback is None: + self.udd_state = {} + else: + schema_example = self.udd_state + self.udd_state = self._udd_callback(self) + # Check to make sure the udd_state has consistent keys and dimension across steps + if schema_example is not None: + keys = set(schema_example.keys()) | set(self.udd_state.keys()) + for key in keys: + assert key in schema_example, "Keys cannot be added to udd_state between steps." + assert key in self.udd_state, "Keys cannot be dropped from udd_state between steps." + if isinstance(schema_example[key], Number): + assert isinstance(self.udd_state[key], Number), \ + "Every value in udd_state must be either a number or a numpy array" + else: + assert isinstance(self.udd_state[key], np.ndarray), \ + "Every value in udd_state must be either a number or a numpy array" + assert self.udd_state[key].shape == schema_example[key].shape, \ + "Numpy array values in udd_state must keep the same dimension across steps." + + def get_state(self): + """ Returns a copy of the simulator state. """ + qpos = np.copy(self.data.qpos) + qvel = np.copy(self.data.qvel) + if self.model.na == 0: + act = None + else: + act = np.copy(self.data.act) + udd_state = copy.deepcopy(self.udd_state) + + return MjSimState(self.data.time, qpos, qvel, act, udd_state) + + def set_state(self, value): + """ + Sets the state from an MjSimState. + If the MjSimState was previously unflattened from a numpy array, consider + set_state_from_flattened, as the defensive copy is a substantial overhead + in an inner loop. + + Args: + - value (MjSimState): the desired state. + - call_forward: optionally call sim.forward(). Called by default if + the udd_callback is set. + """ + self.data.time = value.time + self.data.qpos[:] = np.copy(value.qpos) + self.data.qvel[:] = np.copy(value.qvel) + if self.model.na != 0: + self.data.act[:] = np.copy(value.act) + self.udd_state = copy.deepcopy(value.udd_state) + + def set_state_from_flattened(self, value): + """ This helper method sets the state from an array without requiring a defensive copy.""" + state = MjSimState.from_flattened(value, self) + + self.data.time = state.time + self.data.qpos[:] = state.qpos + self.data.qvel[:] = state.qvel + if self.model.na != 0: + self.data.act[:] = state.act + self.udd_state = state.udd_state + + def save(self, file, format='xml', keep_inertials=False): + """ + Saves the simulator model and state to a file as either + a MuJoCo XML or MJB file. The current state is saved as + a keyframe in the model file. This is useful for debugging + using MuJoCo's `simulate` utility. + + Note that this doesn't save the UDD-state which is + part of MjSimState, since that's not supported natively + by MuJoCo. If you want to save the model together with + the UDD-state, you should use the `get_xml` or `get_mjb` + methods on `MjModel` together with `MjSim.get_state` and + save them with e.g. pickle. + + Args: + - file (IO stream): stream to write model to. + - format: format to use (either 'xml' or 'mjb') + - keep_inertials (bool): if False, removes all + properties derived automatically for geoms by MuJoco. Note + that this removes ones that were provided by the user + as well. + """ + xml_str = self.model.get_xml() + dom = minidom.parseString(xml_str) + + mujoco_node = dom.childNodes[0] + assert mujoco_node.tagName == 'mujoco' + + keyframe_el = dom.createElement('keyframe') + key_el = dom.createElement('key') + keyframe_el.appendChild(key_el) + mujoco_node.appendChild(keyframe_el) + + def str_array(arr): + return " ".join(map(str, arr)) + + key_el.setAttribute('time', str(self.data.time)) + key_el.setAttribute('qpos', str_array(self.data.qpos)) + key_el.setAttribute('qvel', str_array(self.data.qvel)) + if self.data.act is not None: + key_el.setAttribute('act', str_array(self.data.act)) + + if not keep_inertials: + for element in dom.getElementsByTagName('inertial'): + element.parentNode.removeChild(element) + + result_xml = remove_empty_lines(dom.toprettyxml(indent=" " * 4)) + + if format == 'xml': + file.write(result_xml) + elif format == 'mjb': + new_model = load_model_from_xml(result_xml) + file.write(new_model.get_mjb()) + else: + raise ValueError("Unsupported format. Valid ones are 'xml' and 'mjb'") diff --git a/mujoco_py/mjsimpool.pyx b/mujoco_py/mjsimpool.pyx new file mode 100644 index 00000000..c96f3c8f --- /dev/null +++ b/mujoco_py/mjsimpool.pyx @@ -0,0 +1,127 @@ + +cdef class MjSimPool(object): + """ + Keeps a pool of multiple MjSims and enables stepping them quickly + in parallel. + + Parameters + ---------- + sims : list of :class:`.MjSim` + List of simulators that make up the pool. + nsubsteps: + Number of substeps to run on :meth:`.step`. The individual + simulators' ``nsubstep`` will be ignored. + """ + # Arrays of pointers to mjDatas and mjModels for fast multithreaded access + cdef mjModel **_models + cdef mjData **_datas + + """ + The :class:`.MjSim` objects that are part of the pool. + """ + cdef readonly list sims + # Number of .step substeps. + cdef readonly int nsubsteps + + def __cinit__(self, list sims, int nsubsteps=1): + self.sims = sims + self.nsubsteps = nsubsteps + self._allocate_data_pointers() + + def reset(self, nsims=None): + """ + Resets all simulations in pool. + If :attr:`.nsims` is specified, than only the first :attr:`.nsims` simulators are reset. + """ + length = self.nsims + + if nsims is not None: + if nsims > self.nsims: + raise ValueError("nsims is larger than pool size") + length = nsims + + for i in range(length): + self.sims[i].reset() + + def forward(self, nsims=None): + """ + Calls ``mj_forward`` on all simulations in parallel. + If :attr:`.nsims` is specified, than only the first :attr:`.nsims` simulator are forwarded. + """ + cdef int i + cdef int length = self.nsims + + if nsims is not None: + if nsims > self.nsims: + raise ValueError("nsims is larger than pool size") + length = nsims + + # See explanation in MjSimPool.step() for why we wrap warnings this way + with wrap_mujoco_warning(): + with nogil, parallel(): + for i in prange(length, schedule='guided'): + mj_forward(self._models[i], self._datas[i]); + + def step(self, nsims=None): + """ + Calls ``mj_step`` on all simulations in parallel, with ``nsubsteps`` as + specified when the pool was created. + + If :attr:`.nsims` is specified, than only the first :attr:`.nsims` simulator are stepped. + """ + cdef int i, j + cdef int length = self.nsims + + if nsims is not None: + if nsims > self.nsims: + raise ValueError("nsims is larger than pool size") + length = nsims + + for sim in self.sims[:length]: + sim.step_udd() + + # Wrapping these calls to mj_step is tricky, since they're parallelized + # and can't access the GIL or global python objects. + # Because we expect to have fatal warnings, we'll just wrap the entire + # section, and if any call ends up setting an exception we'll raise. + with wrap_mujoco_warning(): + with nogil, parallel(): + for i in prange(length, schedule='guided'): + for j in range(self.nsubsteps): + mj_step(self._models[i], self._datas[i]); + + @property + def nsims(self): + """ + Number of simulations in the pool. + """ + return len(self.sims) + + @staticmethod + def create_from_sim(sim, nsims): + """ + Create an :class:`.MjSimPool` by cloning the provided ``sim`` a total of ``nsims`` times. + Returns the created :class:`.MjSimPool`. + + Parameters + ---------- + sim : :class:`.MjSim` + The prototype to clone. + nsims : int + Number of clones to create. + """ + sims = [MjSim(sim.model, udd_callback=sim.udd_callback) + for _ in range(nsims)] + return MjSimPool(sims, nsubsteps=sim.nsubsteps) + + cdef _allocate_data_pointers(self): + self._models = malloc(self.nsims * sizeof(mjModel*)) + self._datas = malloc(self.nsims * sizeof(mjData*)) + for i in range(self.nsims): + sim = self.sims[i] + self._models[i] = sim.model.ptr + self._datas[i] = sim.data.ptr + + def __dealloc__(self): + free(self._datas) + free(self._models) diff --git a/mujoco_py/mjsimstate.pyx b/mujoco_py/mjsimstate.pyx new file mode 100644 index 00000000..f3b66b04 --- /dev/null +++ b/mujoco_py/mjsimstate.pyx @@ -0,0 +1,89 @@ + +class MjSimState(namedtuple('SimStateBase', 'time qpos qvel act udd_state')): + """Represents a snapshot of the simulator's state. + + This includes time, qpos, qvel, act, and udd_state. + """ + __slots__ = () + + # need to implement this because numpy doesn't support == on arrays + def __eq__(self, other): + if not isinstance(other, self.__class__): + return NotImplemented + + if set(self.udd_state.keys()) != set(other.udd_state.keys()): + return False + + for k in self.udd_state.keys(): + if isinstance(self.udd_state[k], Number) and self.udd_state[k] != other.udd_state[k]: + return False + elif not np.array_equal(self.udd_state[k], other.udd_state[k]): + return False + + return (self.time == other.time and + np.array_equal(self.qpos, other.qpos) and + np.array_equal(self.qvel, other.qvel) and + np.array_equal(self.act, other.act)) + + def __ne__(self, other): + return not self.__eq__(other) + + def flatten(self): + """ Flattens a state into a numpy array of numbers.""" + if self.act is None: + act = np.empty(0) + else: + act = self.act + state_tuple = ([self.time], self.qpos, self.qvel, act, + MjSimState._flatten_dict(self.udd_state)) + return np.concatenate(state_tuple) + + @staticmethod + def _flatten_dict(d): + a = [] + for k in sorted(d.keys()): + v = d[k] + if isinstance(v, Number): + a.extend([v]) + else: + a.extend(v.ravel()) + + return np.array(a) + + @staticmethod + def from_flattened(array, sim): + idx_time = 0 + idx_qpos = idx_time + 1 + idx_qvel = idx_qpos + sim.model.nq + idx_act = idx_qvel + sim.model.nv + idx_udd = idx_act + sim.model.na + + time = array[idx_time] + qpos = array[idx_qpos:idx_qpos + sim.model.nq] + qvel = array[idx_qvel:idx_qvel + sim.model.nv] + if sim.model.na == 0: + act = None + else: + act = array[idx_act:idx_act + sim.model.na] + flat_udd_state = array[idx_udd:] + udd_state = MjSimState._unflatten_dict(flat_udd_state, sim.udd_state) + + return MjSimState(time, qpos, qvel, act, udd_state) + + @staticmethod + def _unflatten_dict(a, schema_example): + d = {} + idx = 0 + for k in sorted(schema_example.keys()): + schema_val = schema_example[k] + if isinstance(schema_val, Number): + val = a[idx] + idx += 1 + d[k] = val + else: + assert isinstance(schema_val, np.ndarray) + val_array = a[idx:idx+schema_val.size] + idx += schema_val.size + val = np.array(val_array).reshape(schema_val.shape) + d[k] = val + return d diff --git a/mujoco_py/mjtypes.py b/mujoco_py/mjtypes.py deleted file mode 100644 index fc5cec48..00000000 --- a/mujoco_py/mjtypes.py +++ /dev/null @@ -1,6080 +0,0 @@ - -# AUTO GENERATED. DO NOT CHANGE! -from ctypes import * -import numpy as np - -class MJCONTACT(Structure): - - _fields_ = [ - ("dist", c_double), - ("pos", c_double * 3), - ("frame", c_double * 9), - ("includemargin", c_double), - ("friction", c_double * 5), - ("solref", c_double * 2), - ("solimp", c_double * 3), - ("mu", c_double), - ("coef", c_double * 5), - ("zone", c_int), - ("dim", c_int), - ("geom1", c_int), - ("geom2", c_int), - ("exclude", c_int), - ("efc_address", c_int), - ] - -class MJRRECT(Structure): - - _fields_ = [ - ("left", c_int), - ("bottom", c_int), - ("width", c_int), - ("height", c_int), - ] - -class MJVCAMERAPOSE(Structure): - - _fields_ = [ - ("head_pos", c_double * 3), - ("head_right", c_double * 3), - ("window_pos", c_double * 3), - ("window_right", c_double * 3), - ("window_up", c_double * 3), - ("window_normal", c_double * 3), - ("window_size", c_double * 2), - ("scale", c_double), - ("ipd", c_double), - ] - -class MJROPTION(Structure): - - _fields_ = [ - ("stereo", c_ubyte), - ("flags", c_ubyte * 6), - ] - -class MJRCONTEXT(Structure): - - _fields_ = [ - ("linewidth", c_float), - ("znear", c_float), - ("zfar", c_float), - ("shadowclip", c_float), - ("shadowscale", c_float), - ("shadowsize", c_int), - ("offwidth", c_uint), - ("offheight", c_uint), - ("offFBO", c_uint), - ("offColor", c_uint), - ("offDepthStencil", c_uint), - ("shadowFBO", c_uint), - ("shadowTex", c_uint), - ("ntexture", c_uint), - ("texture", c_int * 100), - ("textureType", c_int * 100), - ("basePlane", c_uint), - ("baseMesh", c_uint), - ("baseHField", c_uint), - ("baseBuiltin", c_uint), - ("baseFontNormal", c_uint), - ("baseFontBack", c_uint), - ("baseFontBig", c_uint), - ("rangePlane", c_int), - ("rangeMesh", c_int), - ("rangeHField", c_int), - ("rangeBuiltin", c_int), - ("rangeFont", c_int), - ("charWidth", c_int * 127), - ("charWidthBig", c_int * 127), - ("charHeight", c_int), - ("charHeightBig", c_int), - ("glewInitialized", c_int), - ] - -class MJVCAMERA(Structure): - - _fields_ = [ - ("fovy", c_double), - ("camid", c_int), - ("trackbodyid", c_int), - ("lookat", c_double * 3), - ("azimuth", c_double), - ("elevation", c_double), - ("distance", c_double), - ("pose", MJVCAMERAPOSE), - ("VR", c_ubyte), - ] - -class MJVOPTION(Structure): - - _fields_ = [ - ("label", c_int), - ("frame", c_int), - ("geomgroup", c_ubyte * 5), - ("sitegroup", c_ubyte * 5), - ("flags", c_ubyte * 18), - ] - -class MJVGEOM(Structure): - - _fields_ = [ - ("type", c_int), - ("dataid", c_int), - ("objtype", c_int), - ("objid", c_int), - ("category", c_int), - ("texid", c_int), - ("texuniform", c_int), - ("texrepeat", c_float * 2), - ("size", c_float * 3), - ("pos", c_float * 3), - ("mat", c_float * 9), - ("rgba", c_float * 4), - ("emission", c_float), - ("specular", c_float), - ("shininess", c_float), - ("reflectance", c_float), - ("label", c_char * 100), - ("camdist", c_float), - ("rbound", c_float), - ("transparent", c_ubyte), - ] - -class MJVLIGHT(Structure): - - _fields_ = [ - ("pos", c_float * 3), - ("dir", c_float * 3), - ("attenuation", c_float * 3), - ("cutoff", c_float), - ("exponent", c_float), - ("ambient", c_float * 3), - ("diffuse", c_float * 3), - ("specular", c_float * 3), - ("headlight", c_ubyte), - ("directional", c_ubyte), - ("castshadow", c_ubyte), - ] - -class MJVOBJECTS(Structure): - - _fields_ = [ - ("nlight", c_int), - ("ngeom", c_int), - ("maxgeom", c_int), - ("lights", MJVLIGHT * 8), - ("geoms", POINTER(MJVGEOM)), - ("geomorder", POINTER(c_int)), - ] - -class MJOPTION(Structure): - - _fields_ = [ - ("timestep", c_double), - ("apirate", c_double), - ("tolerance", c_double), - ("impratio", c_double), - ("gravity", c_double * 3), - ("wind", c_double * 3), - ("magnetic", c_double * 3), - ("density", c_double), - ("viscosity", c_double), - ("o_margin", c_double), - ("o_solref", c_double * 2), - ("o_solimp", c_double * 3), - ("mpr_tolerance", c_double), - ("mpr_iterations", c_int), - ("integrator", c_int), - ("collision", c_int), - ("impedance", c_int), - ("reference", c_int), - ("solver", c_int), - ("iterations", c_int), - ("disableflags", c_int), - ("enableflags", c_int), - ] - -class MJVISUAL(Structure): - - class ANON_GLOBAL(Structure): - - _fields_ = [ - ("fovy", c_float), - ("ipd", c_float), - ("linewidth", c_float), - ("glow", c_float), - ("offwidth", c_int), - ("offheight", c_int), - ] - - class ANON_QUALITY(Structure): - - _fields_ = [ - ("shadowsize", c_int), - ("numSlices", c_int), - ("numStacks", c_int), - ("numArrows", c_int), - ("numQuads", c_int), - ] - - class ANON_HEADLIGHT(Structure): - - _fields_ = [ - ("ambient", c_float * 3), - ("diffuse", c_float * 3), - ("specular", c_float * 3), - ("active", c_int), - ] - - class ANON_MAP(Structure): - - _fields_ = [ - ("stiffness", c_float), - ("force", c_float), - ("torque", c_float), - ("alpha", c_float), - ("fogstart", c_float), - ("fogend", c_float), - ("znear", c_float), - ("zfar", c_float), - ("shadowclip", c_float), - ("shadowscale", c_float), - ] - - class ANON_SCALE(Structure): - - _fields_ = [ - ("forcewidth", c_float), - ("contactwidth", c_float), - ("contactheight", c_float), - ("connect", c_float), - ("com", c_float), - ("camera", c_float), - ("light", c_float), - ("selectpoint", c_float), - ("jointlength", c_float), - ("jointwidth", c_float), - ("actuatorlength", c_float), - ("actuatorwidth", c_float), - ("framelength", c_float), - ("framewidth", c_float), - ("constraint", c_float), - ("slidercrank", c_float), - ] - - class ANON_RGBA(Structure): - - _fields_ = [ - ("fog", c_float * 4), - ("force", c_float * 4), - ("inertia", c_float * 4), - ("joint", c_float * 4), - ("actuator", c_float * 4), - ("com", c_float * 4), - ("camera", c_float * 4), - ("light", c_float * 4), - ("selectpoint", c_float * 4), - ("connect", c_float * 4), - ("contactpoint", c_float * 4), - ("contactforce", c_float * 4), - ("contactfriction", c_float * 4), - ("contacttorque", c_float * 4), - ("constraint", c_float * 4), - ("slidercrank", c_float * 4), - ("crankbroken", c_float * 4), - ] - _fields_ = [ - ("global_", ANON_GLOBAL), - ("quality", ANON_QUALITY), - ("headlight", ANON_HEADLIGHT), - ("map_", ANON_MAP), - ("scale", ANON_SCALE), - ("rgba", ANON_RGBA), - ] - -class MJSTATISTIC(Structure): - - _fields_ = [ - ("meanmass", c_double), - ("meansize", c_double), - ("extent", c_double), - ("center", c_double * 3), - ] - -class MJDATA(Structure): - - _fields_ = [ - ("nstack", c_int), - ("nbuffer", c_int), - ("pstack", c_int), - ("maxstackuse", c_int), - ("ne", c_int), - ("nf", c_int), - ("nefc", c_int), - ("ncon", c_int), - ("nwarning", c_int * 8), - ("warning_info", c_int * 8), - ("timer_duration", c_double * 14), - ("timer_ncall", c_double * 14), - ("mocaptime", c_double * 3), - ("time", c_double), - ("energy", c_double * 2), - ("solverstat", c_double * 4), - ("solvertrace", c_double * 200), - ("buffer", POINTER(c_ubyte)), - ("stack", POINTER(c_double)), - ("qpos", POINTER(c_double)), - ("qvel", POINTER(c_double)), - ("act", POINTER(c_double)), - ("ctrl", POINTER(c_double)), - ("qfrc_applied", POINTER(c_double)), - ("xfrc_applied", POINTER(c_double)), - ("qacc", POINTER(c_double)), - ("act_dot", POINTER(c_double)), - ("mocap_pos", POINTER(c_double)), - ("mocap_quat", POINTER(c_double)), - ("userdata", POINTER(c_double)), - ("sensordata", POINTER(c_double)), - ("xpos", POINTER(c_double)), - ("xquat", POINTER(c_double)), - ("xmat", POINTER(c_double)), - ("xipos", POINTER(c_double)), - ("ximat", POINTER(c_double)), - ("xanchor", POINTER(c_double)), - ("xaxis", POINTER(c_double)), - ("geom_xpos", POINTER(c_double)), - ("geom_xmat", POINTER(c_double)), - ("site_xpos", POINTER(c_double)), - ("site_xmat", POINTER(c_double)), - ("cam_xpos", POINTER(c_double)), - ("cam_xmat", POINTER(c_double)), - ("light_xpos", POINTER(c_double)), - ("light_xdir", POINTER(c_double)), - ("com_subtree", POINTER(c_double)), - ("cdof", POINTER(c_double)), - ("cinert", POINTER(c_double)), - ("ten_wrapadr", POINTER(c_int)), - ("ten_wrapnum", POINTER(c_int)), - ("ten_length", POINTER(c_double)), - ("ten_moment", POINTER(c_double)), - ("wrap_obj", POINTER(c_int)), - ("wrap_xpos", POINTER(c_double)), - ("actuator_length", POINTER(c_double)), - ("actuator_moment", POINTER(c_double)), - ("crb", POINTER(c_double)), - ("qM", POINTER(c_double)), - ("qLD", POINTER(c_double)), - ("qLDiagInv", POINTER(c_double)), - ("qLDiagSqrtInv", POINTER(c_double)), - ("contact", POINTER(MJCONTACT)), - ("efc_type", POINTER(c_int)), - ("efc_id", POINTER(c_int)), - ("efc_rownnz", POINTER(c_int)), - ("efc_rowadr", POINTER(c_int)), - ("efc_colind", POINTER(c_int)), - ("efc_rownnz_T", POINTER(c_int)), - ("efc_rowadr_T", POINTER(c_int)), - ("efc_colind_T", POINTER(c_int)), - ("efc_solref", POINTER(c_double)), - ("efc_solimp", POINTER(c_double)), - ("efc_margin", POINTER(c_double)), - ("efc_frictionloss", POINTER(c_double)), - ("efc_pos", POINTER(c_double)), - ("efc_J", POINTER(c_double)), - ("efc_J_T", POINTER(c_double)), - ("efc_diagApprox", POINTER(c_double)), - ("efc_D", POINTER(c_double)), - ("efc_R", POINTER(c_double)), - ("efc_AR", POINTER(c_double)), - ("e_ARchol", POINTER(c_double)), - ("fc_e_rect", POINTER(c_double)), - ("fc_AR", POINTER(c_double)), - ("ten_velocity", POINTER(c_double)), - ("actuator_velocity", POINTER(c_double)), - ("cvel", POINTER(c_double)), - ("cdof_dot", POINTER(c_double)), - ("qfrc_bias", POINTER(c_double)), - ("qfrc_passive", POINTER(c_double)), - ("efc_vel", POINTER(c_double)), - ("efc_aref", POINTER(c_double)), - ("actuator_force", POINTER(c_double)), - ("qfrc_actuator", POINTER(c_double)), - ("qfrc_unc", POINTER(c_double)), - ("qacc_unc", POINTER(c_double)), - ("efc_b", POINTER(c_double)), - ("fc_b", POINTER(c_double)), - ("efc_force", POINTER(c_double)), - ("qfrc_constraint", POINTER(c_double)), - ("qfrc_inverse", POINTER(c_double)), - ("cacc", POINTER(c_double)), - ("cfrc_int", POINTER(c_double)), - ("cfrc_ext", POINTER(c_double)), - ] - -class MJMODEL(Structure): - - _fields_ = [ - ("nq", c_int), - ("nv", c_int), - ("nu", c_int), - ("na", c_int), - ("nbody", c_int), - ("njnt", c_int), - ("ngeom", c_int), - ("nsite", c_int), - ("ncam", c_int), - ("nlight", c_int), - ("nmesh", c_int), - ("nmeshvert", c_int), - ("nmeshface", c_int), - ("nmeshgraph", c_int), - ("nhfield", c_int), - ("nhfielddata", c_int), - ("ntex", c_int), - ("ntexdata", c_int), - ("nmat", c_int), - ("npair", c_int), - ("nexclude", c_int), - ("neq", c_int), - ("ntendon", c_int), - ("nwrap", c_int), - ("nsensor", c_int), - ("nnumeric", c_int), - ("nnumericdata", c_int), - ("ntext", c_int), - ("ntextdata", c_int), - ("nkey", c_int), - ("nuser_body", c_int), - ("nuser_jnt", c_int), - ("nuser_geom", c_int), - ("nuser_site", c_int), - ("nuser_tendon", c_int), - ("nuser_actuator", c_int), - ("nuser_sensor", c_int), - ("nnames", c_int), - ("nM", c_int), - ("nemax", c_int), - ("njmax", c_int), - ("nconmax", c_int), - ("nstack", c_int), - ("nuserdata", c_int), - ("nmocap", c_int), - ("nsensordata", c_int), - ("nbuffer", c_int), - ("opt", MJOPTION), - ("vis", MJVISUAL), - ("stat", MJSTATISTIC), - ("buffer", POINTER(c_ubyte)), - ("qpos0", POINTER(c_double)), - ("qpos_spring", POINTER(c_double)), - ("body_parentid", POINTER(c_int)), - ("body_rootid", POINTER(c_int)), - ("body_weldid", POINTER(c_int)), - ("body_mocapid", POINTER(c_int)), - ("body_jntnum", POINTER(c_int)), - ("body_jntadr", POINTER(c_int)), - ("body_dofnum", POINTER(c_int)), - ("body_dofadr", POINTER(c_int)), - ("body_geomnum", POINTER(c_int)), - ("body_geomadr", POINTER(c_int)), - ("body_pos", POINTER(c_double)), - ("body_quat", POINTER(c_double)), - ("body_ipos", POINTER(c_double)), - ("body_iquat", POINTER(c_double)), - ("body_mass", POINTER(c_double)), - ("body_inertia", POINTER(c_double)), - ("body_invweight0", POINTER(c_double)), - ("body_user", POINTER(c_double)), - ("jnt_type", POINTER(c_int)), - ("jnt_qposadr", POINTER(c_int)), - ("jnt_dofadr", POINTER(c_int)), - ("jnt_bodyid", POINTER(c_int)), - ("jnt_limited", POINTER(c_ubyte)), - ("jnt_solref", POINTER(c_double)), - ("jnt_solimp", POINTER(c_double)), - ("jnt_pos", POINTER(c_double)), - ("jnt_axis", POINTER(c_double)), - ("jnt_stiffness", POINTER(c_double)), - ("jnt_range", POINTER(c_double)), - ("jnt_margin", POINTER(c_double)), - ("jnt_user", POINTER(c_double)), - ("dof_bodyid", POINTER(c_int)), - ("dof_jntid", POINTER(c_int)), - ("dof_parentid", POINTER(c_int)), - ("dof_Madr", POINTER(c_int)), - ("dof_frictional", POINTER(c_ubyte)), - ("dof_solref", POINTER(c_double)), - ("dof_solimp", POINTER(c_double)), - ("dof_frictionloss", POINTER(c_double)), - ("dof_armature", POINTER(c_double)), - ("dof_damping", POINTER(c_double)), - ("dof_invweight0", POINTER(c_double)), - ("geom_type", POINTER(c_int)), - ("geom_contype", POINTER(c_int)), - ("geom_conaffinity", POINTER(c_int)), - ("geom_condim", POINTER(c_int)), - ("geom_bodyid", POINTER(c_int)), - ("geom_dataid", POINTER(c_int)), - ("geom_matid", POINTER(c_int)), - ("geom_group", POINTER(c_int)), - ("geom_solmix", POINTER(c_double)), - ("geom_solref", POINTER(c_double)), - ("geom_solimp", POINTER(c_double)), - ("geom_size", POINTER(c_double)), - ("geom_rbound", POINTER(c_double)), - ("geom_pos", POINTER(c_double)), - ("geom_quat", POINTER(c_double)), - ("geom_friction", POINTER(c_double)), - ("geom_margin", POINTER(c_double)), - ("geom_gap", POINTER(c_double)), - ("geom_user", POINTER(c_double)), - ("geom_rgba", POINTER(c_float)), - ("site_type", POINTER(c_int)), - ("site_bodyid", POINTER(c_int)), - ("site_matid", POINTER(c_int)), - ("site_group", POINTER(c_int)), - ("site_size", POINTER(c_double)), - ("site_pos", POINTER(c_double)), - ("site_quat", POINTER(c_double)), - ("site_user", POINTER(c_double)), - ("site_rgba", POINTER(c_float)), - ("cam_mode", POINTER(c_int)), - ("cam_bodyid", POINTER(c_int)), - ("cam_targetbodyid", POINTER(c_int)), - ("cam_pos", POINTER(c_double)), - ("cam_quat", POINTER(c_double)), - ("cam_poscom0", POINTER(c_double)), - ("cam_pos0", POINTER(c_double)), - ("cam_mat0", POINTER(c_double)), - ("cam_fovy", POINTER(c_double)), - ("cam_ipd", POINTER(c_double)), - ("light_mode", POINTER(c_int)), - ("light_bodyid", POINTER(c_int)), - ("light_targetbodyid", POINTER(c_int)), - ("light_directional", POINTER(c_ubyte)), - ("light_castshadow", POINTER(c_ubyte)), - ("light_active", POINTER(c_ubyte)), - ("light_pos", POINTER(c_double)), - ("light_dir", POINTER(c_double)), - ("light_poscom0", POINTER(c_double)), - ("light_pos0", POINTER(c_double)), - ("light_dir0", POINTER(c_double)), - ("light_attenuation", POINTER(c_float)), - ("light_cutoff", POINTER(c_float)), - ("light_exponent", POINTER(c_float)), - ("light_ambient", POINTER(c_float)), - ("light_diffuse", POINTER(c_float)), - ("light_specular", POINTER(c_float)), - ("mesh_faceadr", POINTER(c_int)), - ("mesh_facenum", POINTER(c_int)), - ("mesh_vertadr", POINTER(c_int)), - ("mesh_vertnum", POINTER(c_int)), - ("mesh_graphadr", POINTER(c_int)), - ("mesh_vert", POINTER(c_float)), - ("mesh_normal", POINTER(c_float)), - ("mesh_face", POINTER(c_int)), - ("mesh_graph", POINTER(c_int)), - ("hfield_size", POINTER(c_double)), - ("hfield_nrow", POINTER(c_int)), - ("hfield_ncol", POINTER(c_int)), - ("hfield_adr", POINTER(c_int)), - ("hfield_data", POINTER(c_float)), - ("tex_type", POINTER(c_int)), - ("tex_height", POINTER(c_int)), - ("tex_width", POINTER(c_int)), - ("tex_adr", POINTER(c_int)), - ("tex_rgb", POINTER(c_ubyte)), - ("mat_texid", POINTER(c_int)), - ("mat_texuniform", POINTER(c_ubyte)), - ("mat_texrepeat", POINTER(c_float)), - ("mat_emission", POINTER(c_float)), - ("mat_specular", POINTER(c_float)), - ("mat_shininess", POINTER(c_float)), - ("mat_reflectance", POINTER(c_float)), - ("mat_rgba", POINTER(c_float)), - ("pair_dim", POINTER(c_int)), - ("pair_geom1", POINTER(c_int)), - ("pair_geom2", POINTER(c_int)), - ("pair_signature", POINTER(c_int)), - ("pair_solref", POINTER(c_double)), - ("pair_solimp", POINTER(c_double)), - ("pair_margin", POINTER(c_double)), - ("pair_gap", POINTER(c_double)), - ("pair_friction", POINTER(c_double)), - ("exclude_signature", POINTER(c_int)), - ("eq_type", POINTER(c_int)), - ("eq_obj1id", POINTER(c_int)), - ("eq_obj2id", POINTER(c_int)), - ("eq_active", POINTER(c_ubyte)), - ("eq_solref", POINTER(c_double)), - ("eq_solimp", POINTER(c_double)), - ("eq_data", POINTER(c_double)), - ("tendon_adr", POINTER(c_int)), - ("tendon_num", POINTER(c_int)), - ("tendon_matid", POINTER(c_int)), - ("tendon_limited", POINTER(c_ubyte)), - ("tendon_frictional", POINTER(c_ubyte)), - ("tendon_width", POINTER(c_double)), - ("tendon_solref_lim", POINTER(c_double)), - ("tendon_solimp_lim", POINTER(c_double)), - ("tendon_solref_fri", POINTER(c_double)), - ("tendon_solimp_fri", POINTER(c_double)), - ("tendon_range", POINTER(c_double)), - ("tendon_margin", POINTER(c_double)), - ("tendon_stiffness", POINTER(c_double)), - ("tendon_damping", POINTER(c_double)), - ("tendon_frictionloss", POINTER(c_double)), - ("tendon_lengthspring", POINTER(c_double)), - ("tendon_length0", POINTER(c_double)), - ("tendon_invweight0", POINTER(c_double)), - ("tendon_user", POINTER(c_double)), - ("tendon_rgba", POINTER(c_float)), - ("wrap_type", POINTER(c_int)), - ("wrap_objid", POINTER(c_int)), - ("wrap_prm", POINTER(c_double)), - ("actuator_trntype", POINTER(c_int)), - ("actuator_dyntype", POINTER(c_int)), - ("actuator_gaintype", POINTER(c_int)), - ("actuator_biastype", POINTER(c_int)), - ("actuator_trnid", POINTER(c_int)), - ("actuator_ctrllimited", POINTER(c_ubyte)), - ("actuator_forcelimited", POINTER(c_ubyte)), - ("actuator_dynprm", POINTER(c_double)), - ("actuator_gainprm", POINTER(c_double)), - ("actuator_biasprm", POINTER(c_double)), - ("actuator_ctrlrange", POINTER(c_double)), - ("actuator_forcerange", POINTER(c_double)), - ("actuator_gear", POINTER(c_double)), - ("actuator_cranklength", POINTER(c_double)), - ("actuator_invweight0", POINTER(c_double)), - ("actuator_length0", POINTER(c_double)), - ("actuator_lengthrange", POINTER(c_double)), - ("actuator_user", POINTER(c_double)), - ("sensor_type", POINTER(c_int)), - ("sensor_objid", POINTER(c_int)), - ("sensor_dim", POINTER(c_int)), - ("sensor_adr", POINTER(c_int)), - ("sensor_scale", POINTER(c_double)), - ("sensor_user", POINTER(c_double)), - ("numeric_adr", POINTER(c_int)), - ("numeric_size", POINTER(c_int)), - ("numeric_data", POINTER(c_double)), - ("text_adr", POINTER(c_int)), - ("text_data", POINTER(c_char)), - ("key_time", POINTER(c_double)), - ("key_qpos", POINTER(c_double)), - ("key_qvel", POINTER(c_double)), - ("key_act", POINTER(c_double)), - ("name_bodyadr", POINTER(c_int)), - ("name_jntadr", POINTER(c_int)), - ("name_geomadr", POINTER(c_int)), - ("name_siteadr", POINTER(c_int)), - ("name_camadr", POINTER(c_int)), - ("name_lightadr", POINTER(c_int)), - ("name_meshadr", POINTER(c_int)), - ("name_hfieldadr", POINTER(c_int)), - ("name_texadr", POINTER(c_int)), - ("name_matadr", POINTER(c_int)), - ("name_eqadr", POINTER(c_int)), - ("name_tendonadr", POINTER(c_int)), - ("name_actuatoradr", POINTER(c_int)), - ("name_sensoradr", POINTER(c_int)), - ("name_numericadr", POINTER(c_int)), - ("name_textadr", POINTER(c_int)), - ("names", POINTER(c_char)), - ] - -class MjContactWrapper(object): - - def __init__(self, wrapped, size_src=None): - self._wrapped = wrapped - self._size_src = size_src - - @property - def ptr(self): - return self._wrapped - - @property - def obj(self): - return self._wrapped.contents - - - @property - def dist(self): - return self._wrapped.contents.dist - - @dist.setter - def dist(self, value): - self._wrapped.contents.dist = value - - @property - def pos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.pos, dtype=np.double, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @pos.setter - def pos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.pos, val_ptr, 3 * sizeof(c_double)) - - @property - def frame(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.frame, dtype=np.double, count=(9)), (9, )) - arr.setflags(write=False) - return arr - - @frame.setter - def frame(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.frame, val_ptr, 9 * sizeof(c_double)) - - @property - def includemargin(self): - return self._wrapped.contents.includemargin - - @includemargin.setter - def includemargin(self, value): - self._wrapped.contents.includemargin = value - - @property - def friction(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.friction, dtype=np.double, count=(5)), (5, )) - arr.setflags(write=False) - return arr - - @friction.setter - def friction(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.friction, val_ptr, 5 * sizeof(c_double)) - - @property - def solref(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.solref, dtype=np.double, count=(2)), (2, )) - arr.setflags(write=False) - return arr - - @solref.setter - def solref(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.solref, val_ptr, 2 * sizeof(c_double)) - - @property - def solimp(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.solimp, dtype=np.double, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @solimp.setter - def solimp(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.solimp, val_ptr, 3 * sizeof(c_double)) - - @property - def mu(self): - return self._wrapped.contents.mu - - @mu.setter - def mu(self, value): - self._wrapped.contents.mu = value - - @property - def coef(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.coef, dtype=np.double, count=(5)), (5, )) - arr.setflags(write=False) - return arr - - @coef.setter - def coef(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.coef, val_ptr, 5 * sizeof(c_double)) - - @property - def zone(self): - return self._wrapped.contents.zone - - @zone.setter - def zone(self, value): - self._wrapped.contents.zone = value - - @property - def dim(self): - return self._wrapped.contents.dim - - @dim.setter - def dim(self, value): - self._wrapped.contents.dim = value - - @property - def geom1(self): - return self._wrapped.contents.geom1 - - @geom1.setter - def geom1(self, value): - self._wrapped.contents.geom1 = value - - @property - def geom2(self): - return self._wrapped.contents.geom2 - - @geom2.setter - def geom2(self, value): - self._wrapped.contents.geom2 = value - - @property - def exclude(self): - return self._wrapped.contents.exclude - - @exclude.setter - def exclude(self, value): - self._wrapped.contents.exclude = value - - @property - def efc_address(self): - return self._wrapped.contents.efc_address - - @efc_address.setter - def efc_address(self, value): - self._wrapped.contents.efc_address = value - -class MjrRectWrapper(object): - - def __init__(self, wrapped, size_src=None): - self._wrapped = wrapped - self._size_src = size_src - - @property - def ptr(self): - return self._wrapped - - @property - def obj(self): - return self._wrapped.contents - - - @property - def left(self): - return self._wrapped.contents.left - - @left.setter - def left(self, value): - self._wrapped.contents.left = value - - @property - def bottom(self): - return self._wrapped.contents.bottom - - @bottom.setter - def bottom(self, value): - self._wrapped.contents.bottom = value - - @property - def width(self): - return self._wrapped.contents.width - - @width.setter - def width(self, value): - self._wrapped.contents.width = value - - @property - def height(self): - return self._wrapped.contents.height - - @height.setter - def height(self, value): - self._wrapped.contents.height = value - -class MjvCameraPoseWrapper(object): - - def __init__(self, wrapped, size_src=None): - self._wrapped = wrapped - self._size_src = size_src - - @property - def ptr(self): - return self._wrapped - - @property - def obj(self): - return self._wrapped.contents - - - @property - def head_pos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.head_pos, dtype=np.double, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @head_pos.setter - def head_pos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.head_pos, val_ptr, 3 * sizeof(c_double)) - - @property - def head_right(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.head_right, dtype=np.double, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @head_right.setter - def head_right(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.head_right, val_ptr, 3 * sizeof(c_double)) - - @property - def window_pos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.window_pos, dtype=np.double, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @window_pos.setter - def window_pos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.window_pos, val_ptr, 3 * sizeof(c_double)) - - @property - def window_right(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.window_right, dtype=np.double, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @window_right.setter - def window_right(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.window_right, val_ptr, 3 * sizeof(c_double)) - - @property - def window_up(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.window_up, dtype=np.double, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @window_up.setter - def window_up(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.window_up, val_ptr, 3 * sizeof(c_double)) - - @property - def window_normal(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.window_normal, dtype=np.double, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @window_normal.setter - def window_normal(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.window_normal, val_ptr, 3 * sizeof(c_double)) - - @property - def window_size(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.window_size, dtype=np.double, count=(2)), (2, )) - arr.setflags(write=False) - return arr - - @window_size.setter - def window_size(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.window_size, val_ptr, 2 * sizeof(c_double)) - - @property - def scale(self): - return self._wrapped.contents.scale - - @scale.setter - def scale(self, value): - self._wrapped.contents.scale = value - - @property - def ipd(self): - return self._wrapped.contents.ipd - - @ipd.setter - def ipd(self, value): - self._wrapped.contents.ipd = value - -class MjrOptionWrapper(object): - - def __init__(self, wrapped, size_src=None): - self._wrapped = wrapped - self._size_src = size_src - - @property - def ptr(self): - return self._wrapped - - @property - def obj(self): - return self._wrapped.contents - - - @property - def stereo(self): - return self._wrapped.contents.stereo - - @stereo.setter - def stereo(self, value): - self._wrapped.contents.stereo = value - - @property - def flags(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.flags, dtype=np.uint8, count=(6)), (6, )) - arr.setflags(write=False) - return arr - - @flags.setter - def flags(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_ubyte)) - memmove(self._wrapped.contents.flags, val_ptr, 6 * sizeof(c_ubyte)) - -class MjrContextWrapper(object): - - def __init__(self, wrapped, size_src=None): - self._wrapped = wrapped - self._size_src = size_src - - @property - def ptr(self): - return self._wrapped - - @property - def obj(self): - return self._wrapped.contents - - - @property - def linewidth(self): - return self._wrapped.contents.linewidth - - @linewidth.setter - def linewidth(self, value): - self._wrapped.contents.linewidth = value - - @property - def znear(self): - return self._wrapped.contents.znear - - @znear.setter - def znear(self, value): - self._wrapped.contents.znear = value - - @property - def zfar(self): - return self._wrapped.contents.zfar - - @zfar.setter - def zfar(self, value): - self._wrapped.contents.zfar = value - - @property - def shadowclip(self): - return self._wrapped.contents.shadowclip - - @shadowclip.setter - def shadowclip(self, value): - self._wrapped.contents.shadowclip = value - - @property - def shadowscale(self): - return self._wrapped.contents.shadowscale - - @shadowscale.setter - def shadowscale(self, value): - self._wrapped.contents.shadowscale = value - - @property - def shadowsize(self): - return self._wrapped.contents.shadowsize - - @shadowsize.setter - def shadowsize(self, value): - self._wrapped.contents.shadowsize = value - - @property - def offwidth(self): - return self._wrapped.contents.offwidth - - @offwidth.setter - def offwidth(self, value): - self._wrapped.contents.offwidth = value - - @property - def offheight(self): - return self._wrapped.contents.offheight - - @offheight.setter - def offheight(self, value): - self._wrapped.contents.offheight = value - - @property - def offFBO(self): - return self._wrapped.contents.offFBO - - @offFBO.setter - def offFBO(self, value): - self._wrapped.contents.offFBO = value - - @property - def offColor(self): - return self._wrapped.contents.offColor - - @offColor.setter - def offColor(self, value): - self._wrapped.contents.offColor = value - - @property - def offDepthStencil(self): - return self._wrapped.contents.offDepthStencil - - @offDepthStencil.setter - def offDepthStencil(self, value): - self._wrapped.contents.offDepthStencil = value - - @property - def shadowFBO(self): - return self._wrapped.contents.shadowFBO - - @shadowFBO.setter - def shadowFBO(self, value): - self._wrapped.contents.shadowFBO = value - - @property - def shadowTex(self): - return self._wrapped.contents.shadowTex - - @shadowTex.setter - def shadowTex(self, value): - self._wrapped.contents.shadowTex = value - - @property - def ntexture(self): - return self._wrapped.contents.ntexture - - @ntexture.setter - def ntexture(self, value): - self._wrapped.contents.ntexture = value - - @property - def texture(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.texture, dtype=np.int, count=(100)), (100, )) - arr.setflags(write=False) - return arr - - @texture.setter - def texture(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.texture, val_ptr, 100 * sizeof(c_int)) - - @property - def textureType(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.textureType, dtype=np.int, count=(100)), (100, )) - arr.setflags(write=False) - return arr - - @textureType.setter - def textureType(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.textureType, val_ptr, 100 * sizeof(c_int)) - - @property - def basePlane(self): - return self._wrapped.contents.basePlane - - @basePlane.setter - def basePlane(self, value): - self._wrapped.contents.basePlane = value - - @property - def baseMesh(self): - return self._wrapped.contents.baseMesh - - @baseMesh.setter - def baseMesh(self, value): - self._wrapped.contents.baseMesh = value - - @property - def baseHField(self): - return self._wrapped.contents.baseHField - - @baseHField.setter - def baseHField(self, value): - self._wrapped.contents.baseHField = value - - @property - def baseBuiltin(self): - return self._wrapped.contents.baseBuiltin - - @baseBuiltin.setter - def baseBuiltin(self, value): - self._wrapped.contents.baseBuiltin = value - - @property - def baseFontNormal(self): - return self._wrapped.contents.baseFontNormal - - @baseFontNormal.setter - def baseFontNormal(self, value): - self._wrapped.contents.baseFontNormal = value - - @property - def baseFontBack(self): - return self._wrapped.contents.baseFontBack - - @baseFontBack.setter - def baseFontBack(self, value): - self._wrapped.contents.baseFontBack = value - - @property - def baseFontBig(self): - return self._wrapped.contents.baseFontBig - - @baseFontBig.setter - def baseFontBig(self, value): - self._wrapped.contents.baseFontBig = value - - @property - def rangePlane(self): - return self._wrapped.contents.rangePlane - - @rangePlane.setter - def rangePlane(self, value): - self._wrapped.contents.rangePlane = value - - @property - def rangeMesh(self): - return self._wrapped.contents.rangeMesh - - @rangeMesh.setter - def rangeMesh(self, value): - self._wrapped.contents.rangeMesh = value - - @property - def rangeHField(self): - return self._wrapped.contents.rangeHField - - @rangeHField.setter - def rangeHField(self, value): - self._wrapped.contents.rangeHField = value - - @property - def rangeBuiltin(self): - return self._wrapped.contents.rangeBuiltin - - @rangeBuiltin.setter - def rangeBuiltin(self, value): - self._wrapped.contents.rangeBuiltin = value - - @property - def rangeFont(self): - return self._wrapped.contents.rangeFont - - @rangeFont.setter - def rangeFont(self, value): - self._wrapped.contents.rangeFont = value - - @property - def charWidth(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.charWidth, dtype=np.int, count=(127)), (127, )) - arr.setflags(write=False) - return arr - - @charWidth.setter - def charWidth(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.charWidth, val_ptr, 127 * sizeof(c_int)) - - @property - def charWidthBig(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.charWidthBig, dtype=np.int, count=(127)), (127, )) - arr.setflags(write=False) - return arr - - @charWidthBig.setter - def charWidthBig(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.charWidthBig, val_ptr, 127 * sizeof(c_int)) - - @property - def charHeight(self): - return self._wrapped.contents.charHeight - - @charHeight.setter - def charHeight(self, value): - self._wrapped.contents.charHeight = value - - @property - def charHeightBig(self): - return self._wrapped.contents.charHeightBig - - @charHeightBig.setter - def charHeightBig(self, value): - self._wrapped.contents.charHeightBig = value - - @property - def glewInitialized(self): - return self._wrapped.contents.glewInitialized - - @glewInitialized.setter - def glewInitialized(self, value): - self._wrapped.contents.glewInitialized = value - -class MjvCameraWrapper(object): - - def __init__(self, wrapped, size_src=None): - self._wrapped = wrapped - self._size_src = size_src - - @property - def ptr(self): - return self._wrapped - - @property - def obj(self): - return self._wrapped.contents - - - @property - def fovy(self): - return self._wrapped.contents.fovy - - @fovy.setter - def fovy(self, value): - self._wrapped.contents.fovy = value - - @property - def camid(self): - return self._wrapped.contents.camid - - @camid.setter - def camid(self, value): - self._wrapped.contents.camid = value - - @property - def trackbodyid(self): - return self._wrapped.contents.trackbodyid - - @trackbodyid.setter - def trackbodyid(self, value): - self._wrapped.contents.trackbodyid = value - - @property - def lookat(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.lookat, dtype=np.double, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @lookat.setter - def lookat(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.lookat, val_ptr, 3 * sizeof(c_double)) - - @property - def azimuth(self): - return self._wrapped.contents.azimuth - - @azimuth.setter - def azimuth(self, value): - self._wrapped.contents.azimuth = value - - @property - def elevation(self): - return self._wrapped.contents.elevation - - @elevation.setter - def elevation(self, value): - self._wrapped.contents.elevation = value - - @property - def distance(self): - return self._wrapped.contents.distance - - @distance.setter - def distance(self, value): - self._wrapped.contents.distance = value - - @property - def pose(self): - return self._wrapped.contents.pose - - @pose.setter - def pose(self, value): - self._wrapped.contents.pose = value - - @property - def VR(self): - return self._wrapped.contents.VR - - @VR.setter - def VR(self, value): - self._wrapped.contents.VR = value - -class MjvOptionWrapper(object): - - def __init__(self, wrapped, size_src=None): - self._wrapped = wrapped - self._size_src = size_src - - @property - def ptr(self): - return self._wrapped - - @property - def obj(self): - return self._wrapped.contents - - - @property - def label(self): - return self._wrapped.contents.label - - @label.setter - def label(self, value): - self._wrapped.contents.label = value - - @property - def frame(self): - return self._wrapped.contents.frame - - @frame.setter - def frame(self, value): - self._wrapped.contents.frame = value - - @property - def geomgroup(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geomgroup, dtype=np.uint8, count=(5)), (5, )) - arr.setflags(write=False) - return arr - - @geomgroup.setter - def geomgroup(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_ubyte)) - memmove(self._wrapped.contents.geomgroup, val_ptr, 5 * sizeof(c_ubyte)) - - @property - def sitegroup(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.sitegroup, dtype=np.uint8, count=(5)), (5, )) - arr.setflags(write=False) - return arr - - @sitegroup.setter - def sitegroup(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_ubyte)) - memmove(self._wrapped.contents.sitegroup, val_ptr, 5 * sizeof(c_ubyte)) - - @property - def flags(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.flags, dtype=np.uint8, count=(18)), (18, )) - arr.setflags(write=False) - return arr - - @flags.setter - def flags(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_ubyte)) - memmove(self._wrapped.contents.flags, val_ptr, 18 * sizeof(c_ubyte)) - -class MjvGeomWrapper(object): - - def __init__(self, wrapped, size_src=None): - self._wrapped = wrapped - self._size_src = size_src - - @property - def ptr(self): - return self._wrapped - - @property - def obj(self): - return self._wrapped.contents - - - @property - def type(self): - return self._wrapped.contents.type - - @type.setter - def type(self, value): - self._wrapped.contents.type = value - - @property - def dataid(self): - return self._wrapped.contents.dataid - - @dataid.setter - def dataid(self, value): - self._wrapped.contents.dataid = value - - @property - def objtype(self): - return self._wrapped.contents.objtype - - @objtype.setter - def objtype(self, value): - self._wrapped.contents.objtype = value - - @property - def objid(self): - return self._wrapped.contents.objid - - @objid.setter - def objid(self, value): - self._wrapped.contents.objid = value - - @property - def category(self): - return self._wrapped.contents.category - - @category.setter - def category(self, value): - self._wrapped.contents.category = value - - @property - def texid(self): - return self._wrapped.contents.texid - - @texid.setter - def texid(self, value): - self._wrapped.contents.texid = value - - @property - def texuniform(self): - return self._wrapped.contents.texuniform - - @texuniform.setter - def texuniform(self, value): - self._wrapped.contents.texuniform = value - - @property - def texrepeat(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.texrepeat, dtype=np.float, count=(2)), (2, )) - arr.setflags(write=False) - return arr - - @texrepeat.setter - def texrepeat(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.texrepeat, val_ptr, 2 * sizeof(c_float)) - - @property - def size(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.size, dtype=np.float, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @size.setter - def size(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.size, val_ptr, 3 * sizeof(c_float)) - - @property - def pos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.pos, dtype=np.float, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @pos.setter - def pos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.pos, val_ptr, 3 * sizeof(c_float)) - - @property - def mat(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mat, dtype=np.float, count=(9)), (9, )) - arr.setflags(write=False) - return arr - - @mat.setter - def mat(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.mat, val_ptr, 9 * sizeof(c_float)) - - @property - def rgba(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.rgba, dtype=np.float, count=(4)), (4, )) - arr.setflags(write=False) - return arr - - @rgba.setter - def rgba(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.rgba, val_ptr, 4 * sizeof(c_float)) - - @property - def emission(self): - return self._wrapped.contents.emission - - @emission.setter - def emission(self, value): - self._wrapped.contents.emission = value - - @property - def specular(self): - return self._wrapped.contents.specular - - @specular.setter - def specular(self, value): - self._wrapped.contents.specular = value - - @property - def shininess(self): - return self._wrapped.contents.shininess - - @shininess.setter - def shininess(self, value): - self._wrapped.contents.shininess = value - - @property - def reflectance(self): - return self._wrapped.contents.reflectance - - @reflectance.setter - def reflectance(self, value): - self._wrapped.contents.reflectance = value - - @property - def label(self): - return self._wrapped.contents.label - - @label.setter - def label(self, value): - self._wrapped.contents.label = value - - @property - def camdist(self): - return self._wrapped.contents.camdist - - @camdist.setter - def camdist(self, value): - self._wrapped.contents.camdist = value - - @property - def rbound(self): - return self._wrapped.contents.rbound - - @rbound.setter - def rbound(self, value): - self._wrapped.contents.rbound = value - - @property - def transparent(self): - return self._wrapped.contents.transparent - - @transparent.setter - def transparent(self, value): - self._wrapped.contents.transparent = value - -class MjvLightWrapper(object): - - def __init__(self, wrapped, size_src=None): - self._wrapped = wrapped - self._size_src = size_src - - @property - def ptr(self): - return self._wrapped - - @property - def obj(self): - return self._wrapped.contents - - - @property - def pos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.pos, dtype=np.float, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @pos.setter - def pos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.pos, val_ptr, 3 * sizeof(c_float)) - - @property - def dir(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.dir, dtype=np.float, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @dir.setter - def dir(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.dir, val_ptr, 3 * sizeof(c_float)) - - @property - def attenuation(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.attenuation, dtype=np.float, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @attenuation.setter - def attenuation(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.attenuation, val_ptr, 3 * sizeof(c_float)) - - @property - def cutoff(self): - return self._wrapped.contents.cutoff - - @cutoff.setter - def cutoff(self, value): - self._wrapped.contents.cutoff = value - - @property - def exponent(self): - return self._wrapped.contents.exponent - - @exponent.setter - def exponent(self, value): - self._wrapped.contents.exponent = value - - @property - def ambient(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.ambient, dtype=np.float, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @ambient.setter - def ambient(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.ambient, val_ptr, 3 * sizeof(c_float)) - - @property - def diffuse(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.diffuse, dtype=np.float, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @diffuse.setter - def diffuse(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.diffuse, val_ptr, 3 * sizeof(c_float)) - - @property - def specular(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.specular, dtype=np.float, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @specular.setter - def specular(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.specular, val_ptr, 3 * sizeof(c_float)) - - @property - def headlight(self): - return self._wrapped.contents.headlight - - @headlight.setter - def headlight(self, value): - self._wrapped.contents.headlight = value - - @property - def directional(self): - return self._wrapped.contents.directional - - @directional.setter - def directional(self, value): - self._wrapped.contents.directional = value - - @property - def castshadow(self): - return self._wrapped.contents.castshadow - - @castshadow.setter - def castshadow(self, value): - self._wrapped.contents.castshadow = value - -class MjvObjectsWrapper(object): - - def __init__(self, wrapped, size_src=None): - self._wrapped = wrapped - self._size_src = size_src - - @property - def ptr(self): - return self._wrapped - - @property - def obj(self): - return self._wrapped.contents - - - @property - def nlight(self): - return self._wrapped.contents.nlight - - @nlight.setter - def nlight(self, value): - self._wrapped.contents.nlight = value - - @property - def ngeom(self): - return self._wrapped.contents.ngeom - - @ngeom.setter - def ngeom(self, value): - self._wrapped.contents.ngeom = value - - @property - def maxgeom(self): - return self._wrapped.contents.maxgeom - - @maxgeom.setter - def maxgeom(self, value): - self._wrapped.contents.maxgeom = value - - @property - def lights(self): - return self._wrapped.contents.lights - - @lights.setter - def lights(self, value): - self._wrapped.contents.lights = value - -class MjOptionWrapper(object): - - def __init__(self, wrapped, size_src=None): - self._wrapped = wrapped - self._size_src = size_src - - @property - def ptr(self): - return self._wrapped - - @property - def obj(self): - return self._wrapped.contents - - - @property - def timestep(self): - return self._wrapped.contents.timestep - - @timestep.setter - def timestep(self, value): - self._wrapped.contents.timestep = value - - @property - def apirate(self): - return self._wrapped.contents.apirate - - @apirate.setter - def apirate(self, value): - self._wrapped.contents.apirate = value - - @property - def tolerance(self): - return self._wrapped.contents.tolerance - - @tolerance.setter - def tolerance(self, value): - self._wrapped.contents.tolerance = value - - @property - def impratio(self): - return self._wrapped.contents.impratio - - @impratio.setter - def impratio(self, value): - self._wrapped.contents.impratio = value - - @property - def gravity(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.gravity, dtype=np.double, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @gravity.setter - def gravity(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.gravity, val_ptr, 3 * sizeof(c_double)) - - @property - def wind(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.wind, dtype=np.double, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @wind.setter - def wind(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.wind, val_ptr, 3 * sizeof(c_double)) - - @property - def magnetic(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.magnetic, dtype=np.double, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @magnetic.setter - def magnetic(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.magnetic, val_ptr, 3 * sizeof(c_double)) - - @property - def density(self): - return self._wrapped.contents.density - - @density.setter - def density(self, value): - self._wrapped.contents.density = value - - @property - def viscosity(self): - return self._wrapped.contents.viscosity - - @viscosity.setter - def viscosity(self, value): - self._wrapped.contents.viscosity = value - - @property - def o_margin(self): - return self._wrapped.contents.o_margin - - @o_margin.setter - def o_margin(self, value): - self._wrapped.contents.o_margin = value - - @property - def o_solref(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.o_solref, dtype=np.double, count=(2)), (2, )) - arr.setflags(write=False) - return arr - - @o_solref.setter - def o_solref(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.o_solref, val_ptr, 2 * sizeof(c_double)) - - @property - def o_solimp(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.o_solimp, dtype=np.double, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @o_solimp.setter - def o_solimp(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.o_solimp, val_ptr, 3 * sizeof(c_double)) - - @property - def mpr_tolerance(self): - return self._wrapped.contents.mpr_tolerance - - @mpr_tolerance.setter - def mpr_tolerance(self, value): - self._wrapped.contents.mpr_tolerance = value - - @property - def mpr_iterations(self): - return self._wrapped.contents.mpr_iterations - - @mpr_iterations.setter - def mpr_iterations(self, value): - self._wrapped.contents.mpr_iterations = value - - @property - def integrator(self): - return self._wrapped.contents.integrator - - @integrator.setter - def integrator(self, value): - self._wrapped.contents.integrator = value - - @property - def collision(self): - return self._wrapped.contents.collision - - @collision.setter - def collision(self, value): - self._wrapped.contents.collision = value - - @property - def impedance(self): - return self._wrapped.contents.impedance - - @impedance.setter - def impedance(self, value): - self._wrapped.contents.impedance = value - - @property - def reference(self): - return self._wrapped.contents.reference - - @reference.setter - def reference(self, value): - self._wrapped.contents.reference = value - - @property - def solver(self): - return self._wrapped.contents.solver - - @solver.setter - def solver(self, value): - self._wrapped.contents.solver = value - - @property - def iterations(self): - return self._wrapped.contents.iterations - - @iterations.setter - def iterations(self, value): - self._wrapped.contents.iterations = value - - @property - def disableflags(self): - return self._wrapped.contents.disableflags - - @disableflags.setter - def disableflags(self, value): - self._wrapped.contents.disableflags = value - - @property - def enableflags(self): - return self._wrapped.contents.enableflags - - @enableflags.setter - def enableflags(self, value): - self._wrapped.contents.enableflags = value - -class MjVisualWrapper(object): - - def __init__(self, wrapped, size_src=None): - self._wrapped = wrapped - self._size_src = size_src - - @property - def ptr(self): - return self._wrapped - - @property - def obj(self): - return self._wrapped.contents - - - @property - def global_(self): - return self._wrapped.contents.global_ - - @global_.setter - def global_(self, value): - self._wrapped.contents.global_ = value - - @property - def quality(self): - return self._wrapped.contents.quality - - @quality.setter - def quality(self, value): - self._wrapped.contents.quality = value - - @property - def headlight(self): - return self._wrapped.contents.headlight - - @headlight.setter - def headlight(self, value): - self._wrapped.contents.headlight = value - - @property - def map_(self): - return self._wrapped.contents.map_ - - @map_.setter - def map_(self, value): - self._wrapped.contents.map_ = value - - @property - def scale(self): - return self._wrapped.contents.scale - - @scale.setter - def scale(self, value): - self._wrapped.contents.scale = value - - @property - def rgba(self): - return self._wrapped.contents.rgba - - @rgba.setter - def rgba(self, value): - self._wrapped.contents.rgba = value - -class MjStatisticWrapper(object): - - def __init__(self, wrapped, size_src=None): - self._wrapped = wrapped - self._size_src = size_src - - @property - def ptr(self): - return self._wrapped - - @property - def obj(self): - return self._wrapped.contents - - - @property - def meanmass(self): - return self._wrapped.contents.meanmass - - @meanmass.setter - def meanmass(self, value): - self._wrapped.contents.meanmass = value - - @property - def meansize(self): - return self._wrapped.contents.meansize - - @meansize.setter - def meansize(self, value): - self._wrapped.contents.meansize = value - - @property - def extent(self): - return self._wrapped.contents.extent - - @extent.setter - def extent(self, value): - self._wrapped.contents.extent = value - - @property - def center(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.center, dtype=np.double, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @center.setter - def center(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.center, val_ptr, 3 * sizeof(c_double)) - -class MjDataWrapper(object): - - def __init__(self, wrapped, size_src=None): - self._wrapped = wrapped - self._size_src = size_src - - @property - def ptr(self): - return self._wrapped - - @property - def obj(self): - return self._wrapped.contents - - - @property - def nstack(self): - return self._wrapped.contents.nstack - - @nstack.setter - def nstack(self, value): - self._wrapped.contents.nstack = value - - @property - def nbuffer(self): - return self._wrapped.contents.nbuffer - - @nbuffer.setter - def nbuffer(self, value): - self._wrapped.contents.nbuffer = value - - @property - def pstack(self): - return self._wrapped.contents.pstack - - @pstack.setter - def pstack(self, value): - self._wrapped.contents.pstack = value - - @property - def maxstackuse(self): - return self._wrapped.contents.maxstackuse - - @maxstackuse.setter - def maxstackuse(self, value): - self._wrapped.contents.maxstackuse = value - - @property - def ne(self): - return self._wrapped.contents.ne - - @ne.setter - def ne(self, value): - self._wrapped.contents.ne = value - - @property - def nf(self): - return self._wrapped.contents.nf - - @nf.setter - def nf(self, value): - self._wrapped.contents.nf = value - - @property - def nefc(self): - return self._wrapped.contents.nefc - - @nefc.setter - def nefc(self, value): - self._wrapped.contents.nefc = value - - @property - def ncon(self): - return self._wrapped.contents.ncon - - @ncon.setter - def ncon(self, value): - self._wrapped.contents.ncon = value - - @property - def nwarning(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.nwarning, dtype=np.int, count=(8)), (8, )) - arr.setflags(write=False) - return arr - - @nwarning.setter - def nwarning(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.nwarning, val_ptr, 8 * sizeof(c_int)) - - @property - def warning_info(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.warning_info, dtype=np.int, count=(8)), (8, )) - arr.setflags(write=False) - return arr - - @warning_info.setter - def warning_info(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.warning_info, val_ptr, 8 * sizeof(c_int)) - - @property - def timer_duration(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.timer_duration, dtype=np.double, count=(14)), (14, )) - arr.setflags(write=False) - return arr - - @timer_duration.setter - def timer_duration(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.timer_duration, val_ptr, 14 * sizeof(c_double)) - - @property - def timer_ncall(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.timer_ncall, dtype=np.double, count=(14)), (14, )) - arr.setflags(write=False) - return arr - - @timer_ncall.setter - def timer_ncall(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.timer_ncall, val_ptr, 14 * sizeof(c_double)) - - @property - def mocaptime(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mocaptime, dtype=np.double, count=(3)), (3, )) - arr.setflags(write=False) - return arr - - @mocaptime.setter - def mocaptime(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.mocaptime, val_ptr, 3 * sizeof(c_double)) - - @property - def time(self): - return self._wrapped.contents.time - - @time.setter - def time(self, value): - self._wrapped.contents.time = value - - @property - def energy(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.energy, dtype=np.double, count=(2)), (2, )) - arr.setflags(write=False) - return arr - - @energy.setter - def energy(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.energy, val_ptr, 2 * sizeof(c_double)) - - @property - def solverstat(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.solverstat, dtype=np.double, count=(4)), (4, )) - arr.setflags(write=False) - return arr - - @solverstat.setter - def solverstat(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.solverstat, val_ptr, 4 * sizeof(c_double)) - - @property - def solvertrace(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.solvertrace, dtype=np.double, count=(200)), (200, )) - arr.setflags(write=False) - return arr - - @solvertrace.setter - def solvertrace(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.solvertrace, val_ptr, 200 * sizeof(c_double)) - - @property - def buffer(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.buffer, dtype=np.uint8, count=(self.nbuffer)), (self.nbuffer, )) - arr.setflags(write=False) - return arr - - @buffer.setter - def buffer(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_ubyte)) - memmove(self._wrapped.contents.buffer, val_ptr, self.nbuffer * sizeof(c_ubyte)) - - @property - def stack(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.stack, dtype=np.double, count=(self.nstack)), (self.nstack, )) - arr.setflags(write=False) - return arr - - @stack.setter - def stack(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.stack, val_ptr, self.nstack * sizeof(c_double)) - - @property - def qpos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.qpos, dtype=np.double, count=(self._size_src.nq*1)), (self._size_src.nq, 1, )) - arr.setflags(write=False) - return arr - - @qpos.setter - def qpos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.qpos, val_ptr, self._size_src.nq*1 * sizeof(c_double)) - - @property - def qvel(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.qvel, dtype=np.double, count=(self._size_src.nv*1)), (self._size_src.nv, 1, )) - arr.setflags(write=False) - return arr - - @qvel.setter - def qvel(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.qvel, val_ptr, self._size_src.nv*1 * sizeof(c_double)) - - @property - def act(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.act, dtype=np.double, count=(self._size_src.na*1)), (self._size_src.na, 1, )) - arr.setflags(write=False) - return arr - - @act.setter - def act(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.act, val_ptr, self._size_src.na*1 * sizeof(c_double)) - - @property - def ctrl(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.ctrl, dtype=np.double, count=(self._size_src.nu*1)), (self._size_src.nu, 1, )) - arr.setflags(write=False) - return arr - - @ctrl.setter - def ctrl(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.ctrl, val_ptr, self._size_src.nu*1 * sizeof(c_double)) - - @property - def qfrc_applied(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.qfrc_applied, dtype=np.double, count=(self._size_src.nv*1)), (self._size_src.nv, 1, )) - arr.setflags(write=False) - return arr - - @qfrc_applied.setter - def qfrc_applied(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.qfrc_applied, val_ptr, self._size_src.nv*1 * sizeof(c_double)) - - @property - def xfrc_applied(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.xfrc_applied, dtype=np.double, count=(self._size_src.nbody*6)), (self._size_src.nbody, 6, )) - arr.setflags(write=False) - return arr - - @xfrc_applied.setter - def xfrc_applied(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.xfrc_applied, val_ptr, self._size_src.nbody*6 * sizeof(c_double)) - - @property - def qacc(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.qacc, dtype=np.double, count=(self._size_src.nv*1)), (self._size_src.nv, 1, )) - arr.setflags(write=False) - return arr - - @qacc.setter - def qacc(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.qacc, val_ptr, self._size_src.nv*1 * sizeof(c_double)) - - @property - def act_dot(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.act_dot, dtype=np.double, count=(self._size_src.na*1)), (self._size_src.na, 1, )) - arr.setflags(write=False) - return arr - - @act_dot.setter - def act_dot(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.act_dot, val_ptr, self._size_src.na*1 * sizeof(c_double)) - - @property - def mocap_pos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mocap_pos, dtype=np.double, count=(self._size_src.nmocap*3)), (self._size_src.nmocap, 3, )) - arr.setflags(write=False) - return arr - - @mocap_pos.setter - def mocap_pos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.mocap_pos, val_ptr, self._size_src.nmocap*3 * sizeof(c_double)) - - @property - def mocap_quat(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mocap_quat, dtype=np.double, count=(self._size_src.nmocap*4)), (self._size_src.nmocap, 4, )) - arr.setflags(write=False) - return arr - - @mocap_quat.setter - def mocap_quat(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.mocap_quat, val_ptr, self._size_src.nmocap*4 * sizeof(c_double)) - - @property - def userdata(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.userdata, dtype=np.double, count=(self._size_src.nuserdata*1)), (self._size_src.nuserdata, 1, )) - arr.setflags(write=False) - return arr - - @userdata.setter - def userdata(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.userdata, val_ptr, self._size_src.nuserdata*1 * sizeof(c_double)) - - @property - def sensordata(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.sensordata, dtype=np.double, count=(self._size_src.nsensordata*1)), (self._size_src.nsensordata, 1, )) - arr.setflags(write=False) - return arr - - @sensordata.setter - def sensordata(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.sensordata, val_ptr, self._size_src.nsensordata*1 * sizeof(c_double)) - - @property - def xpos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.xpos, dtype=np.double, count=(self._size_src.nbody*3)), (self._size_src.nbody, 3, )) - arr.setflags(write=False) - return arr - - @xpos.setter - def xpos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.xpos, val_ptr, self._size_src.nbody*3 * sizeof(c_double)) - - @property - def xquat(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.xquat, dtype=np.double, count=(self._size_src.nbody*4)), (self._size_src.nbody, 4, )) - arr.setflags(write=False) - return arr - - @xquat.setter - def xquat(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.xquat, val_ptr, self._size_src.nbody*4 * sizeof(c_double)) - - @property - def xmat(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.xmat, dtype=np.double, count=(self._size_src.nbody*9)), (self._size_src.nbody, 9, )) - arr.setflags(write=False) - return arr - - @xmat.setter - def xmat(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.xmat, val_ptr, self._size_src.nbody*9 * sizeof(c_double)) - - @property - def xipos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.xipos, dtype=np.double, count=(self._size_src.nbody*3)), (self._size_src.nbody, 3, )) - arr.setflags(write=False) - return arr - - @xipos.setter - def xipos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.xipos, val_ptr, self._size_src.nbody*3 * sizeof(c_double)) - - @property - def ximat(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.ximat, dtype=np.double, count=(self._size_src.nbody*9)), (self._size_src.nbody, 9, )) - arr.setflags(write=False) - return arr - - @ximat.setter - def ximat(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.ximat, val_ptr, self._size_src.nbody*9 * sizeof(c_double)) - - @property - def xanchor(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.xanchor, dtype=np.double, count=(self._size_src.njnt*3)), (self._size_src.njnt, 3, )) - arr.setflags(write=False) - return arr - - @xanchor.setter - def xanchor(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.xanchor, val_ptr, self._size_src.njnt*3 * sizeof(c_double)) - - @property - def xaxis(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.xaxis, dtype=np.double, count=(self._size_src.njnt*3)), (self._size_src.njnt, 3, )) - arr.setflags(write=False) - return arr - - @xaxis.setter - def xaxis(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.xaxis, val_ptr, self._size_src.njnt*3 * sizeof(c_double)) - - @property - def geom_xpos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_xpos, dtype=np.double, count=(self._size_src.ngeom*3)), (self._size_src.ngeom, 3, )) - arr.setflags(write=False) - return arr - - @geom_xpos.setter - def geom_xpos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.geom_xpos, val_ptr, self._size_src.ngeom*3 * sizeof(c_double)) - - @property - def geom_xmat(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_xmat, dtype=np.double, count=(self._size_src.ngeom*9)), (self._size_src.ngeom, 9, )) - arr.setflags(write=False) - return arr - - @geom_xmat.setter - def geom_xmat(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.geom_xmat, val_ptr, self._size_src.ngeom*9 * sizeof(c_double)) - - @property - def site_xpos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.site_xpos, dtype=np.double, count=(self._size_src.nsite*3)), (self._size_src.nsite, 3, )) - arr.setflags(write=False) - return arr - - @site_xpos.setter - def site_xpos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.site_xpos, val_ptr, self._size_src.nsite*3 * sizeof(c_double)) - - @property - def site_xmat(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.site_xmat, dtype=np.double, count=(self._size_src.nsite*9)), (self._size_src.nsite, 9, )) - arr.setflags(write=False) - return arr - - @site_xmat.setter - def site_xmat(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.site_xmat, val_ptr, self._size_src.nsite*9 * sizeof(c_double)) - - @property - def cam_xpos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.cam_xpos, dtype=np.double, count=(self._size_src.ncam*3)), (self._size_src.ncam, 3, )) - arr.setflags(write=False) - return arr - - @cam_xpos.setter - def cam_xpos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.cam_xpos, val_ptr, self._size_src.ncam*3 * sizeof(c_double)) - - @property - def cam_xmat(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.cam_xmat, dtype=np.double, count=(self._size_src.ncam*9)), (self._size_src.ncam, 9, )) - arr.setflags(write=False) - return arr - - @cam_xmat.setter - def cam_xmat(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.cam_xmat, val_ptr, self._size_src.ncam*9 * sizeof(c_double)) - - @property - def light_xpos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.light_xpos, dtype=np.double, count=(self._size_src.nlight*3)), (self._size_src.nlight, 3, )) - arr.setflags(write=False) - return arr - - @light_xpos.setter - def light_xpos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.light_xpos, val_ptr, self._size_src.nlight*3 * sizeof(c_double)) - - @property - def light_xdir(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.light_xdir, dtype=np.double, count=(self._size_src.nlight*3)), (self._size_src.nlight, 3, )) - arr.setflags(write=False) - return arr - - @light_xdir.setter - def light_xdir(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.light_xdir, val_ptr, self._size_src.nlight*3 * sizeof(c_double)) - - @property - def com_subtree(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.com_subtree, dtype=np.double, count=(self._size_src.nbody*3)), (self._size_src.nbody, 3, )) - arr.setflags(write=False) - return arr - - @com_subtree.setter - def com_subtree(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.com_subtree, val_ptr, self._size_src.nbody*3 * sizeof(c_double)) - - @property - def cdof(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.cdof, dtype=np.double, count=(self._size_src.nv*6)), (self._size_src.nv, 6, )) - arr.setflags(write=False) - return arr - - @cdof.setter - def cdof(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.cdof, val_ptr, self._size_src.nv*6 * sizeof(c_double)) - - @property - def cinert(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.cinert, dtype=np.double, count=(self._size_src.nbody*10)), (self._size_src.nbody, 10, )) - arr.setflags(write=False) - return arr - - @cinert.setter - def cinert(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.cinert, val_ptr, self._size_src.nbody*10 * sizeof(c_double)) - - @property - def ten_wrapadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.ten_wrapadr, dtype=np.int, count=(self._size_src.ntendon*1)), (self._size_src.ntendon, 1, )) - arr.setflags(write=False) - return arr - - @ten_wrapadr.setter - def ten_wrapadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.ten_wrapadr, val_ptr, self._size_src.ntendon*1 * sizeof(c_int)) - - @property - def ten_wrapnum(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.ten_wrapnum, dtype=np.int, count=(self._size_src.ntendon*1)), (self._size_src.ntendon, 1, )) - arr.setflags(write=False) - return arr - - @ten_wrapnum.setter - def ten_wrapnum(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.ten_wrapnum, val_ptr, self._size_src.ntendon*1 * sizeof(c_int)) - - @property - def ten_length(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.ten_length, dtype=np.double, count=(self._size_src.ntendon*1)), (self._size_src.ntendon, 1, )) - arr.setflags(write=False) - return arr - - @ten_length.setter - def ten_length(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.ten_length, val_ptr, self._size_src.ntendon*1 * sizeof(c_double)) - - @property - def ten_moment(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.ten_moment, dtype=np.double, count=(self._size_src.ntendon*self._size_src.nv)), (self._size_src.ntendon, self._size_src.nv, )) - arr.setflags(write=False) - return arr - - @ten_moment.setter - def ten_moment(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.ten_moment, val_ptr, self._size_src.ntendon*self._size_src.nv * sizeof(c_double)) - - @property - def wrap_obj(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.wrap_obj, dtype=np.int, count=(self._size_src.nwrap*2)), (self._size_src.nwrap, 2, )) - arr.setflags(write=False) - return arr - - @wrap_obj.setter - def wrap_obj(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.wrap_obj, val_ptr, self._size_src.nwrap*2 * sizeof(c_int)) - - @property - def wrap_xpos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.wrap_xpos, dtype=np.double, count=(self._size_src.nwrap*6)), (self._size_src.nwrap, 6, )) - arr.setflags(write=False) - return arr - - @wrap_xpos.setter - def wrap_xpos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.wrap_xpos, val_ptr, self._size_src.nwrap*6 * sizeof(c_double)) - - @property - def actuator_length(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_length, dtype=np.double, count=(self._size_src.nu*1)), (self._size_src.nu, 1, )) - arr.setflags(write=False) - return arr - - @actuator_length.setter - def actuator_length(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.actuator_length, val_ptr, self._size_src.nu*1 * sizeof(c_double)) - - @property - def actuator_moment(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_moment, dtype=np.double, count=(self._size_src.nu*self._size_src.nv)), (self._size_src.nu, self._size_src.nv, )) - arr.setflags(write=False) - return arr - - @actuator_moment.setter - def actuator_moment(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.actuator_moment, val_ptr, self._size_src.nu*self._size_src.nv * sizeof(c_double)) - - @property - def crb(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.crb, dtype=np.double, count=(self._size_src.nbody*10)), (self._size_src.nbody, 10, )) - arr.setflags(write=False) - return arr - - @crb.setter - def crb(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.crb, val_ptr, self._size_src.nbody*10 * sizeof(c_double)) - - @property - def qM(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.qM, dtype=np.double, count=(self._size_src.nM*1)), (self._size_src.nM, 1, )) - arr.setflags(write=False) - return arr - - @qM.setter - def qM(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.qM, val_ptr, self._size_src.nM*1 * sizeof(c_double)) - - @property - def qLD(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.qLD, dtype=np.double, count=(self._size_src.nM*1)), (self._size_src.nM, 1, )) - arr.setflags(write=False) - return arr - - @qLD.setter - def qLD(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.qLD, val_ptr, self._size_src.nM*1 * sizeof(c_double)) - - @property - def qLDiagInv(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.qLDiagInv, dtype=np.double, count=(self._size_src.nv*1)), (self._size_src.nv, 1, )) - arr.setflags(write=False) - return arr - - @qLDiagInv.setter - def qLDiagInv(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.qLDiagInv, val_ptr, self._size_src.nv*1 * sizeof(c_double)) - - @property - def qLDiagSqrtInv(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.qLDiagSqrtInv, dtype=np.double, count=(self._size_src.nv*1)), (self._size_src.nv, 1, )) - arr.setflags(write=False) - return arr - - @qLDiagSqrtInv.setter - def qLDiagSqrtInv(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.qLDiagSqrtInv, val_ptr, self._size_src.nv*1 * sizeof(c_double)) - - @property - def efc_type(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_type, dtype=np.int, count=(self._size_src.njmax*1)), (self._size_src.njmax, 1, )) - arr.setflags(write=False) - return arr - - @efc_type.setter - def efc_type(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.efc_type, val_ptr, self._size_src.njmax*1 * sizeof(c_int)) - - @property - def efc_id(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_id, dtype=np.int, count=(self._size_src.njmax*1)), (self._size_src.njmax, 1, )) - arr.setflags(write=False) - return arr - - @efc_id.setter - def efc_id(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.efc_id, val_ptr, self._size_src.njmax*1 * sizeof(c_int)) - - @property - def efc_rownnz(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_rownnz, dtype=np.int, count=(self._size_src.njmax*1)), (self._size_src.njmax, 1, )) - arr.setflags(write=False) - return arr - - @efc_rownnz.setter - def efc_rownnz(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.efc_rownnz, val_ptr, self._size_src.njmax*1 * sizeof(c_int)) - - @property - def efc_rowadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_rowadr, dtype=np.int, count=(self._size_src.njmax*1)), (self._size_src.njmax, 1, )) - arr.setflags(write=False) - return arr - - @efc_rowadr.setter - def efc_rowadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.efc_rowadr, val_ptr, self._size_src.njmax*1 * sizeof(c_int)) - - @property - def efc_colind(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_colind, dtype=np.int, count=(self._size_src.njmax*self._size_src.nv)), (self._size_src.njmax, self._size_src.nv, )) - arr.setflags(write=False) - return arr - - @efc_colind.setter - def efc_colind(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.efc_colind, val_ptr, self._size_src.njmax*self._size_src.nv * sizeof(c_int)) - - @property - def efc_rownnz_T(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_rownnz_T, dtype=np.int, count=(self._size_src.nv*1)), (self._size_src.nv, 1, )) - arr.setflags(write=False) - return arr - - @efc_rownnz_T.setter - def efc_rownnz_T(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.efc_rownnz_T, val_ptr, self._size_src.nv*1 * sizeof(c_int)) - - @property - def efc_rowadr_T(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_rowadr_T, dtype=np.int, count=(self._size_src.nv*1)), (self._size_src.nv, 1, )) - arr.setflags(write=False) - return arr - - @efc_rowadr_T.setter - def efc_rowadr_T(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.efc_rowadr_T, val_ptr, self._size_src.nv*1 * sizeof(c_int)) - - @property - def efc_colind_T(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_colind_T, dtype=np.int, count=(self._size_src.nv*self._size_src.njmax)), (self._size_src.nv, self._size_src.njmax, )) - arr.setflags(write=False) - return arr - - @efc_colind_T.setter - def efc_colind_T(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.efc_colind_T, val_ptr, self._size_src.nv*self._size_src.njmax * sizeof(c_int)) - - @property - def efc_solref(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_solref, dtype=np.double, count=(self._size_src.njmax*2)), (self._size_src.njmax, 2, )) - arr.setflags(write=False) - return arr - - @efc_solref.setter - def efc_solref(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.efc_solref, val_ptr, self._size_src.njmax*2 * sizeof(c_double)) - - @property - def efc_solimp(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_solimp, dtype=np.double, count=(self._size_src.njmax*3)), (self._size_src.njmax, 3, )) - arr.setflags(write=False) - return arr - - @efc_solimp.setter - def efc_solimp(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.efc_solimp, val_ptr, self._size_src.njmax*3 * sizeof(c_double)) - - @property - def efc_margin(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_margin, dtype=np.double, count=(self._size_src.njmax*1)), (self._size_src.njmax, 1, )) - arr.setflags(write=False) - return arr - - @efc_margin.setter - def efc_margin(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.efc_margin, val_ptr, self._size_src.njmax*1 * sizeof(c_double)) - - @property - def efc_frictionloss(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_frictionloss, dtype=np.double, count=(self._size_src.njmax*1)), (self._size_src.njmax, 1, )) - arr.setflags(write=False) - return arr - - @efc_frictionloss.setter - def efc_frictionloss(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.efc_frictionloss, val_ptr, self._size_src.njmax*1 * sizeof(c_double)) - - @property - def efc_pos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_pos, dtype=np.double, count=(self._size_src.njmax*1)), (self._size_src.njmax, 1, )) - arr.setflags(write=False) - return arr - - @efc_pos.setter - def efc_pos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.efc_pos, val_ptr, self._size_src.njmax*1 * sizeof(c_double)) - - @property - def efc_J(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_J, dtype=np.double, count=(self._size_src.njmax*self._size_src.nv)), (self._size_src.njmax, self._size_src.nv, )) - arr.setflags(write=False) - return arr - - @efc_J.setter - def efc_J(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.efc_J, val_ptr, self._size_src.njmax*self._size_src.nv * sizeof(c_double)) - - @property - def efc_J_T(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_J_T, dtype=np.double, count=(self._size_src.nv*self._size_src.njmax)), (self._size_src.nv, self._size_src.njmax, )) - arr.setflags(write=False) - return arr - - @efc_J_T.setter - def efc_J_T(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.efc_J_T, val_ptr, self._size_src.nv*self._size_src.njmax * sizeof(c_double)) - - @property - def efc_diagApprox(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_diagApprox, dtype=np.double, count=(self._size_src.njmax*1)), (self._size_src.njmax, 1, )) - arr.setflags(write=False) - return arr - - @efc_diagApprox.setter - def efc_diagApprox(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.efc_diagApprox, val_ptr, self._size_src.njmax*1 * sizeof(c_double)) - - @property - def efc_D(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_D, dtype=np.double, count=(self._size_src.njmax*1)), (self._size_src.njmax, 1, )) - arr.setflags(write=False) - return arr - - @efc_D.setter - def efc_D(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.efc_D, val_ptr, self._size_src.njmax*1 * sizeof(c_double)) - - @property - def efc_R(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_R, dtype=np.double, count=(self._size_src.njmax*1)), (self._size_src.njmax, 1, )) - arr.setflags(write=False) - return arr - - @efc_R.setter - def efc_R(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.efc_R, val_ptr, self._size_src.njmax*1 * sizeof(c_double)) - - @property - def efc_AR(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_AR, dtype=np.double, count=(self._size_src.njmax*self._size_src.njmax)), (self._size_src.njmax, self._size_src.njmax, )) - arr.setflags(write=False) - return arr - - @efc_AR.setter - def efc_AR(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.efc_AR, val_ptr, self._size_src.njmax*self._size_src.njmax * sizeof(c_double)) - - @property - def e_ARchol(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.e_ARchol, dtype=np.double, count=(self._size_src.nemax*self._size_src.nemax)), (self._size_src.nemax, self._size_src.nemax, )) - arr.setflags(write=False) - return arr - - @e_ARchol.setter - def e_ARchol(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.e_ARchol, val_ptr, self._size_src.nemax*self._size_src.nemax * sizeof(c_double)) - - @property - def fc_e_rect(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.fc_e_rect, dtype=np.double, count=(self._size_src.njmax*self._size_src.nemax)), (self._size_src.njmax, self._size_src.nemax, )) - arr.setflags(write=False) - return arr - - @fc_e_rect.setter - def fc_e_rect(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.fc_e_rect, val_ptr, self._size_src.njmax*self._size_src.nemax * sizeof(c_double)) - - @property - def fc_AR(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.fc_AR, dtype=np.double, count=(self._size_src.njmax*self._size_src.njmax)), (self._size_src.njmax, self._size_src.njmax, )) - arr.setflags(write=False) - return arr - - @fc_AR.setter - def fc_AR(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.fc_AR, val_ptr, self._size_src.njmax*self._size_src.njmax * sizeof(c_double)) - - @property - def ten_velocity(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.ten_velocity, dtype=np.double, count=(self._size_src.ntendon*1)), (self._size_src.ntendon, 1, )) - arr.setflags(write=False) - return arr - - @ten_velocity.setter - def ten_velocity(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.ten_velocity, val_ptr, self._size_src.ntendon*1 * sizeof(c_double)) - - @property - def actuator_velocity(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_velocity, dtype=np.double, count=(self._size_src.nu*1)), (self._size_src.nu, 1, )) - arr.setflags(write=False) - return arr - - @actuator_velocity.setter - def actuator_velocity(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.actuator_velocity, val_ptr, self._size_src.nu*1 * sizeof(c_double)) - - @property - def cvel(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.cvel, dtype=np.double, count=(self._size_src.nbody*6)), (self._size_src.nbody, 6, )) - arr.setflags(write=False) - return arr - - @cvel.setter - def cvel(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.cvel, val_ptr, self._size_src.nbody*6 * sizeof(c_double)) - - @property - def cdof_dot(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.cdof_dot, dtype=np.double, count=(self._size_src.nv*6)), (self._size_src.nv, 6, )) - arr.setflags(write=False) - return arr - - @cdof_dot.setter - def cdof_dot(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.cdof_dot, val_ptr, self._size_src.nv*6 * sizeof(c_double)) - - @property - def qfrc_bias(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.qfrc_bias, dtype=np.double, count=(self._size_src.nv*1)), (self._size_src.nv, 1, )) - arr.setflags(write=False) - return arr - - @qfrc_bias.setter - def qfrc_bias(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.qfrc_bias, val_ptr, self._size_src.nv*1 * sizeof(c_double)) - - @property - def qfrc_passive(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.qfrc_passive, dtype=np.double, count=(self._size_src.nv*1)), (self._size_src.nv, 1, )) - arr.setflags(write=False) - return arr - - @qfrc_passive.setter - def qfrc_passive(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.qfrc_passive, val_ptr, self._size_src.nv*1 * sizeof(c_double)) - - @property - def efc_vel(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_vel, dtype=np.double, count=(self._size_src.njmax*1)), (self._size_src.njmax, 1, )) - arr.setflags(write=False) - return arr - - @efc_vel.setter - def efc_vel(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.efc_vel, val_ptr, self._size_src.njmax*1 * sizeof(c_double)) - - @property - def efc_aref(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_aref, dtype=np.double, count=(self._size_src.njmax*1)), (self._size_src.njmax, 1, )) - arr.setflags(write=False) - return arr - - @efc_aref.setter - def efc_aref(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.efc_aref, val_ptr, self._size_src.njmax*1 * sizeof(c_double)) - - @property - def actuator_force(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_force, dtype=np.double, count=(self._size_src.nu*1)), (self._size_src.nu, 1, )) - arr.setflags(write=False) - return arr - - @actuator_force.setter - def actuator_force(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.actuator_force, val_ptr, self._size_src.nu*1 * sizeof(c_double)) - - @property - def qfrc_actuator(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.qfrc_actuator, dtype=np.double, count=(self._size_src.nv*1)), (self._size_src.nv, 1, )) - arr.setflags(write=False) - return arr - - @qfrc_actuator.setter - def qfrc_actuator(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.qfrc_actuator, val_ptr, self._size_src.nv*1 * sizeof(c_double)) - - @property - def qfrc_unc(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.qfrc_unc, dtype=np.double, count=(self._size_src.nv*1)), (self._size_src.nv, 1, )) - arr.setflags(write=False) - return arr - - @qfrc_unc.setter - def qfrc_unc(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.qfrc_unc, val_ptr, self._size_src.nv*1 * sizeof(c_double)) - - @property - def qacc_unc(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.qacc_unc, dtype=np.double, count=(self._size_src.nv*1)), (self._size_src.nv, 1, )) - arr.setflags(write=False) - return arr - - @qacc_unc.setter - def qacc_unc(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.qacc_unc, val_ptr, self._size_src.nv*1 * sizeof(c_double)) - - @property - def efc_b(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_b, dtype=np.double, count=(self._size_src.njmax*1)), (self._size_src.njmax, 1, )) - arr.setflags(write=False) - return arr - - @efc_b.setter - def efc_b(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.efc_b, val_ptr, self._size_src.njmax*1 * sizeof(c_double)) - - @property - def fc_b(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.fc_b, dtype=np.double, count=(self._size_src.njmax*1)), (self._size_src.njmax, 1, )) - arr.setflags(write=False) - return arr - - @fc_b.setter - def fc_b(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.fc_b, val_ptr, self._size_src.njmax*1 * sizeof(c_double)) - - @property - def efc_force(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.efc_force, dtype=np.double, count=(self._size_src.njmax*1)), (self._size_src.njmax, 1, )) - arr.setflags(write=False) - return arr - - @efc_force.setter - def efc_force(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.efc_force, val_ptr, self._size_src.njmax*1 * sizeof(c_double)) - - @property - def qfrc_constraint(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.qfrc_constraint, dtype=np.double, count=(self._size_src.nv*1)), (self._size_src.nv, 1, )) - arr.setflags(write=False) - return arr - - @qfrc_constraint.setter - def qfrc_constraint(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.qfrc_constraint, val_ptr, self._size_src.nv*1 * sizeof(c_double)) - - @property - def qfrc_inverse(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.qfrc_inverse, dtype=np.double, count=(self._size_src.nv*1)), (self._size_src.nv, 1, )) - arr.setflags(write=False) - return arr - - @qfrc_inverse.setter - def qfrc_inverse(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.qfrc_inverse, val_ptr, self._size_src.nv*1 * sizeof(c_double)) - - @property - def cacc(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.cacc, dtype=np.double, count=(self._size_src.nbody*6)), (self._size_src.nbody, 6, )) - arr.setflags(write=False) - return arr - - @cacc.setter - def cacc(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.cacc, val_ptr, self._size_src.nbody*6 * sizeof(c_double)) - - @property - def cfrc_int(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.cfrc_int, dtype=np.double, count=(self._size_src.nbody*6)), (self._size_src.nbody, 6, )) - arr.setflags(write=False) - return arr - - @cfrc_int.setter - def cfrc_int(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.cfrc_int, val_ptr, self._size_src.nbody*6 * sizeof(c_double)) - - @property - def cfrc_ext(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.cfrc_ext, dtype=np.double, count=(self._size_src.nbody*6)), (self._size_src.nbody, 6, )) - arr.setflags(write=False) - return arr - - @cfrc_ext.setter - def cfrc_ext(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.cfrc_ext, val_ptr, self._size_src.nbody*6 * sizeof(c_double)) - -class MjModelWrapper(object): - - def __init__(self, wrapped, size_src=None): - self._wrapped = wrapped - self._size_src = size_src - - @property - def ptr(self): - return self._wrapped - - @property - def obj(self): - return self._wrapped.contents - - - @property - def nq(self): - return self._wrapped.contents.nq - - @nq.setter - def nq(self, value): - self._wrapped.contents.nq = value - - @property - def nv(self): - return self._wrapped.contents.nv - - @nv.setter - def nv(self, value): - self._wrapped.contents.nv = value - - @property - def nu(self): - return self._wrapped.contents.nu - - @nu.setter - def nu(self, value): - self._wrapped.contents.nu = value - - @property - def na(self): - return self._wrapped.contents.na - - @na.setter - def na(self, value): - self._wrapped.contents.na = value - - @property - def nbody(self): - return self._wrapped.contents.nbody - - @nbody.setter - def nbody(self, value): - self._wrapped.contents.nbody = value - - @property - def njnt(self): - return self._wrapped.contents.njnt - - @njnt.setter - def njnt(self, value): - self._wrapped.contents.njnt = value - - @property - def ngeom(self): - return self._wrapped.contents.ngeom - - @ngeom.setter - def ngeom(self, value): - self._wrapped.contents.ngeom = value - - @property - def nsite(self): - return self._wrapped.contents.nsite - - @nsite.setter - def nsite(self, value): - self._wrapped.contents.nsite = value - - @property - def ncam(self): - return self._wrapped.contents.ncam - - @ncam.setter - def ncam(self, value): - self._wrapped.contents.ncam = value - - @property - def nlight(self): - return self._wrapped.contents.nlight - - @nlight.setter - def nlight(self, value): - self._wrapped.contents.nlight = value - - @property - def nmesh(self): - return self._wrapped.contents.nmesh - - @nmesh.setter - def nmesh(self, value): - self._wrapped.contents.nmesh = value - - @property - def nmeshvert(self): - return self._wrapped.contents.nmeshvert - - @nmeshvert.setter - def nmeshvert(self, value): - self._wrapped.contents.nmeshvert = value - - @property - def nmeshface(self): - return self._wrapped.contents.nmeshface - - @nmeshface.setter - def nmeshface(self, value): - self._wrapped.contents.nmeshface = value - - @property - def nmeshgraph(self): - return self._wrapped.contents.nmeshgraph - - @nmeshgraph.setter - def nmeshgraph(self, value): - self._wrapped.contents.nmeshgraph = value - - @property - def nhfield(self): - return self._wrapped.contents.nhfield - - @nhfield.setter - def nhfield(self, value): - self._wrapped.contents.nhfield = value - - @property - def nhfielddata(self): - return self._wrapped.contents.nhfielddata - - @nhfielddata.setter - def nhfielddata(self, value): - self._wrapped.contents.nhfielddata = value - - @property - def ntex(self): - return self._wrapped.contents.ntex - - @ntex.setter - def ntex(self, value): - self._wrapped.contents.ntex = value - - @property - def ntexdata(self): - return self._wrapped.contents.ntexdata - - @ntexdata.setter - def ntexdata(self, value): - self._wrapped.contents.ntexdata = value - - @property - def nmat(self): - return self._wrapped.contents.nmat - - @nmat.setter - def nmat(self, value): - self._wrapped.contents.nmat = value - - @property - def npair(self): - return self._wrapped.contents.npair - - @npair.setter - def npair(self, value): - self._wrapped.contents.npair = value - - @property - def nexclude(self): - return self._wrapped.contents.nexclude - - @nexclude.setter - def nexclude(self, value): - self._wrapped.contents.nexclude = value - - @property - def neq(self): - return self._wrapped.contents.neq - - @neq.setter - def neq(self, value): - self._wrapped.contents.neq = value - - @property - def ntendon(self): - return self._wrapped.contents.ntendon - - @ntendon.setter - def ntendon(self, value): - self._wrapped.contents.ntendon = value - - @property - def nwrap(self): - return self._wrapped.contents.nwrap - - @nwrap.setter - def nwrap(self, value): - self._wrapped.contents.nwrap = value - - @property - def nsensor(self): - return self._wrapped.contents.nsensor - - @nsensor.setter - def nsensor(self, value): - self._wrapped.contents.nsensor = value - - @property - def nnumeric(self): - return self._wrapped.contents.nnumeric - - @nnumeric.setter - def nnumeric(self, value): - self._wrapped.contents.nnumeric = value - - @property - def nnumericdata(self): - return self._wrapped.contents.nnumericdata - - @nnumericdata.setter - def nnumericdata(self, value): - self._wrapped.contents.nnumericdata = value - - @property - def ntext(self): - return self._wrapped.contents.ntext - - @ntext.setter - def ntext(self, value): - self._wrapped.contents.ntext = value - - @property - def ntextdata(self): - return self._wrapped.contents.ntextdata - - @ntextdata.setter - def ntextdata(self, value): - self._wrapped.contents.ntextdata = value - - @property - def nkey(self): - return self._wrapped.contents.nkey - - @nkey.setter - def nkey(self, value): - self._wrapped.contents.nkey = value - - @property - def nuser_body(self): - return self._wrapped.contents.nuser_body - - @nuser_body.setter - def nuser_body(self, value): - self._wrapped.contents.nuser_body = value - - @property - def nuser_jnt(self): - return self._wrapped.contents.nuser_jnt - - @nuser_jnt.setter - def nuser_jnt(self, value): - self._wrapped.contents.nuser_jnt = value - - @property - def nuser_geom(self): - return self._wrapped.contents.nuser_geom - - @nuser_geom.setter - def nuser_geom(self, value): - self._wrapped.contents.nuser_geom = value - - @property - def nuser_site(self): - return self._wrapped.contents.nuser_site - - @nuser_site.setter - def nuser_site(self, value): - self._wrapped.contents.nuser_site = value - - @property - def nuser_tendon(self): - return self._wrapped.contents.nuser_tendon - - @nuser_tendon.setter - def nuser_tendon(self, value): - self._wrapped.contents.nuser_tendon = value - - @property - def nuser_actuator(self): - return self._wrapped.contents.nuser_actuator - - @nuser_actuator.setter - def nuser_actuator(self, value): - self._wrapped.contents.nuser_actuator = value - - @property - def nuser_sensor(self): - return self._wrapped.contents.nuser_sensor - - @nuser_sensor.setter - def nuser_sensor(self, value): - self._wrapped.contents.nuser_sensor = value - - @property - def nnames(self): - return self._wrapped.contents.nnames - - @nnames.setter - def nnames(self, value): - self._wrapped.contents.nnames = value - - @property - def nM(self): - return self._wrapped.contents.nM - - @nM.setter - def nM(self, value): - self._wrapped.contents.nM = value - - @property - def nemax(self): - return self._wrapped.contents.nemax - - @nemax.setter - def nemax(self, value): - self._wrapped.contents.nemax = value - - @property - def njmax(self): - return self._wrapped.contents.njmax - - @njmax.setter - def njmax(self, value): - self._wrapped.contents.njmax = value - - @property - def nconmax(self): - return self._wrapped.contents.nconmax - - @nconmax.setter - def nconmax(self, value): - self._wrapped.contents.nconmax = value - - @property - def nstack(self): - return self._wrapped.contents.nstack - - @nstack.setter - def nstack(self, value): - self._wrapped.contents.nstack = value - - @property - def nuserdata(self): - return self._wrapped.contents.nuserdata - - @nuserdata.setter - def nuserdata(self, value): - self._wrapped.contents.nuserdata = value - - @property - def nmocap(self): - return self._wrapped.contents.nmocap - - @nmocap.setter - def nmocap(self, value): - self._wrapped.contents.nmocap = value - - @property - def nsensordata(self): - return self._wrapped.contents.nsensordata - - @nsensordata.setter - def nsensordata(self, value): - self._wrapped.contents.nsensordata = value - - @property - def nbuffer(self): - return self._wrapped.contents.nbuffer - - @nbuffer.setter - def nbuffer(self, value): - self._wrapped.contents.nbuffer = value - - @property - def opt(self): - return self._wrapped.contents.opt - - @opt.setter - def opt(self, value): - self._wrapped.contents.opt = value - - @property - def vis(self): - return self._wrapped.contents.vis - - @vis.setter - def vis(self, value): - self._wrapped.contents.vis = value - - @property - def stat(self): - return self._wrapped.contents.stat - - @stat.setter - def stat(self, value): - self._wrapped.contents.stat = value - - @property - def buffer(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.buffer, dtype=np.uint8, count=(self.nbuffer)), (self.nbuffer, )) - arr.setflags(write=False) - return arr - - @buffer.setter - def buffer(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_ubyte)) - memmove(self._wrapped.contents.buffer, val_ptr, self.nbuffer * sizeof(c_ubyte)) - - @property - def qpos0(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.qpos0, dtype=np.double, count=(self.nq*1)), (self.nq, 1, )) - arr.setflags(write=False) - return arr - - @qpos0.setter - def qpos0(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.qpos0, val_ptr, self.nq*1 * sizeof(c_double)) - - @property - def qpos_spring(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.qpos_spring, dtype=np.double, count=(self.nq*1)), (self.nq, 1, )) - arr.setflags(write=False) - return arr - - @qpos_spring.setter - def qpos_spring(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.qpos_spring, val_ptr, self.nq*1 * sizeof(c_double)) - - @property - def body_parentid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.body_parentid, dtype=np.int, count=(self.nbody*1)), (self.nbody, 1, )) - arr.setflags(write=False) - return arr - - @body_parentid.setter - def body_parentid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.body_parentid, val_ptr, self.nbody*1 * sizeof(c_int)) - - @property - def body_rootid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.body_rootid, dtype=np.int, count=(self.nbody*1)), (self.nbody, 1, )) - arr.setflags(write=False) - return arr - - @body_rootid.setter - def body_rootid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.body_rootid, val_ptr, self.nbody*1 * sizeof(c_int)) - - @property - def body_weldid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.body_weldid, dtype=np.int, count=(self.nbody*1)), (self.nbody, 1, )) - arr.setflags(write=False) - return arr - - @body_weldid.setter - def body_weldid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.body_weldid, val_ptr, self.nbody*1 * sizeof(c_int)) - - @property - def body_mocapid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.body_mocapid, dtype=np.int, count=(self.nbody*1)), (self.nbody, 1, )) - arr.setflags(write=False) - return arr - - @body_mocapid.setter - def body_mocapid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.body_mocapid, val_ptr, self.nbody*1 * sizeof(c_int)) - - @property - def body_jntnum(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.body_jntnum, dtype=np.int, count=(self.nbody*1)), (self.nbody, 1, )) - arr.setflags(write=False) - return arr - - @body_jntnum.setter - def body_jntnum(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.body_jntnum, val_ptr, self.nbody*1 * sizeof(c_int)) - - @property - def body_jntadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.body_jntadr, dtype=np.int, count=(self.nbody*1)), (self.nbody, 1, )) - arr.setflags(write=False) - return arr - - @body_jntadr.setter - def body_jntadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.body_jntadr, val_ptr, self.nbody*1 * sizeof(c_int)) - - @property - def body_dofnum(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.body_dofnum, dtype=np.int, count=(self.nbody*1)), (self.nbody, 1, )) - arr.setflags(write=False) - return arr - - @body_dofnum.setter - def body_dofnum(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.body_dofnum, val_ptr, self.nbody*1 * sizeof(c_int)) - - @property - def body_dofadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.body_dofadr, dtype=np.int, count=(self.nbody*1)), (self.nbody, 1, )) - arr.setflags(write=False) - return arr - - @body_dofadr.setter - def body_dofadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.body_dofadr, val_ptr, self.nbody*1 * sizeof(c_int)) - - @property - def body_geomnum(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.body_geomnum, dtype=np.int, count=(self.nbody*1)), (self.nbody, 1, )) - arr.setflags(write=False) - return arr - - @body_geomnum.setter - def body_geomnum(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.body_geomnum, val_ptr, self.nbody*1 * sizeof(c_int)) - - @property - def body_geomadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.body_geomadr, dtype=np.int, count=(self.nbody*1)), (self.nbody, 1, )) - arr.setflags(write=False) - return arr - - @body_geomadr.setter - def body_geomadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.body_geomadr, val_ptr, self.nbody*1 * sizeof(c_int)) - - @property - def body_pos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.body_pos, dtype=np.double, count=(self.nbody*3)), (self.nbody, 3, )) - arr.setflags(write=False) - return arr - - @body_pos.setter - def body_pos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.body_pos, val_ptr, self.nbody*3 * sizeof(c_double)) - - @property - def body_quat(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.body_quat, dtype=np.double, count=(self.nbody*4)), (self.nbody, 4, )) - arr.setflags(write=False) - return arr - - @body_quat.setter - def body_quat(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.body_quat, val_ptr, self.nbody*4 * sizeof(c_double)) - - @property - def body_ipos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.body_ipos, dtype=np.double, count=(self.nbody*3)), (self.nbody, 3, )) - arr.setflags(write=False) - return arr - - @body_ipos.setter - def body_ipos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.body_ipos, val_ptr, self.nbody*3 * sizeof(c_double)) - - @property - def body_iquat(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.body_iquat, dtype=np.double, count=(self.nbody*4)), (self.nbody, 4, )) - arr.setflags(write=False) - return arr - - @body_iquat.setter - def body_iquat(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.body_iquat, val_ptr, self.nbody*4 * sizeof(c_double)) - - @property - def body_mass(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.body_mass, dtype=np.double, count=(self.nbody*1)), (self.nbody, 1, )) - arr.setflags(write=False) - return arr - - @body_mass.setter - def body_mass(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.body_mass, val_ptr, self.nbody*1 * sizeof(c_double)) - - @property - def body_inertia(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.body_inertia, dtype=np.double, count=(self.nbody*3)), (self.nbody, 3, )) - arr.setflags(write=False) - return arr - - @body_inertia.setter - def body_inertia(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.body_inertia, val_ptr, self.nbody*3 * sizeof(c_double)) - - @property - def body_invweight0(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.body_invweight0, dtype=np.double, count=(self.nbody*2)), (self.nbody, 2, )) - arr.setflags(write=False) - return arr - - @body_invweight0.setter - def body_invweight0(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.body_invweight0, val_ptr, self.nbody*2 * sizeof(c_double)) - - @property - def body_user(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.body_user, dtype=np.double, count=(self.nbody*self.nuser_body)), (self.nbody, self.nuser_body, )) - arr.setflags(write=False) - return arr - - @body_user.setter - def body_user(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.body_user, val_ptr, self.nbody*self.nuser_body * sizeof(c_double)) - - @property - def jnt_type(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.jnt_type, dtype=np.int, count=(self.njnt*1)), (self.njnt, 1, )) - arr.setflags(write=False) - return arr - - @jnt_type.setter - def jnt_type(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.jnt_type, val_ptr, self.njnt*1 * sizeof(c_int)) - - @property - def jnt_qposadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.jnt_qposadr, dtype=np.int, count=(self.njnt*1)), (self.njnt, 1, )) - arr.setflags(write=False) - return arr - - @jnt_qposadr.setter - def jnt_qposadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.jnt_qposadr, val_ptr, self.njnt*1 * sizeof(c_int)) - - @property - def jnt_dofadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.jnt_dofadr, dtype=np.int, count=(self.njnt*1)), (self.njnt, 1, )) - arr.setflags(write=False) - return arr - - @jnt_dofadr.setter - def jnt_dofadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.jnt_dofadr, val_ptr, self.njnt*1 * sizeof(c_int)) - - @property - def jnt_bodyid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.jnt_bodyid, dtype=np.int, count=(self.njnt*1)), (self.njnt, 1, )) - arr.setflags(write=False) - return arr - - @jnt_bodyid.setter - def jnt_bodyid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.jnt_bodyid, val_ptr, self.njnt*1 * sizeof(c_int)) - - @property - def jnt_limited(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.jnt_limited, dtype=np.uint8, count=(self.njnt*1)), (self.njnt, 1, )) - arr.setflags(write=False) - return arr - - @jnt_limited.setter - def jnt_limited(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_ubyte)) - memmove(self._wrapped.contents.jnt_limited, val_ptr, self.njnt*1 * sizeof(c_ubyte)) - - @property - def jnt_solref(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.jnt_solref, dtype=np.double, count=(self.njnt*2)), (self.njnt, 2, )) - arr.setflags(write=False) - return arr - - @jnt_solref.setter - def jnt_solref(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.jnt_solref, val_ptr, self.njnt*2 * sizeof(c_double)) - - @property - def jnt_solimp(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.jnt_solimp, dtype=np.double, count=(self.njnt*3)), (self.njnt, 3, )) - arr.setflags(write=False) - return arr - - @jnt_solimp.setter - def jnt_solimp(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.jnt_solimp, val_ptr, self.njnt*3 * sizeof(c_double)) - - @property - def jnt_pos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.jnt_pos, dtype=np.double, count=(self.njnt*3)), (self.njnt, 3, )) - arr.setflags(write=False) - return arr - - @jnt_pos.setter - def jnt_pos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.jnt_pos, val_ptr, self.njnt*3 * sizeof(c_double)) - - @property - def jnt_axis(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.jnt_axis, dtype=np.double, count=(self.njnt*3)), (self.njnt, 3, )) - arr.setflags(write=False) - return arr - - @jnt_axis.setter - def jnt_axis(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.jnt_axis, val_ptr, self.njnt*3 * sizeof(c_double)) - - @property - def jnt_stiffness(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.jnt_stiffness, dtype=np.double, count=(self.njnt*1)), (self.njnt, 1, )) - arr.setflags(write=False) - return arr - - @jnt_stiffness.setter - def jnt_stiffness(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.jnt_stiffness, val_ptr, self.njnt*1 * sizeof(c_double)) - - @property - def jnt_range(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.jnt_range, dtype=np.double, count=(self.njnt*2)), (self.njnt, 2, )) - arr.setflags(write=False) - return arr - - @jnt_range.setter - def jnt_range(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.jnt_range, val_ptr, self.njnt*2 * sizeof(c_double)) - - @property - def jnt_margin(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.jnt_margin, dtype=np.double, count=(self.njnt*1)), (self.njnt, 1, )) - arr.setflags(write=False) - return arr - - @jnt_margin.setter - def jnt_margin(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.jnt_margin, val_ptr, self.njnt*1 * sizeof(c_double)) - - @property - def jnt_user(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.jnt_user, dtype=np.double, count=(self.njnt*self.nuser_jnt)), (self.njnt, self.nuser_jnt, )) - arr.setflags(write=False) - return arr - - @jnt_user.setter - def jnt_user(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.jnt_user, val_ptr, self.njnt*self.nuser_jnt * sizeof(c_double)) - - @property - def dof_bodyid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.dof_bodyid, dtype=np.int, count=(self.nv*1)), (self.nv, 1, )) - arr.setflags(write=False) - return arr - - @dof_bodyid.setter - def dof_bodyid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.dof_bodyid, val_ptr, self.nv*1 * sizeof(c_int)) - - @property - def dof_jntid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.dof_jntid, dtype=np.int, count=(self.nv*1)), (self.nv, 1, )) - arr.setflags(write=False) - return arr - - @dof_jntid.setter - def dof_jntid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.dof_jntid, val_ptr, self.nv*1 * sizeof(c_int)) - - @property - def dof_parentid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.dof_parentid, dtype=np.int, count=(self.nv*1)), (self.nv, 1, )) - arr.setflags(write=False) - return arr - - @dof_parentid.setter - def dof_parentid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.dof_parentid, val_ptr, self.nv*1 * sizeof(c_int)) - - @property - def dof_Madr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.dof_Madr, dtype=np.int, count=(self.nv*1)), (self.nv, 1, )) - arr.setflags(write=False) - return arr - - @dof_Madr.setter - def dof_Madr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.dof_Madr, val_ptr, self.nv*1 * sizeof(c_int)) - - @property - def dof_frictional(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.dof_frictional, dtype=np.uint8, count=(self.nv*1)), (self.nv, 1, )) - arr.setflags(write=False) - return arr - - @dof_frictional.setter - def dof_frictional(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_ubyte)) - memmove(self._wrapped.contents.dof_frictional, val_ptr, self.nv*1 * sizeof(c_ubyte)) - - @property - def dof_solref(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.dof_solref, dtype=np.double, count=(self.nv*2)), (self.nv, 2, )) - arr.setflags(write=False) - return arr - - @dof_solref.setter - def dof_solref(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.dof_solref, val_ptr, self.nv*2 * sizeof(c_double)) - - @property - def dof_solimp(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.dof_solimp, dtype=np.double, count=(self.nv*3)), (self.nv, 3, )) - arr.setflags(write=False) - return arr - - @dof_solimp.setter - def dof_solimp(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.dof_solimp, val_ptr, self.nv*3 * sizeof(c_double)) - - @property - def dof_frictionloss(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.dof_frictionloss, dtype=np.double, count=(self.nv*1)), (self.nv, 1, )) - arr.setflags(write=False) - return arr - - @dof_frictionloss.setter - def dof_frictionloss(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.dof_frictionloss, val_ptr, self.nv*1 * sizeof(c_double)) - - @property - def dof_armature(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.dof_armature, dtype=np.double, count=(self.nv*1)), (self.nv, 1, )) - arr.setflags(write=False) - return arr - - @dof_armature.setter - def dof_armature(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.dof_armature, val_ptr, self.nv*1 * sizeof(c_double)) - - @property - def dof_damping(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.dof_damping, dtype=np.double, count=(self.nv*1)), (self.nv, 1, )) - arr.setflags(write=False) - return arr - - @dof_damping.setter - def dof_damping(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.dof_damping, val_ptr, self.nv*1 * sizeof(c_double)) - - @property - def dof_invweight0(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.dof_invweight0, dtype=np.double, count=(self.nv*1)), (self.nv, 1, )) - arr.setflags(write=False) - return arr - - @dof_invweight0.setter - def dof_invweight0(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.dof_invweight0, val_ptr, self.nv*1 * sizeof(c_double)) - - @property - def geom_type(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_type, dtype=np.int, count=(self.ngeom*1)), (self.ngeom, 1, )) - arr.setflags(write=False) - return arr - - @geom_type.setter - def geom_type(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.geom_type, val_ptr, self.ngeom*1 * sizeof(c_int)) - - @property - def geom_contype(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_contype, dtype=np.int, count=(self.ngeom*1)), (self.ngeom, 1, )) - arr.setflags(write=False) - return arr - - @geom_contype.setter - def geom_contype(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.geom_contype, val_ptr, self.ngeom*1 * sizeof(c_int)) - - @property - def geom_conaffinity(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_conaffinity, dtype=np.int, count=(self.ngeom*1)), (self.ngeom, 1, )) - arr.setflags(write=False) - return arr - - @geom_conaffinity.setter - def geom_conaffinity(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.geom_conaffinity, val_ptr, self.ngeom*1 * sizeof(c_int)) - - @property - def geom_condim(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_condim, dtype=np.int, count=(self.ngeom*1)), (self.ngeom, 1, )) - arr.setflags(write=False) - return arr - - @geom_condim.setter - def geom_condim(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.geom_condim, val_ptr, self.ngeom*1 * sizeof(c_int)) - - @property - def geom_bodyid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_bodyid, dtype=np.int, count=(self.ngeom*1)), (self.ngeom, 1, )) - arr.setflags(write=False) - return arr - - @geom_bodyid.setter - def geom_bodyid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.geom_bodyid, val_ptr, self.ngeom*1 * sizeof(c_int)) - - @property - def geom_dataid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_dataid, dtype=np.int, count=(self.ngeom*1)), (self.ngeom, 1, )) - arr.setflags(write=False) - return arr - - @geom_dataid.setter - def geom_dataid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.geom_dataid, val_ptr, self.ngeom*1 * sizeof(c_int)) - - @property - def geom_matid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_matid, dtype=np.int, count=(self.ngeom*1)), (self.ngeom, 1, )) - arr.setflags(write=False) - return arr - - @geom_matid.setter - def geom_matid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.geom_matid, val_ptr, self.ngeom*1 * sizeof(c_int)) - - @property - def geom_group(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_group, dtype=np.int, count=(self.ngeom*1)), (self.ngeom, 1, )) - arr.setflags(write=False) - return arr - - @geom_group.setter - def geom_group(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.geom_group, val_ptr, self.ngeom*1 * sizeof(c_int)) - - @property - def geom_solmix(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_solmix, dtype=np.double, count=(self.ngeom*1)), (self.ngeom, 1, )) - arr.setflags(write=False) - return arr - - @geom_solmix.setter - def geom_solmix(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.geom_solmix, val_ptr, self.ngeom*1 * sizeof(c_double)) - - @property - def geom_solref(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_solref, dtype=np.double, count=(self.ngeom*2)), (self.ngeom, 2, )) - arr.setflags(write=False) - return arr - - @geom_solref.setter - def geom_solref(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.geom_solref, val_ptr, self.ngeom*2 * sizeof(c_double)) - - @property - def geom_solimp(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_solimp, dtype=np.double, count=(self.ngeom*3)), (self.ngeom, 3, )) - arr.setflags(write=False) - return arr - - @geom_solimp.setter - def geom_solimp(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.geom_solimp, val_ptr, self.ngeom*3 * sizeof(c_double)) - - @property - def geom_size(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_size, dtype=np.double, count=(self.ngeom*3)), (self.ngeom, 3, )) - arr.setflags(write=False) - return arr - - @geom_size.setter - def geom_size(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.geom_size, val_ptr, self.ngeom*3 * sizeof(c_double)) - - @property - def geom_rbound(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_rbound, dtype=np.double, count=(self.ngeom*1)), (self.ngeom, 1, )) - arr.setflags(write=False) - return arr - - @geom_rbound.setter - def geom_rbound(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.geom_rbound, val_ptr, self.ngeom*1 * sizeof(c_double)) - - @property - def geom_pos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_pos, dtype=np.double, count=(self.ngeom*3)), (self.ngeom, 3, )) - arr.setflags(write=False) - return arr - - @geom_pos.setter - def geom_pos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.geom_pos, val_ptr, self.ngeom*3 * sizeof(c_double)) - - @property - def geom_quat(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_quat, dtype=np.double, count=(self.ngeom*4)), (self.ngeom, 4, )) - arr.setflags(write=False) - return arr - - @geom_quat.setter - def geom_quat(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.geom_quat, val_ptr, self.ngeom*4 * sizeof(c_double)) - - @property - def geom_friction(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_friction, dtype=np.double, count=(self.ngeom*3)), (self.ngeom, 3, )) - arr.setflags(write=False) - return arr - - @geom_friction.setter - def geom_friction(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.geom_friction, val_ptr, self.ngeom*3 * sizeof(c_double)) - - @property - def geom_margin(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_margin, dtype=np.double, count=(self.ngeom*1)), (self.ngeom, 1, )) - arr.setflags(write=False) - return arr - - @geom_margin.setter - def geom_margin(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.geom_margin, val_ptr, self.ngeom*1 * sizeof(c_double)) - - @property - def geom_gap(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_gap, dtype=np.double, count=(self.ngeom*1)), (self.ngeom, 1, )) - arr.setflags(write=False) - return arr - - @geom_gap.setter - def geom_gap(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.geom_gap, val_ptr, self.ngeom*1 * sizeof(c_double)) - - @property - def geom_user(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_user, dtype=np.double, count=(self.ngeom*self.nuser_geom)), (self.ngeom, self.nuser_geom, )) - arr.setflags(write=False) - return arr - - @geom_user.setter - def geom_user(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.geom_user, val_ptr, self.ngeom*self.nuser_geom * sizeof(c_double)) - - @property - def geom_rgba(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.geom_rgba, dtype=np.float, count=(self.ngeom*4)), (self.ngeom, 4, )) - arr.setflags(write=False) - return arr - - @geom_rgba.setter - def geom_rgba(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.geom_rgba, val_ptr, self.ngeom*4 * sizeof(c_float)) - - @property - def site_type(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.site_type, dtype=np.int, count=(self.nsite*1)), (self.nsite, 1, )) - arr.setflags(write=False) - return arr - - @site_type.setter - def site_type(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.site_type, val_ptr, self.nsite*1 * sizeof(c_int)) - - @property - def site_bodyid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.site_bodyid, dtype=np.int, count=(self.nsite*1)), (self.nsite, 1, )) - arr.setflags(write=False) - return arr - - @site_bodyid.setter - def site_bodyid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.site_bodyid, val_ptr, self.nsite*1 * sizeof(c_int)) - - @property - def site_matid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.site_matid, dtype=np.int, count=(self.nsite*1)), (self.nsite, 1, )) - arr.setflags(write=False) - return arr - - @site_matid.setter - def site_matid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.site_matid, val_ptr, self.nsite*1 * sizeof(c_int)) - - @property - def site_group(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.site_group, dtype=np.int, count=(self.nsite*1)), (self.nsite, 1, )) - arr.setflags(write=False) - return arr - - @site_group.setter - def site_group(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.site_group, val_ptr, self.nsite*1 * sizeof(c_int)) - - @property - def site_size(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.site_size, dtype=np.double, count=(self.nsite*3)), (self.nsite, 3, )) - arr.setflags(write=False) - return arr - - @site_size.setter - def site_size(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.site_size, val_ptr, self.nsite*3 * sizeof(c_double)) - - @property - def site_pos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.site_pos, dtype=np.double, count=(self.nsite*3)), (self.nsite, 3, )) - arr.setflags(write=False) - return arr - - @site_pos.setter - def site_pos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.site_pos, val_ptr, self.nsite*3 * sizeof(c_double)) - - @property - def site_quat(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.site_quat, dtype=np.double, count=(self.nsite*4)), (self.nsite, 4, )) - arr.setflags(write=False) - return arr - - @site_quat.setter - def site_quat(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.site_quat, val_ptr, self.nsite*4 * sizeof(c_double)) - - @property - def site_user(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.site_user, dtype=np.double, count=(self.nsite*self.nuser_site)), (self.nsite, self.nuser_site, )) - arr.setflags(write=False) - return arr - - @site_user.setter - def site_user(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.site_user, val_ptr, self.nsite*self.nuser_site * sizeof(c_double)) - - @property - def site_rgba(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.site_rgba, dtype=np.float, count=(self.nsite*4)), (self.nsite, 4, )) - arr.setflags(write=False) - return arr - - @site_rgba.setter - def site_rgba(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.site_rgba, val_ptr, self.nsite*4 * sizeof(c_float)) - - @property - def cam_mode(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.cam_mode, dtype=np.int, count=(self.ncam*1)), (self.ncam, 1, )) - arr.setflags(write=False) - return arr - - @cam_mode.setter - def cam_mode(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.cam_mode, val_ptr, self.ncam*1 * sizeof(c_int)) - - @property - def cam_bodyid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.cam_bodyid, dtype=np.int, count=(self.ncam*1)), (self.ncam, 1, )) - arr.setflags(write=False) - return arr - - @cam_bodyid.setter - def cam_bodyid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.cam_bodyid, val_ptr, self.ncam*1 * sizeof(c_int)) - - @property - def cam_targetbodyid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.cam_targetbodyid, dtype=np.int, count=(self.ncam*1)), (self.ncam, 1, )) - arr.setflags(write=False) - return arr - - @cam_targetbodyid.setter - def cam_targetbodyid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.cam_targetbodyid, val_ptr, self.ncam*1 * sizeof(c_int)) - - @property - def cam_pos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.cam_pos, dtype=np.double, count=(self.ncam*3)), (self.ncam, 3, )) - arr.setflags(write=False) - return arr - - @cam_pos.setter - def cam_pos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.cam_pos, val_ptr, self.ncam*3 * sizeof(c_double)) - - @property - def cam_quat(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.cam_quat, dtype=np.double, count=(self.ncam*4)), (self.ncam, 4, )) - arr.setflags(write=False) - return arr - - @cam_quat.setter - def cam_quat(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.cam_quat, val_ptr, self.ncam*4 * sizeof(c_double)) - - @property - def cam_poscom0(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.cam_poscom0, dtype=np.double, count=(self.ncam*3)), (self.ncam, 3, )) - arr.setflags(write=False) - return arr - - @cam_poscom0.setter - def cam_poscom0(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.cam_poscom0, val_ptr, self.ncam*3 * sizeof(c_double)) - - @property - def cam_pos0(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.cam_pos0, dtype=np.double, count=(self.ncam*3)), (self.ncam, 3, )) - arr.setflags(write=False) - return arr - - @cam_pos0.setter - def cam_pos0(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.cam_pos0, val_ptr, self.ncam*3 * sizeof(c_double)) - - @property - def cam_mat0(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.cam_mat0, dtype=np.double, count=(self.ncam*9)), (self.ncam, 9, )) - arr.setflags(write=False) - return arr - - @cam_mat0.setter - def cam_mat0(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.cam_mat0, val_ptr, self.ncam*9 * sizeof(c_double)) - - @property - def cam_fovy(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.cam_fovy, dtype=np.double, count=(self.ncam*1)), (self.ncam, 1, )) - arr.setflags(write=False) - return arr - - @cam_fovy.setter - def cam_fovy(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.cam_fovy, val_ptr, self.ncam*1 * sizeof(c_double)) - - @property - def cam_ipd(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.cam_ipd, dtype=np.double, count=(self.ncam*1)), (self.ncam, 1, )) - arr.setflags(write=False) - return arr - - @cam_ipd.setter - def cam_ipd(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.cam_ipd, val_ptr, self.ncam*1 * sizeof(c_double)) - - @property - def light_mode(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.light_mode, dtype=np.int, count=(self.nlight*1)), (self.nlight, 1, )) - arr.setflags(write=False) - return arr - - @light_mode.setter - def light_mode(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.light_mode, val_ptr, self.nlight*1 * sizeof(c_int)) - - @property - def light_bodyid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.light_bodyid, dtype=np.int, count=(self.nlight*1)), (self.nlight, 1, )) - arr.setflags(write=False) - return arr - - @light_bodyid.setter - def light_bodyid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.light_bodyid, val_ptr, self.nlight*1 * sizeof(c_int)) - - @property - def light_targetbodyid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.light_targetbodyid, dtype=np.int, count=(self.nlight*1)), (self.nlight, 1, )) - arr.setflags(write=False) - return arr - - @light_targetbodyid.setter - def light_targetbodyid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.light_targetbodyid, val_ptr, self.nlight*1 * sizeof(c_int)) - - @property - def light_directional(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.light_directional, dtype=np.uint8, count=(self.nlight*1)), (self.nlight, 1, )) - arr.setflags(write=False) - return arr - - @light_directional.setter - def light_directional(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_ubyte)) - memmove(self._wrapped.contents.light_directional, val_ptr, self.nlight*1 * sizeof(c_ubyte)) - - @property - def light_castshadow(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.light_castshadow, dtype=np.uint8, count=(self.nlight*1)), (self.nlight, 1, )) - arr.setflags(write=False) - return arr - - @light_castshadow.setter - def light_castshadow(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_ubyte)) - memmove(self._wrapped.contents.light_castshadow, val_ptr, self.nlight*1 * sizeof(c_ubyte)) - - @property - def light_active(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.light_active, dtype=np.uint8, count=(self.nlight*1)), (self.nlight, 1, )) - arr.setflags(write=False) - return arr - - @light_active.setter - def light_active(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_ubyte)) - memmove(self._wrapped.contents.light_active, val_ptr, self.nlight*1 * sizeof(c_ubyte)) - - @property - def light_pos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.light_pos, dtype=np.double, count=(self.nlight*3)), (self.nlight, 3, )) - arr.setflags(write=False) - return arr - - @light_pos.setter - def light_pos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.light_pos, val_ptr, self.nlight*3 * sizeof(c_double)) - - @property - def light_dir(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.light_dir, dtype=np.double, count=(self.nlight*3)), (self.nlight, 3, )) - arr.setflags(write=False) - return arr - - @light_dir.setter - def light_dir(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.light_dir, val_ptr, self.nlight*3 * sizeof(c_double)) - - @property - def light_poscom0(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.light_poscom0, dtype=np.double, count=(self.nlight*3)), (self.nlight, 3, )) - arr.setflags(write=False) - return arr - - @light_poscom0.setter - def light_poscom0(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.light_poscom0, val_ptr, self.nlight*3 * sizeof(c_double)) - - @property - def light_pos0(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.light_pos0, dtype=np.double, count=(self.nlight*3)), (self.nlight, 3, )) - arr.setflags(write=False) - return arr - - @light_pos0.setter - def light_pos0(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.light_pos0, val_ptr, self.nlight*3 * sizeof(c_double)) - - @property - def light_dir0(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.light_dir0, dtype=np.double, count=(self.nlight*3)), (self.nlight, 3, )) - arr.setflags(write=False) - return arr - - @light_dir0.setter - def light_dir0(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.light_dir0, val_ptr, self.nlight*3 * sizeof(c_double)) - - @property - def light_attenuation(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.light_attenuation, dtype=np.float, count=(self.nlight*3)), (self.nlight, 3, )) - arr.setflags(write=False) - return arr - - @light_attenuation.setter - def light_attenuation(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.light_attenuation, val_ptr, self.nlight*3 * sizeof(c_float)) - - @property - def light_cutoff(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.light_cutoff, dtype=np.float, count=(self.nlight*1)), (self.nlight, 1, )) - arr.setflags(write=False) - return arr - - @light_cutoff.setter - def light_cutoff(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.light_cutoff, val_ptr, self.nlight*1 * sizeof(c_float)) - - @property - def light_exponent(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.light_exponent, dtype=np.float, count=(self.nlight*1)), (self.nlight, 1, )) - arr.setflags(write=False) - return arr - - @light_exponent.setter - def light_exponent(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.light_exponent, val_ptr, self.nlight*1 * sizeof(c_float)) - - @property - def light_ambient(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.light_ambient, dtype=np.float, count=(self.nlight*3)), (self.nlight, 3, )) - arr.setflags(write=False) - return arr - - @light_ambient.setter - def light_ambient(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.light_ambient, val_ptr, self.nlight*3 * sizeof(c_float)) - - @property - def light_diffuse(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.light_diffuse, dtype=np.float, count=(self.nlight*3)), (self.nlight, 3, )) - arr.setflags(write=False) - return arr - - @light_diffuse.setter - def light_diffuse(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.light_diffuse, val_ptr, self.nlight*3 * sizeof(c_float)) - - @property - def light_specular(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.light_specular, dtype=np.float, count=(self.nlight*3)), (self.nlight, 3, )) - arr.setflags(write=False) - return arr - - @light_specular.setter - def light_specular(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.light_specular, val_ptr, self.nlight*3 * sizeof(c_float)) - - @property - def mesh_faceadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mesh_faceadr, dtype=np.int, count=(self.nmesh*1)), (self.nmesh, 1, )) - arr.setflags(write=False) - return arr - - @mesh_faceadr.setter - def mesh_faceadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.mesh_faceadr, val_ptr, self.nmesh*1 * sizeof(c_int)) - - @property - def mesh_facenum(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mesh_facenum, dtype=np.int, count=(self.nmesh*1)), (self.nmesh, 1, )) - arr.setflags(write=False) - return arr - - @mesh_facenum.setter - def mesh_facenum(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.mesh_facenum, val_ptr, self.nmesh*1 * sizeof(c_int)) - - @property - def mesh_vertadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mesh_vertadr, dtype=np.int, count=(self.nmesh*1)), (self.nmesh, 1, )) - arr.setflags(write=False) - return arr - - @mesh_vertadr.setter - def mesh_vertadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.mesh_vertadr, val_ptr, self.nmesh*1 * sizeof(c_int)) - - @property - def mesh_vertnum(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mesh_vertnum, dtype=np.int, count=(self.nmesh*1)), (self.nmesh, 1, )) - arr.setflags(write=False) - return arr - - @mesh_vertnum.setter - def mesh_vertnum(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.mesh_vertnum, val_ptr, self.nmesh*1 * sizeof(c_int)) - - @property - def mesh_graphadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mesh_graphadr, dtype=np.int, count=(self.nmesh*1)), (self.nmesh, 1, )) - arr.setflags(write=False) - return arr - - @mesh_graphadr.setter - def mesh_graphadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.mesh_graphadr, val_ptr, self.nmesh*1 * sizeof(c_int)) - - @property - def mesh_vert(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mesh_vert, dtype=np.float, count=(self.nmeshvert*3)), (self.nmeshvert, 3, )) - arr.setflags(write=False) - return arr - - @mesh_vert.setter - def mesh_vert(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.mesh_vert, val_ptr, self.nmeshvert*3 * sizeof(c_float)) - - @property - def mesh_normal(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mesh_normal, dtype=np.float, count=(self.nmeshvert*3)), (self.nmeshvert, 3, )) - arr.setflags(write=False) - return arr - - @mesh_normal.setter - def mesh_normal(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.mesh_normal, val_ptr, self.nmeshvert*3 * sizeof(c_float)) - - @property - def mesh_face(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mesh_face, dtype=np.int, count=(self.nmeshface*3)), (self.nmeshface, 3, )) - arr.setflags(write=False) - return arr - - @mesh_face.setter - def mesh_face(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.mesh_face, val_ptr, self.nmeshface*3 * sizeof(c_int)) - - @property - def mesh_graph(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mesh_graph, dtype=np.int, count=(self.nmeshgraph*1)), (self.nmeshgraph, 1, )) - arr.setflags(write=False) - return arr - - @mesh_graph.setter - def mesh_graph(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.mesh_graph, val_ptr, self.nmeshgraph*1 * sizeof(c_int)) - - @property - def hfield_size(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.hfield_size, dtype=np.double, count=(self.nhfield*4)), (self.nhfield, 4, )) - arr.setflags(write=False) - return arr - - @hfield_size.setter - def hfield_size(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.hfield_size, val_ptr, self.nhfield*4 * sizeof(c_double)) - - @property - def hfield_nrow(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.hfield_nrow, dtype=np.int, count=(self.nhfield*1)), (self.nhfield, 1, )) - arr.setflags(write=False) - return arr - - @hfield_nrow.setter - def hfield_nrow(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.hfield_nrow, val_ptr, self.nhfield*1 * sizeof(c_int)) - - @property - def hfield_ncol(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.hfield_ncol, dtype=np.int, count=(self.nhfield*1)), (self.nhfield, 1, )) - arr.setflags(write=False) - return arr - - @hfield_ncol.setter - def hfield_ncol(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.hfield_ncol, val_ptr, self.nhfield*1 * sizeof(c_int)) - - @property - def hfield_adr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.hfield_adr, dtype=np.int, count=(self.nhfield*1)), (self.nhfield, 1, )) - arr.setflags(write=False) - return arr - - @hfield_adr.setter - def hfield_adr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.hfield_adr, val_ptr, self.nhfield*1 * sizeof(c_int)) - - @property - def hfield_data(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.hfield_data, dtype=np.float, count=(self.nhfielddata*1)), (self.nhfielddata, 1, )) - arr.setflags(write=False) - return arr - - @hfield_data.setter - def hfield_data(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.hfield_data, val_ptr, self.nhfielddata*1 * sizeof(c_float)) - - @property - def tex_type(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tex_type, dtype=np.int, count=(self.ntex*1)), (self.ntex, 1, )) - arr.setflags(write=False) - return arr - - @tex_type.setter - def tex_type(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.tex_type, val_ptr, self.ntex*1 * sizeof(c_int)) - - @property - def tex_height(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tex_height, dtype=np.int, count=(self.ntex*1)), (self.ntex, 1, )) - arr.setflags(write=False) - return arr - - @tex_height.setter - def tex_height(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.tex_height, val_ptr, self.ntex*1 * sizeof(c_int)) - - @property - def tex_width(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tex_width, dtype=np.int, count=(self.ntex*1)), (self.ntex, 1, )) - arr.setflags(write=False) - return arr - - @tex_width.setter - def tex_width(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.tex_width, val_ptr, self.ntex*1 * sizeof(c_int)) - - @property - def tex_adr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tex_adr, dtype=np.int, count=(self.ntex*1)), (self.ntex, 1, )) - arr.setflags(write=False) - return arr - - @tex_adr.setter - def tex_adr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.tex_adr, val_ptr, self.ntex*1 * sizeof(c_int)) - - @property - def tex_rgb(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tex_rgb, dtype=np.uint8, count=(self.ntexdata*1)), (self.ntexdata, 1, )) - arr.setflags(write=False) - return arr - - @tex_rgb.setter - def tex_rgb(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_ubyte)) - memmove(self._wrapped.contents.tex_rgb, val_ptr, self.ntexdata*1 * sizeof(c_ubyte)) - - @property - def mat_texid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mat_texid, dtype=np.int, count=(self.nmat*1)), (self.nmat, 1, )) - arr.setflags(write=False) - return arr - - @mat_texid.setter - def mat_texid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.mat_texid, val_ptr, self.nmat*1 * sizeof(c_int)) - - @property - def mat_texuniform(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mat_texuniform, dtype=np.uint8, count=(self.nmat*1)), (self.nmat, 1, )) - arr.setflags(write=False) - return arr - - @mat_texuniform.setter - def mat_texuniform(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_ubyte)) - memmove(self._wrapped.contents.mat_texuniform, val_ptr, self.nmat*1 * sizeof(c_ubyte)) - - @property - def mat_texrepeat(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mat_texrepeat, dtype=np.float, count=(self.nmat*2)), (self.nmat, 2, )) - arr.setflags(write=False) - return arr - - @mat_texrepeat.setter - def mat_texrepeat(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.mat_texrepeat, val_ptr, self.nmat*2 * sizeof(c_float)) - - @property - def mat_emission(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mat_emission, dtype=np.float, count=(self.nmat*1)), (self.nmat, 1, )) - arr.setflags(write=False) - return arr - - @mat_emission.setter - def mat_emission(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.mat_emission, val_ptr, self.nmat*1 * sizeof(c_float)) - - @property - def mat_specular(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mat_specular, dtype=np.float, count=(self.nmat*1)), (self.nmat, 1, )) - arr.setflags(write=False) - return arr - - @mat_specular.setter - def mat_specular(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.mat_specular, val_ptr, self.nmat*1 * sizeof(c_float)) - - @property - def mat_shininess(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mat_shininess, dtype=np.float, count=(self.nmat*1)), (self.nmat, 1, )) - arr.setflags(write=False) - return arr - - @mat_shininess.setter - def mat_shininess(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.mat_shininess, val_ptr, self.nmat*1 * sizeof(c_float)) - - @property - def mat_reflectance(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mat_reflectance, dtype=np.float, count=(self.nmat*1)), (self.nmat, 1, )) - arr.setflags(write=False) - return arr - - @mat_reflectance.setter - def mat_reflectance(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.mat_reflectance, val_ptr, self.nmat*1 * sizeof(c_float)) - - @property - def mat_rgba(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.mat_rgba, dtype=np.float, count=(self.nmat*4)), (self.nmat, 4, )) - arr.setflags(write=False) - return arr - - @mat_rgba.setter - def mat_rgba(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.mat_rgba, val_ptr, self.nmat*4 * sizeof(c_float)) - - @property - def pair_dim(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.pair_dim, dtype=np.int, count=(self.npair*1)), (self.npair, 1, )) - arr.setflags(write=False) - return arr - - @pair_dim.setter - def pair_dim(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.pair_dim, val_ptr, self.npair*1 * sizeof(c_int)) - - @property - def pair_geom1(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.pair_geom1, dtype=np.int, count=(self.npair*1)), (self.npair, 1, )) - arr.setflags(write=False) - return arr - - @pair_geom1.setter - def pair_geom1(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.pair_geom1, val_ptr, self.npair*1 * sizeof(c_int)) - - @property - def pair_geom2(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.pair_geom2, dtype=np.int, count=(self.npair*1)), (self.npair, 1, )) - arr.setflags(write=False) - return arr - - @pair_geom2.setter - def pair_geom2(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.pair_geom2, val_ptr, self.npair*1 * sizeof(c_int)) - - @property - def pair_signature(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.pair_signature, dtype=np.int, count=(self.npair*1)), (self.npair, 1, )) - arr.setflags(write=False) - return arr - - @pair_signature.setter - def pair_signature(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.pair_signature, val_ptr, self.npair*1 * sizeof(c_int)) - - @property - def pair_solref(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.pair_solref, dtype=np.double, count=(self.npair*2)), (self.npair, 2, )) - arr.setflags(write=False) - return arr - - @pair_solref.setter - def pair_solref(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.pair_solref, val_ptr, self.npair*2 * sizeof(c_double)) - - @property - def pair_solimp(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.pair_solimp, dtype=np.double, count=(self.npair*3)), (self.npair, 3, )) - arr.setflags(write=False) - return arr - - @pair_solimp.setter - def pair_solimp(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.pair_solimp, val_ptr, self.npair*3 * sizeof(c_double)) - - @property - def pair_margin(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.pair_margin, dtype=np.double, count=(self.npair*1)), (self.npair, 1, )) - arr.setflags(write=False) - return arr - - @pair_margin.setter - def pair_margin(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.pair_margin, val_ptr, self.npair*1 * sizeof(c_double)) - - @property - def pair_gap(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.pair_gap, dtype=np.double, count=(self.npair*1)), (self.npair, 1, )) - arr.setflags(write=False) - return arr - - @pair_gap.setter - def pair_gap(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.pair_gap, val_ptr, self.npair*1 * sizeof(c_double)) - - @property - def pair_friction(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.pair_friction, dtype=np.double, count=(self.npair*5)), (self.npair, 5, )) - arr.setflags(write=False) - return arr - - @pair_friction.setter - def pair_friction(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.pair_friction, val_ptr, self.npair*5 * sizeof(c_double)) - - @property - def exclude_signature(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.exclude_signature, dtype=np.int, count=(self.nexclude*1)), (self.nexclude, 1, )) - arr.setflags(write=False) - return arr - - @exclude_signature.setter - def exclude_signature(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.exclude_signature, val_ptr, self.nexclude*1 * sizeof(c_int)) - - @property - def eq_type(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.eq_type, dtype=np.int, count=(self.neq*1)), (self.neq, 1, )) - arr.setflags(write=False) - return arr - - @eq_type.setter - def eq_type(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.eq_type, val_ptr, self.neq*1 * sizeof(c_int)) - - @property - def eq_obj1id(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.eq_obj1id, dtype=np.int, count=(self.neq*1)), (self.neq, 1, )) - arr.setflags(write=False) - return arr - - @eq_obj1id.setter - def eq_obj1id(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.eq_obj1id, val_ptr, self.neq*1 * sizeof(c_int)) - - @property - def eq_obj2id(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.eq_obj2id, dtype=np.int, count=(self.neq*1)), (self.neq, 1, )) - arr.setflags(write=False) - return arr - - @eq_obj2id.setter - def eq_obj2id(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.eq_obj2id, val_ptr, self.neq*1 * sizeof(c_int)) - - @property - def eq_active(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.eq_active, dtype=np.uint8, count=(self.neq*1)), (self.neq, 1, )) - arr.setflags(write=False) - return arr - - @eq_active.setter - def eq_active(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_ubyte)) - memmove(self._wrapped.contents.eq_active, val_ptr, self.neq*1 * sizeof(c_ubyte)) - - @property - def eq_solref(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.eq_solref, dtype=np.double, count=(self.neq*2)), (self.neq, 2, )) - arr.setflags(write=False) - return arr - - @eq_solref.setter - def eq_solref(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.eq_solref, val_ptr, self.neq*2 * sizeof(c_double)) - - @property - def eq_solimp(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.eq_solimp, dtype=np.double, count=(self.neq*3)), (self.neq, 3, )) - arr.setflags(write=False) - return arr - - @eq_solimp.setter - def eq_solimp(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.eq_solimp, val_ptr, self.neq*3 * sizeof(c_double)) - - @property - def eq_data(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.eq_data, dtype=np.double, count=(self.neq*7)), (self.neq, 7, )) - arr.setflags(write=False) - return arr - - @eq_data.setter - def eq_data(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.eq_data, val_ptr, self.neq*7 * sizeof(c_double)) - - @property - def tendon_adr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_adr, dtype=np.int, count=(self.ntendon*1)), (self.ntendon, 1, )) - arr.setflags(write=False) - return arr - - @tendon_adr.setter - def tendon_adr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.tendon_adr, val_ptr, self.ntendon*1 * sizeof(c_int)) - - @property - def tendon_num(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_num, dtype=np.int, count=(self.ntendon*1)), (self.ntendon, 1, )) - arr.setflags(write=False) - return arr - - @tendon_num.setter - def tendon_num(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.tendon_num, val_ptr, self.ntendon*1 * sizeof(c_int)) - - @property - def tendon_matid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_matid, dtype=np.int, count=(self.ntendon*1)), (self.ntendon, 1, )) - arr.setflags(write=False) - return arr - - @tendon_matid.setter - def tendon_matid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.tendon_matid, val_ptr, self.ntendon*1 * sizeof(c_int)) - - @property - def tendon_limited(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_limited, dtype=np.uint8, count=(self.ntendon*1)), (self.ntendon, 1, )) - arr.setflags(write=False) - return arr - - @tendon_limited.setter - def tendon_limited(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_ubyte)) - memmove(self._wrapped.contents.tendon_limited, val_ptr, self.ntendon*1 * sizeof(c_ubyte)) - - @property - def tendon_frictional(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_frictional, dtype=np.uint8, count=(self.ntendon*1)), (self.ntendon, 1, )) - arr.setflags(write=False) - return arr - - @tendon_frictional.setter - def tendon_frictional(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_ubyte)) - memmove(self._wrapped.contents.tendon_frictional, val_ptr, self.ntendon*1 * sizeof(c_ubyte)) - - @property - def tendon_width(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_width, dtype=np.double, count=(self.ntendon*1)), (self.ntendon, 1, )) - arr.setflags(write=False) - return arr - - @tendon_width.setter - def tendon_width(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.tendon_width, val_ptr, self.ntendon*1 * sizeof(c_double)) - - @property - def tendon_solref_lim(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_solref_lim, dtype=np.double, count=(self.ntendon*2)), (self.ntendon, 2, )) - arr.setflags(write=False) - return arr - - @tendon_solref_lim.setter - def tendon_solref_lim(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.tendon_solref_lim, val_ptr, self.ntendon*2 * sizeof(c_double)) - - @property - def tendon_solimp_lim(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_solimp_lim, dtype=np.double, count=(self.ntendon*3)), (self.ntendon, 3, )) - arr.setflags(write=False) - return arr - - @tendon_solimp_lim.setter - def tendon_solimp_lim(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.tendon_solimp_lim, val_ptr, self.ntendon*3 * sizeof(c_double)) - - @property - def tendon_solref_fri(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_solref_fri, dtype=np.double, count=(self.ntendon*2)), (self.ntendon, 2, )) - arr.setflags(write=False) - return arr - - @tendon_solref_fri.setter - def tendon_solref_fri(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.tendon_solref_fri, val_ptr, self.ntendon*2 * sizeof(c_double)) - - @property - def tendon_solimp_fri(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_solimp_fri, dtype=np.double, count=(self.ntendon*3)), (self.ntendon, 3, )) - arr.setflags(write=False) - return arr - - @tendon_solimp_fri.setter - def tendon_solimp_fri(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.tendon_solimp_fri, val_ptr, self.ntendon*3 * sizeof(c_double)) - - @property - def tendon_range(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_range, dtype=np.double, count=(self.ntendon*2)), (self.ntendon, 2, )) - arr.setflags(write=False) - return arr - - @tendon_range.setter - def tendon_range(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.tendon_range, val_ptr, self.ntendon*2 * sizeof(c_double)) - - @property - def tendon_margin(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_margin, dtype=np.double, count=(self.ntendon*1)), (self.ntendon, 1, )) - arr.setflags(write=False) - return arr - - @tendon_margin.setter - def tendon_margin(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.tendon_margin, val_ptr, self.ntendon*1 * sizeof(c_double)) - - @property - def tendon_stiffness(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_stiffness, dtype=np.double, count=(self.ntendon*1)), (self.ntendon, 1, )) - arr.setflags(write=False) - return arr - - @tendon_stiffness.setter - def tendon_stiffness(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.tendon_stiffness, val_ptr, self.ntendon*1 * sizeof(c_double)) - - @property - def tendon_damping(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_damping, dtype=np.double, count=(self.ntendon*1)), (self.ntendon, 1, )) - arr.setflags(write=False) - return arr - - @tendon_damping.setter - def tendon_damping(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.tendon_damping, val_ptr, self.ntendon*1 * sizeof(c_double)) - - @property - def tendon_frictionloss(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_frictionloss, dtype=np.double, count=(self.ntendon*1)), (self.ntendon, 1, )) - arr.setflags(write=False) - return arr - - @tendon_frictionloss.setter - def tendon_frictionloss(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.tendon_frictionloss, val_ptr, self.ntendon*1 * sizeof(c_double)) - - @property - def tendon_lengthspring(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_lengthspring, dtype=np.double, count=(self.ntendon*1)), (self.ntendon, 1, )) - arr.setflags(write=False) - return arr - - @tendon_lengthspring.setter - def tendon_lengthspring(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.tendon_lengthspring, val_ptr, self.ntendon*1 * sizeof(c_double)) - - @property - def tendon_length0(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_length0, dtype=np.double, count=(self.ntendon*1)), (self.ntendon, 1, )) - arr.setflags(write=False) - return arr - - @tendon_length0.setter - def tendon_length0(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.tendon_length0, val_ptr, self.ntendon*1 * sizeof(c_double)) - - @property - def tendon_invweight0(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_invweight0, dtype=np.double, count=(self.ntendon*1)), (self.ntendon, 1, )) - arr.setflags(write=False) - return arr - - @tendon_invweight0.setter - def tendon_invweight0(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.tendon_invweight0, val_ptr, self.ntendon*1 * sizeof(c_double)) - - @property - def tendon_user(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_user, dtype=np.double, count=(self.ntendon*self.nuser_tendon)), (self.ntendon, self.nuser_tendon, )) - arr.setflags(write=False) - return arr - - @tendon_user.setter - def tendon_user(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.tendon_user, val_ptr, self.ntendon*self.nuser_tendon * sizeof(c_double)) - - @property - def tendon_rgba(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.tendon_rgba, dtype=np.float, count=(self.ntendon*4)), (self.ntendon, 4, )) - arr.setflags(write=False) - return arr - - @tendon_rgba.setter - def tendon_rgba(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_float)) - memmove(self._wrapped.contents.tendon_rgba, val_ptr, self.ntendon*4 * sizeof(c_float)) - - @property - def wrap_type(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.wrap_type, dtype=np.int, count=(self.nwrap*1)), (self.nwrap, 1, )) - arr.setflags(write=False) - return arr - - @wrap_type.setter - def wrap_type(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.wrap_type, val_ptr, self.nwrap*1 * sizeof(c_int)) - - @property - def wrap_objid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.wrap_objid, dtype=np.int, count=(self.nwrap*1)), (self.nwrap, 1, )) - arr.setflags(write=False) - return arr - - @wrap_objid.setter - def wrap_objid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.wrap_objid, val_ptr, self.nwrap*1 * sizeof(c_int)) - - @property - def wrap_prm(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.wrap_prm, dtype=np.double, count=(self.nwrap*1)), (self.nwrap, 1, )) - arr.setflags(write=False) - return arr - - @wrap_prm.setter - def wrap_prm(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.wrap_prm, val_ptr, self.nwrap*1 * sizeof(c_double)) - - @property - def actuator_trntype(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_trntype, dtype=np.int, count=(self.nu*1)), (self.nu, 1, )) - arr.setflags(write=False) - return arr - - @actuator_trntype.setter - def actuator_trntype(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.actuator_trntype, val_ptr, self.nu*1 * sizeof(c_int)) - - @property - def actuator_dyntype(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_dyntype, dtype=np.int, count=(self.nu*1)), (self.nu, 1, )) - arr.setflags(write=False) - return arr - - @actuator_dyntype.setter - def actuator_dyntype(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.actuator_dyntype, val_ptr, self.nu*1 * sizeof(c_int)) - - @property - def actuator_gaintype(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_gaintype, dtype=np.int, count=(self.nu*1)), (self.nu, 1, )) - arr.setflags(write=False) - return arr - - @actuator_gaintype.setter - def actuator_gaintype(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.actuator_gaintype, val_ptr, self.nu*1 * sizeof(c_int)) - - @property - def actuator_biastype(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_biastype, dtype=np.int, count=(self.nu*1)), (self.nu, 1, )) - arr.setflags(write=False) - return arr - - @actuator_biastype.setter - def actuator_biastype(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.actuator_biastype, val_ptr, self.nu*1 * sizeof(c_int)) - - @property - def actuator_trnid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_trnid, dtype=np.int, count=(self.nu*2)), (self.nu, 2, )) - arr.setflags(write=False) - return arr - - @actuator_trnid.setter - def actuator_trnid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.actuator_trnid, val_ptr, self.nu*2 * sizeof(c_int)) - - @property - def actuator_ctrllimited(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_ctrllimited, dtype=np.uint8, count=(self.nu*1)), (self.nu, 1, )) - arr.setflags(write=False) - return arr - - @actuator_ctrllimited.setter - def actuator_ctrllimited(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_ubyte)) - memmove(self._wrapped.contents.actuator_ctrllimited, val_ptr, self.nu*1 * sizeof(c_ubyte)) - - @property - def actuator_forcelimited(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_forcelimited, dtype=np.uint8, count=(self.nu*1)), (self.nu, 1, )) - arr.setflags(write=False) - return arr - - @actuator_forcelimited.setter - def actuator_forcelimited(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_ubyte)) - memmove(self._wrapped.contents.actuator_forcelimited, val_ptr, self.nu*1 * sizeof(c_ubyte)) - - @property - def actuator_dynprm(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_dynprm, dtype=np.double, count=(self.nu*3)), (self.nu, 3, )) - arr.setflags(write=False) - return arr - - @actuator_dynprm.setter - def actuator_dynprm(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.actuator_dynprm, val_ptr, self.nu*3 * sizeof(c_double)) - - @property - def actuator_gainprm(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_gainprm, dtype=np.double, count=(self.nu*3)), (self.nu, 3, )) - arr.setflags(write=False) - return arr - - @actuator_gainprm.setter - def actuator_gainprm(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.actuator_gainprm, val_ptr, self.nu*3 * sizeof(c_double)) - - @property - def actuator_biasprm(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_biasprm, dtype=np.double, count=(self.nu*3)), (self.nu, 3, )) - arr.setflags(write=False) - return arr - - @actuator_biasprm.setter - def actuator_biasprm(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.actuator_biasprm, val_ptr, self.nu*3 * sizeof(c_double)) - - @property - def actuator_ctrlrange(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_ctrlrange, dtype=np.double, count=(self.nu*2)), (self.nu, 2, )) - arr.setflags(write=False) - return arr - - @actuator_ctrlrange.setter - def actuator_ctrlrange(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.actuator_ctrlrange, val_ptr, self.nu*2 * sizeof(c_double)) - - @property - def actuator_forcerange(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_forcerange, dtype=np.double, count=(self.nu*2)), (self.nu, 2, )) - arr.setflags(write=False) - return arr - - @actuator_forcerange.setter - def actuator_forcerange(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.actuator_forcerange, val_ptr, self.nu*2 * sizeof(c_double)) - - @property - def actuator_gear(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_gear, dtype=np.double, count=(self.nu*6)), (self.nu, 6, )) - arr.setflags(write=False) - return arr - - @actuator_gear.setter - def actuator_gear(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.actuator_gear, val_ptr, self.nu*6 * sizeof(c_double)) - - @property - def actuator_cranklength(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_cranklength, dtype=np.double, count=(self.nu*1)), (self.nu, 1, )) - arr.setflags(write=False) - return arr - - @actuator_cranklength.setter - def actuator_cranklength(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.actuator_cranklength, val_ptr, self.nu*1 * sizeof(c_double)) - - @property - def actuator_invweight0(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_invweight0, dtype=np.double, count=(self.nu*1)), (self.nu, 1, )) - arr.setflags(write=False) - return arr - - @actuator_invweight0.setter - def actuator_invweight0(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.actuator_invweight0, val_ptr, self.nu*1 * sizeof(c_double)) - - @property - def actuator_length0(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_length0, dtype=np.double, count=(self.nu*1)), (self.nu, 1, )) - arr.setflags(write=False) - return arr - - @actuator_length0.setter - def actuator_length0(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.actuator_length0, val_ptr, self.nu*1 * sizeof(c_double)) - - @property - def actuator_lengthrange(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_lengthrange, dtype=np.double, count=(self.nu*2)), (self.nu, 2, )) - arr.setflags(write=False) - return arr - - @actuator_lengthrange.setter - def actuator_lengthrange(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.actuator_lengthrange, val_ptr, self.nu*2 * sizeof(c_double)) - - @property - def actuator_user(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.actuator_user, dtype=np.double, count=(self.nu*self.nuser_actuator)), (self.nu, self.nuser_actuator, )) - arr.setflags(write=False) - return arr - - @actuator_user.setter - def actuator_user(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.actuator_user, val_ptr, self.nu*self.nuser_actuator * sizeof(c_double)) - - @property - def sensor_type(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.sensor_type, dtype=np.int, count=(self.nsensor*1)), (self.nsensor, 1, )) - arr.setflags(write=False) - return arr - - @sensor_type.setter - def sensor_type(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.sensor_type, val_ptr, self.nsensor*1 * sizeof(c_int)) - - @property - def sensor_objid(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.sensor_objid, dtype=np.int, count=(self.nsensor*1)), (self.nsensor, 1, )) - arr.setflags(write=False) - return arr - - @sensor_objid.setter - def sensor_objid(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.sensor_objid, val_ptr, self.nsensor*1 * sizeof(c_int)) - - @property - def sensor_dim(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.sensor_dim, dtype=np.int, count=(self.nsensor*1)), (self.nsensor, 1, )) - arr.setflags(write=False) - return arr - - @sensor_dim.setter - def sensor_dim(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.sensor_dim, val_ptr, self.nsensor*1 * sizeof(c_int)) - - @property - def sensor_adr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.sensor_adr, dtype=np.int, count=(self.nsensor*1)), (self.nsensor, 1, )) - arr.setflags(write=False) - return arr - - @sensor_adr.setter - def sensor_adr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.sensor_adr, val_ptr, self.nsensor*1 * sizeof(c_int)) - - @property - def sensor_scale(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.sensor_scale, dtype=np.double, count=(self.nsensor*1)), (self.nsensor, 1, )) - arr.setflags(write=False) - return arr - - @sensor_scale.setter - def sensor_scale(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.sensor_scale, val_ptr, self.nsensor*1 * sizeof(c_double)) - - @property - def sensor_user(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.sensor_user, dtype=np.double, count=(self.nsensor*self.nuser_sensor)), (self.nsensor, self.nuser_sensor, )) - arr.setflags(write=False) - return arr - - @sensor_user.setter - def sensor_user(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.sensor_user, val_ptr, self.nsensor*self.nuser_sensor * sizeof(c_double)) - - @property - def numeric_adr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.numeric_adr, dtype=np.int, count=(self.nnumeric*1)), (self.nnumeric, 1, )) - arr.setflags(write=False) - return arr - - @numeric_adr.setter - def numeric_adr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.numeric_adr, val_ptr, self.nnumeric*1 * sizeof(c_int)) - - @property - def numeric_size(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.numeric_size, dtype=np.int, count=(self.nnumeric*1)), (self.nnumeric, 1, )) - arr.setflags(write=False) - return arr - - @numeric_size.setter - def numeric_size(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.numeric_size, val_ptr, self.nnumeric*1 * sizeof(c_int)) - - @property - def numeric_data(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.numeric_data, dtype=np.double, count=(self.nnumericdata*1)), (self.nnumericdata, 1, )) - arr.setflags(write=False) - return arr - - @numeric_data.setter - def numeric_data(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.numeric_data, val_ptr, self.nnumericdata*1 * sizeof(c_double)) - - @property - def text_adr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.text_adr, dtype=np.int, count=(self.ntext*1)), (self.ntext, 1, )) - arr.setflags(write=False) - return arr - - @text_adr.setter - def text_adr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.text_adr, val_ptr, self.ntext*1 * sizeof(c_int)) - - @property - def text_data(self): - return self._wrapped.contents.text_data - - @property - def key_time(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.key_time, dtype=np.double, count=(self.nkey*1)), (self.nkey, 1, )) - arr.setflags(write=False) - return arr - - @key_time.setter - def key_time(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.key_time, val_ptr, self.nkey*1 * sizeof(c_double)) - - @property - def key_qpos(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.key_qpos, dtype=np.double, count=(self.nkey*self.nq)), (self.nkey, self.nq, )) - arr.setflags(write=False) - return arr - - @key_qpos.setter - def key_qpos(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.key_qpos, val_ptr, self.nkey*self.nq * sizeof(c_double)) - - @property - def key_qvel(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.key_qvel, dtype=np.double, count=(self.nkey*self.nv)), (self.nkey, self.nv, )) - arr.setflags(write=False) - return arr - - @key_qvel.setter - def key_qvel(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.key_qvel, val_ptr, self.nkey*self.nv * sizeof(c_double)) - - @property - def key_act(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.key_act, dtype=np.double, count=(self.nkey*self.na)), (self.nkey, self.na, )) - arr.setflags(write=False) - return arr - - @key_act.setter - def key_act(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_double)) - memmove(self._wrapped.contents.key_act, val_ptr, self.nkey*self.na * sizeof(c_double)) - - @property - def name_bodyadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.name_bodyadr, dtype=np.int, count=(self.nbody*1)), (self.nbody, 1, )) - arr.setflags(write=False) - return arr - - @name_bodyadr.setter - def name_bodyadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.name_bodyadr, val_ptr, self.nbody*1 * sizeof(c_int)) - - @property - def name_jntadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.name_jntadr, dtype=np.int, count=(self.njnt*1)), (self.njnt, 1, )) - arr.setflags(write=False) - return arr - - @name_jntadr.setter - def name_jntadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.name_jntadr, val_ptr, self.njnt*1 * sizeof(c_int)) - - @property - def name_geomadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.name_geomadr, dtype=np.int, count=(self.ngeom*1)), (self.ngeom, 1, )) - arr.setflags(write=False) - return arr - - @name_geomadr.setter - def name_geomadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.name_geomadr, val_ptr, self.ngeom*1 * sizeof(c_int)) - - @property - def name_siteadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.name_siteadr, dtype=np.int, count=(self.nsite*1)), (self.nsite, 1, )) - arr.setflags(write=False) - return arr - - @name_siteadr.setter - def name_siteadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.name_siteadr, val_ptr, self.nsite*1 * sizeof(c_int)) - - @property - def name_camadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.name_camadr, dtype=np.int, count=(self.ncam*1)), (self.ncam, 1, )) - arr.setflags(write=False) - return arr - - @name_camadr.setter - def name_camadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.name_camadr, val_ptr, self.ncam*1 * sizeof(c_int)) - - @property - def name_lightadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.name_lightadr, dtype=np.int, count=(self.nlight*1)), (self.nlight, 1, )) - arr.setflags(write=False) - return arr - - @name_lightadr.setter - def name_lightadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.name_lightadr, val_ptr, self.nlight*1 * sizeof(c_int)) - - @property - def name_meshadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.name_meshadr, dtype=np.int, count=(self.nmesh*1)), (self.nmesh, 1, )) - arr.setflags(write=False) - return arr - - @name_meshadr.setter - def name_meshadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.name_meshadr, val_ptr, self.nmesh*1 * sizeof(c_int)) - - @property - def name_hfieldadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.name_hfieldadr, dtype=np.int, count=(self.nhfield*1)), (self.nhfield, 1, )) - arr.setflags(write=False) - return arr - - @name_hfieldadr.setter - def name_hfieldadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.name_hfieldadr, val_ptr, self.nhfield*1 * sizeof(c_int)) - - @property - def name_texadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.name_texadr, dtype=np.int, count=(self.ntex*1)), (self.ntex, 1, )) - arr.setflags(write=False) - return arr - - @name_texadr.setter - def name_texadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.name_texadr, val_ptr, self.ntex*1 * sizeof(c_int)) - - @property - def name_matadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.name_matadr, dtype=np.int, count=(self.nmat*1)), (self.nmat, 1, )) - arr.setflags(write=False) - return arr - - @name_matadr.setter - def name_matadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.name_matadr, val_ptr, self.nmat*1 * sizeof(c_int)) - - @property - def name_eqadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.name_eqadr, dtype=np.int, count=(self.neq*1)), (self.neq, 1, )) - arr.setflags(write=False) - return arr - - @name_eqadr.setter - def name_eqadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.name_eqadr, val_ptr, self.neq*1 * sizeof(c_int)) - - @property - def name_tendonadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.name_tendonadr, dtype=np.int, count=(self.ntendon*1)), (self.ntendon, 1, )) - arr.setflags(write=False) - return arr - - @name_tendonadr.setter - def name_tendonadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.name_tendonadr, val_ptr, self.ntendon*1 * sizeof(c_int)) - - @property - def name_actuatoradr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.name_actuatoradr, dtype=np.int, count=(self.nu*1)), (self.nu, 1, )) - arr.setflags(write=False) - return arr - - @name_actuatoradr.setter - def name_actuatoradr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.name_actuatoradr, val_ptr, self.nu*1 * sizeof(c_int)) - - @property - def name_sensoradr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.name_sensoradr, dtype=np.int, count=(self.nsensor*1)), (self.nsensor, 1, )) - arr.setflags(write=False) - return arr - - @name_sensoradr.setter - def name_sensoradr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.name_sensoradr, val_ptr, self.nsensor*1 * sizeof(c_int)) - - @property - def name_numericadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.name_numericadr, dtype=np.int, count=(self.nnumeric*1)), (self.nnumeric, 1, )) - arr.setflags(write=False) - return arr - - @name_numericadr.setter - def name_numericadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.name_numericadr, val_ptr, self.nnumeric*1 * sizeof(c_int)) - - @property - def name_textadr(self): - arr = np.reshape(np.fromiter(self._wrapped.contents.name_textadr, dtype=np.int, count=(self.ntext*1)), (self.ntext, 1, )) - arr.setflags(write=False) - return arr - - @name_textadr.setter - def name_textadr(self, value): - val_ptr = np.array(value, dtype=np.float64).ctypes.data_as(POINTER(c_int)) - memmove(self._wrapped.contents.name_textadr, val_ptr, self.ntext*1 * sizeof(c_int)) - - @property - def names(self): - return self._wrapped.contents.names diff --git a/mujoco_py/mjviewer.py b/mujoco_py/mjviewer.py index a1f1f73b..df49293d 100644 --- a/mujoco_py/mjviewer.py +++ b/mujoco_py/mjviewer.py @@ -1,334 +1,357 @@ -import ctypes -from ctypes import pointer, byref -import logging from threading import Lock -import os +import glfw +from mujoco_py.builder import cymj +from mujoco_py.generated import const +import time +import copy +from multiprocessing import Process +from mujoco_py.utils import rec_copy, rec_assign +import imageio -from . import mjcore, mjconstants, glfw -from .mjlib import mjlib -import numpy as np -import OpenGL.GL as gl -logger = logging.getLogger(__name__) +class MjViewerBasic(cymj.MjRenderContextWindow): + """ + A simple display GUI showing the scene of an :class:`.MjSim` with a mouse-movable camera. -mjCAT_ALL = 7 + :class:`.MjViewer` extends this class to provide more sophisticated playback and interaction controls. + Parameters + ---------- + sim : :class:`.MjSim` + The simulator to display. + """ -def _glfw_error_callback(e, d): - logger.error('GLFW error: %s, desc: %s', e, d) + def __init__(self, sim): + super().__init__(sim) - -class MjViewer(object): - - def __init__(self, visible=True, init_width=500, init_height=500, go_fast=False): - """ - Set go_fast=True to run at full speed instead of waiting for the 60 Hz monitor refresh - init_width and init_height set window size. On Mac Retina displays, they are in nominal - pixels but .render returns an array of device pixels, so the array will be twice as big - as you expect. - """ - self.visible = visible - self.init_width = init_width - self.init_height = init_height - self.go_fast = not visible or go_fast - - self.last_render_time = 0 - self.objects = mjcore.MJVOBJECTS() - self.cam = mjcore.MJVCAMERA() - self.vopt = mjcore.MJVOPTION() - self.ropt = mjcore.MJROPTION() - self.con = mjcore.MJRCONTEXT() - self.running = False - self.speedtype = 1 - self.window = None - self.model = None - self.gui_lock = Lock() - - # framebuffer objects - self._fbo = None - self._rbo = None - - self._last_button = 0 - self._last_click_time = 0 + self._gui_lock = Lock() self._button_left_pressed = False - self._button_middle_pressed = False self._button_right_pressed = False self._last_mouse_x = 0 self._last_mouse_y = 0 - def set_model(self, model): - glfw.make_context_current(self.window) - self.model = model - if model: - self.data = model.data - else: - self.data = None - if self.running: - if model: - mjlib.mjr_makeContext(model.ptr, byref(self.con), 150) - else: - mjlib.mjr_makeContext(None, byref(self.con), 150) - self.render() - if model: - self.autoscale() - - def autoscale(self): - glfw.make_context_current(self.window) - self.cam.lookat[0] = self.model.stat.center[0] - self.cam.lookat[1] = self.model.stat.center[1] - self.cam.lookat[2] = self.model.stat.center[2] - self.cam.distance = 0.5 * self.model.stat.extent - self.cam.camid = -1 - self.cam.trackbodyid = 1 - width, height = self.get_dimensions() - mjlib.mjv_updateCameraPose(byref(self.cam), width*1.0/height) - - def get_rect(self): - rect = mjcore.MJRRECT(0, 0, 0, 0) - rect.width, rect.height = self.get_dimensions() - return rect - - def render(self): - if not self.data: - return - glfw.make_context_current(self.window) - self.gui_lock.acquire() - rect = self.get_rect() - arr = (ctypes.c_double*3)(0, 0, 0) - - mjlib.mjv_makeGeoms(self.model.ptr, self.data.ptr, byref(self.objects), byref(self.vopt), mjCAT_ALL, 0, None, None, ctypes.cast(arr, ctypes.POINTER(ctypes.c_double))) - mjlib.mjv_makeLights(self.model.ptr, self.data.ptr, byref(self.objects)) - - mjlib.mjv_setCamera(self.model.ptr, self.data.ptr, byref(self.cam)) - - mjlib.mjv_updateCameraPose(byref(self.cam), rect.width*1.0/rect.height) - - mjlib.mjr_render(0, rect, byref(self.objects), byref(self.ropt), byref(self.cam.pose), byref(self.con)) - - self.gui_lock.release() - - def get_dimensions(self): - """ - returns a tuple (width, height) - """ - if self.window: - return glfw.get_framebuffer_size(self.window) - return (self.init_width, self.init_height) + framebuffer_width, _ = glfw.get_framebuffer_size(self.window) + window_width, _ = glfw.get_window_size(self.window) + self._scale = framebuffer_width * 1.0 / window_width - def get_image(self): - """ - returns a tuple (data, width, height), where: - - data is a string with raw bytes representing the pixels in 3-channel RGB - (i.e. every three bytes = 1 pixel) - - width is the width of the image - - height is the height of the image - """ - glfw.make_context_current(self.window) - width, height = self.get_dimensions() - gl.glReadBuffer(gl.GL_BACK) - data = gl.glReadPixels(0, 0, width, height, gl.GL_RGB, gl.GL_UNSIGNED_BYTE) - return (data, width, height) + glfw.set_cursor_pos_callback(self.window, self._cursor_pos_callback) + glfw.set_mouse_button_callback( + self.window, self._mouse_button_callback) + glfw.set_scroll_callback(self.window, self._scroll_callback) + glfw.set_key_callback(self.window, self.key_callback) - def _init_framebuffer_object(self): + def render(self): """ - returns a Framebuffer Object to support offscreen rendering. - http://learnopengl.com/#!Advanced-OpenGL/Framebuffers + Render the current simulation state to the screen or off-screen buffer. """ - fbo = gl.glGenFramebuffers(1) - gl.glBindFramebuffer(gl.GL_FRAMEBUFFER, fbo) - - rbo = gl.glGenRenderbuffers(1) - gl.glBindRenderbuffer(gl.GL_RENDERBUFFER, rbo) - gl.glRenderbufferStorage( - gl.GL_RENDERBUFFER, - gl.GL_RGBA, - self.init_width, - self.init_height - ) - gl.glFramebufferRenderbuffer( - gl.GL_FRAMEBUFFER, gl.GL_COLOR_ATTACHMENT0, gl.GL_RENDERBUFFER, rbo) - gl.glBindRenderbuffer(gl.GL_RENDERBUFFER, 0) - gl.glBindFramebuffer(gl.GL_FRAMEBUFFER, 0) - fbo_status = gl.glCheckFramebufferStatus(gl.GL_FRAMEBUFFER) - - if fbo_status != gl.GL_FRAMEBUFFER_COMPLETE: - gl.glDeleteFramebuffers([fbo]) - glfw.terminate() - raise Exception('Framebuffer failed status check: %s' % fbo_status) - - self._fbo = fbo - self._rbo = rbo - - def start(self): - logger.info('initializing glfw@%s', glfw.get_version()) - - glfw.set_error_callback(_glfw_error_callback) - - if not glfw.init(): - raise Exception('glfw failed to initialize') - - window = None - if self.visible: - glfw.window_hint(glfw.SAMPLES, 4) - glfw.window_hint(glfw.VISIBLE, 1); - else: - glfw.window_hint(glfw.VISIBLE, 0); - - # try stereo if refresh rate is at least 100Hz - stereo_available = False - - _, _, refresh_rate = glfw.get_video_mode(glfw.get_primary_monitor()) - if refresh_rate >= 100: - glfw.window_hint(glfw.STEREO, 1) - window = glfw.create_window( - self.init_width, self.init_height, "Simulate", None, None) - if window: - stereo_available = True - - # no stereo: try mono - if not window: - glfw.window_hint(glfw.STEREO, 0) - window = glfw.create_window( - self.init_width, self.init_height, "Simulate", None, None) - - if not window: - glfw.terminate() + if self.window is None: return + elif glfw.window_should_close(self.window): + exit(0) - self.running = True - - # Make the window's context current - glfw.make_context_current(window) - - if self.go_fast: - # Let's go faster than 60 Hz - glfw.swap_interval(0) - - self._init_framebuffer_object() - - width, height = glfw.get_framebuffer_size(window) - width1, height = glfw.get_window_size(window) - self._scale = width * 1.0 / width1 + with self._gui_lock: + super().render() - self.window = window - - mjlib.mjv_makeObjects(byref(self.objects), 1000) - - mjlib.mjv_defaultCamera(byref(self.cam)) - mjlib.mjv_defaultOption(byref(self.vopt)) - mjlib.mjr_defaultOption(byref(self.ropt)) - - mjlib.mjr_defaultContext(byref(self.con)) - - if self.model: - mjlib.mjr_makeContext(self.model.ptr, byref(self.con), 150) - self.autoscale() - else: - mjlib.mjr_makeContext(None, byref(self.con), 150) - - glfw.set_cursor_pos_callback(window, self.handle_mouse_move) - glfw.set_mouse_button_callback(window, self.handle_mouse_button) - glfw.set_scroll_callback(window, self.handle_scroll) - - def handle_mouse_move(self, window, xpos, ypos): - # no buttons down: nothing to do - if not self._button_left_pressed \ - and not self._button_middle_pressed \ - and not self._button_right_pressed: - return + glfw.poll_events() - # compute mouse displacement, save - dx = int(self._scale * xpos) - self._last_mouse_x - dy = int(self._scale * ypos) - self._last_mouse_y - self._last_mouse_x = int(self._scale * xpos) - self._last_mouse_y = int(self._scale * ypos) + def key_callback(self, window, key, scancode, action, mods): + if action == glfw.RELEASE and key == glfw.KEY_ESCAPE: + print("Pressed ESC") + print("Quitting.") + exit(0) - # require model - if not self.model: + def _cursor_pos_callback(self, window, xpos, ypos): + if not (self._button_left_pressed or self._button_right_pressed): return - # get current window size - width, height = glfw.get_framebuffer_size(self.window) - - # get shift key state - mod_shift = glfw.get_key(window, glfw.KEY_LEFT_SHIFT) == glfw.PRESS \ - or glfw.get_key(window, glfw.KEY_RIGHT_SHIFT) == glfw.PRESS - - # determine action based on mouse button - action = None + # Determine whether to move, zoom or rotate view + mod_shift = ( + glfw.get_key(window, glfw.KEY_LEFT_SHIFT) == glfw.PRESS or + glfw.get_key(window, glfw.KEY_RIGHT_SHIFT) == glfw.PRESS) if self._button_right_pressed: - action = mjconstants.MOUSE_MOVE_H if mod_shift else mjconstants.MOUSE_MOVE_V + action = const.MOUSE_MOVE_H if mod_shift else const.MOUSE_MOVE_V elif self._button_left_pressed: - action = mjconstants.MOUSE_ROTATE_H if mod_shift else mjconstants.MOUSE_ROTATE_V + action = const.MOUSE_ROTATE_H if mod_shift else const.MOUSE_ROTATE_V else: - action = mjconstants.MOUSE_ZOOM + action = const.MOUSE_ZOOM - self.gui_lock.acquire() - - mjlib.mjv_moveCamera(action, dx, dy, byref(self.cam), width, height) + # Determine + dx = int(self._scale * xpos) - self._last_mouse_x + dy = int(self._scale * ypos) - self._last_mouse_y + width, height = glfw.get_framebuffer_size(window) - self.gui_lock.release() + with self._gui_lock: + self.move_camera(action, dx / height, dy / height) + self._last_mouse_x = int(self._scale * xpos) + self._last_mouse_y = int(self._scale * ypos) - def handle_mouse_button(self, window, button, act, mods): - # update button state - self._button_left_pressed = \ - glfw.get_mouse_button(window, glfw.MOUSE_BUTTON_LEFT) == glfw.PRESS - self._button_middle_pressed = \ - glfw.get_mouse_button(window, glfw.MOUSE_BUTTON_MIDDLE) == glfw.PRESS - self._button_right_pressed = \ - glfw.get_mouse_button(window, glfw.MOUSE_BUTTON_RIGHT) == glfw.PRESS + def _mouse_button_callback(self, window, button, act, mods): + self._button_left_pressed = ( + glfw.get_mouse_button(window, glfw.MOUSE_BUTTON_LEFT) == glfw.PRESS) + self._button_right_pressed = ( + glfw.get_mouse_button(window, glfw.MOUSE_BUTTON_RIGHT) == glfw.PRESS) - # update mouse position x, y = glfw.get_cursor_pos(window) self._last_mouse_x = int(self._scale * x) self._last_mouse_y = int(self._scale * y) - if not self.model: - return - - self.gui_lock.acquire() - - # save info - if act == glfw.PRESS: - self._last_button = button - self._last_click_time = glfw.get_time() - - self.gui_lock.release() + def _scroll_callback(self, window, x_offset, y_offset): + with self._gui_lock: + self.move_camera(const.MOUSE_ZOOM, 0, -0.05 * y_offset) + + +class MjViewer(MjViewerBasic): + """ + Extends :class:`.MjViewerBasic` to add video recording, interactive time and interaction controls. + + The key bindings are as follows: + + - TAB: Switch between MuJoCo cameras. + - H: Toggle hiding all GUI components. + - SPACE: Pause/unpause the simulation. + - RIGHT: Advance simulation by one step. + - V: Start/stop video recording. + - T: Capture screenshot. + - I: Drop into ``ipdb`` debugger. + - S/F: Decrease/Increase simulation playback speed. + - C: Toggle visualization of contact forces (off by default). + - D: Enable/disable frame skipping when rendering lags behind real time. + - R: Toggle transparency of geoms. + - M: Toggle display of mocap bodies. + + Parameters + ---------- + sim : :class:`.MjSim` + The simulator to display. + """ + + def __init__(self, sim): + super().__init__(sim) + + self._ncam = sim.model.ncam + self._paused = False # is viewer paused. + # should we advance viewer just by one step. + self._advance_by_one_step = False + + # Vars for recording video + self._record_video = False + self._video_frames = [] + self._video_idx = 0 + self._video_path = "/tmp/video_%07d.mp4" + + # vars for capturing screen + self._image_idx = 0 + self._image_path = "/tmp/frame_%07d.png" + + # run_speed = x1, means running real time, x2 means fast-forward times + # two. + self._run_speed = 1.0 + self._loop_count = 0 + self._render_every_frame = False + + self._show_mocap = True # Show / hide mocap bodies. + self._transparent = False # Make everything transparent. + + # this variable is estamated as a running average. + self._time_per_render = 1 / 60.0 + self._hide_overlay = False # hide the entire overlay. + self._user_overlay = {} - def handle_scroll(self, window, x_offset, y_offset): - # require model - if not self.model: + def render(self): + def render_inner_loop(self): + render_start = time.time() + + self._overlay.clear() + if not self._hide_overlay: + for k, v in self._user_overlay.items(): + self._overlay[k] = v + self._create_full_overlay() + + super().render() + if self._record_video: + frame = self._read_pixels_as_in_window() + self._video_frames.append(frame) + else: + self._time_per_render = 0.9 * self._time_per_render + \ + 0.1 * (time.time() - render_start) + + self._user_overlay = copy.deepcopy(self._overlay) + # Render the same frame if paused. + if self._paused: + while self._paused: + render_inner_loop(self) + if self._advance_by_one_step: + self._advance_by_one_step = False + break + else: + # inner_loop runs "_loop_count" times in expectation (where "_loop_count" is a float). + # Therefore, frames are displayed in the real-time. + self._loop_count += self.sim.model.opt.timestep * self.sim.nsubsteps / \ + (self._time_per_render * self._run_speed) + if self._render_every_frame: + self._loop_count = 1 + while self._loop_count > 0: + render_inner_loop(self) + self._loop_count -= 1 + # Markers and overlay are regenerated in every pass. + self._markers[:] = [] + self._overlay.clear() + + def _read_pixels_as_in_window(self): + # Reads pixels with markers and overlay from the same camera as screen. + resolution = glfw.get_framebuffer_size( + self.sim._render_context_window.window) + if self.sim._render_context_offscreen is None: + self.sim.render(*resolution) + offscreen_ctx = self.sim._render_context_offscreen + window_ctx = self.sim._render_context_window + # Save markers and overlay from offscreen. + saved = [copy.deepcopy(offscreen_ctx._markers), + copy.deepcopy(offscreen_ctx._overlay), + rec_copy(offscreen_ctx.cam)] + # Copy markers and overlay from window. + offscreen_ctx._markers[:] = window_ctx._markers[:] + offscreen_ctx._overlay.clear() + offscreen_ctx._overlay.update(window_ctx._overlay) + rec_assign(offscreen_ctx.cam, rec_copy(window_ctx.cam)) + + img = self.sim.render(*resolution) + # Restore markers and overlay to offscreen. + offscreen_ctx._markers[:] = saved[0][:] + offscreen_ctx._overlay.clear() + offscreen_ctx._overlay.update(saved[1]) + rec_assign(offscreen_ctx.cam, saved[2]) + return img + + def _create_full_overlay(self): + if self._render_every_frame: + self.add_overlay(const.GRID_TOPLEFT, "", "") + else: + self.add_overlay(const.GRID_TOPLEFT, "Run speed = %.3f x real time" % + self._run_speed, "[S]lower, [F]aster") + self.add_overlay( + const.GRID_TOPLEFT, "Ren[d]er every frame", "Off" if self._render_every_frame else "On") + self.add_overlay(const.GRID_TOPLEFT, "Switch camera (#cams = %d)" % (self._ncam + 1), + "[Tab] (camera ID = %d)" % self.cam.fixedcamid) + self.add_overlay(const.GRID_TOPLEFT, "[C]ontact forces", "Off" if self.vopt.flags[ + 10] == 1 else "On") + self.add_overlay( + const.GRID_TOPLEFT, "Referenc[e] frames", "Off" if self.vopt.frame == 1 else "On") + self.add_overlay(const.GRID_TOPLEFT, + "T[r]ansparent", "On" if self._transparent else "Off") + self.add_overlay( + const.GRID_TOPLEFT, "Display [M]ocap bodies", "On" if self._show_mocap else "Off") + if self._paused is not None: + if not self._paused: + self.add_overlay(const.GRID_TOPLEFT, "Stop", "[Space]") + else: + self.add_overlay(const.GRID_TOPLEFT, "Start", "[Space]") + self.add_overlay(const.GRID_TOPLEFT, + "Advance simulation by one step", "[right arrow]") + self.add_overlay(const.GRID_TOPLEFT, "[H]ide Menu", "") + if self._record_video: + ndots = int(7 * (time.time() % 1)) + dots = ("." * ndots) + (" " * (6 - ndots)) + self.add_overlay(const.GRID_TOPLEFT, + "Record [V]ideo (On) " + dots, "") + else: + self.add_overlay(const.GRID_TOPLEFT, "Record [V]ideo (Off) ", "") + if self._video_idx > 0: + fname = self._video_path % (self._video_idx - 1) + self.add_overlay(const.GRID_TOPLEFT, " saved as %s" % fname, "") + + self.add_overlay(const.GRID_TOPLEFT, "Cap[t]ure frame", "") + if self._image_idx > 0: + fname = self._image_path % (self._image_idx - 1) + self.add_overlay(const.GRID_TOPLEFT, " saved as %s" % fname, "") + self.add_overlay(const.GRID_TOPLEFT, "Start [i]pdb", "") + if self._record_video: + extra = " (while video is not recorded)" + else: + extra = "" + self.add_overlay(const.GRID_BOTTOMLEFT, "FPS", "%d%s" % + (1 / self._time_per_render, extra)) + self.add_overlay(const.GRID_BOTTOMLEFT, "Solver iterations", str( + self.sim.data.solver_iter + 1)) + + def key_callback(self, window, key, scancode, action, mods): + if action != glfw.RELEASE: return - - # get current window size - width, height = glfw.get_framebuffer_size(window) - - # scroll - self.gui_lock.acquire() - mjlib.mjv_moveCamera(mjconstants.MOUSE_ZOOM, 0, (-20*y_offset), byref(self.cam), width, height) - self.gui_lock.release() - - def should_stop(self): - return glfw.window_should_close(self.window) - - def loop_once(self): - glfw.make_context_current(self.window) - self.render() - # Swap front and back buffers - glfw.swap_buffers(self.window) - # Poll for and process events - glfw.poll_events() - - def finish(self): - glfw.make_context_current(self.window) - glfw.destroy_window(self.window) - - if gl.glIsFramebuffer(self._fbo): - gl.glDeleteFramebuffers(int(self._fbo)) - if gl.glIsRenderbuffer(self._rbo): - gl.glDeleteRenderbuffers(1, int(self._rbo)) - - mjlib.mjr_freeContext(byref(self.con)) - mjlib.mjv_freeObjects(byref(self.objects)) - self.running = False + elif key == glfw.KEY_TAB: # Switches cameras. + self.cam.fixedcamid += 1 + self.cam.type = const.CAMERA_FIXED + if self.cam.fixedcamid >= self._ncam: + self.cam.fixedcamid = -1 + self.cam.type = const.CAMERA_FREE + elif key == glfw.KEY_H: # hides all overlay. + self._hide_overlay = not self._hide_overlay + elif key == glfw.KEY_SPACE and self._paused is not None: # stops simulation. + self._paused = not self._paused + # Advances simulation by one step. + elif key == glfw.KEY_RIGHT and self._paused is not None: + self._advance_by_one_step = True + self._paused = True + elif key == glfw.KEY_V or \ + (key == glfw.KEY_ESCAPE and self._record_video): # Records video. Trigers with V or if in progress by ESC. + self._record_video = not self._record_video + if not self._record_video and len(self._video_frames) > 0: + # This include captures console, if in the top declaration. + frames = [f for f in self._video_frames] + fps = (1 / self._time_per_render) + process = Process(target=save_video, + args=(frames, self._video_path % self._video_idx, fps)) + process.start() + self._video_frames = [] + self._video_idx += 1 + elif key == glfw.KEY_T: # capture screenshot + img = self._read_pixels_as_in_window() + imageio.imwrite(self._image_path % self._image_idx, img) + self._image_idx += 1 + elif key == glfw.KEY_I: # drops in debugger. + print('You can access the simulator by self.sim') + import ipdb + ipdb.set_trace() + elif key == glfw.KEY_S: # Slows down simulation. + self._run_speed /= 2.0 + elif key == glfw.KEY_F: # Speeds up simulation. + self._run_speed *= 2.0 + elif key == glfw.KEY_C: # Displays contact forces. + vopt = self.vopt + vopt.flags[10] = vopt.flags[11] = not vopt.flags[10] + elif key == glfw.KEY_D: # turn off / turn on rendering every frame. + self._render_every_frame = not self._render_every_frame + elif key == glfw.KEY_E: + vopt = self.vopt + vopt.frame = 1 - vopt.frame + elif key == glfw.KEY_R: # makes everything little bit transparent. + self._transparent = not self._transparent + if self._transparent: + self.sim.model.geom_rgba[:, 3] /= 5.0 + else: + self.sim.model.geom_rgba[:, 3] *= 5.0 + elif key == glfw.KEY_M: # Shows / hides mocap bodies + self._show_mocap = not self._show_mocap + for body_idx1, val in enumerate(self.sim.model.body_mocapid): + if val != -1: + for geom_idx, body_idx2 in enumerate(self.sim.model.geom_bodyid): + if body_idx1 == body_idx2: + if not self._show_mocap: + # Store transparency for later to show it. + self.sim.extras[ + geom_idx] = self.sim.model.geom_rgba[geom_idx, 3] + self.sim.model.geom_rgba[geom_idx, 3] = 0 + else: + self.sim.model.geom_rgba[ + geom_idx, 3] = self.sim.extras[geom_idx] + super().key_callback(window, key, scancode, action, mods) + +# Separate Process to save video. This way visualization is +# less slowed down. + + +def save_video(frames, filename, fps): + writer = imageio.get_writer(filename, fps=fps) + for f in frames: + writer.append_data(f) + writer.close() diff --git a/mujoco_py/modder.py b/mujoco_py/modder.py new file mode 100644 index 00000000..fc9f8b7e --- /dev/null +++ b/mujoco_py/modder.py @@ -0,0 +1,450 @@ +""" +Utilites for changing textures and materials after creating a +MuJoCo simulation. This allows for super fast scene generation. +""" +from collections import defaultdict +import numpy as np +from mujoco_py import cymj + + +class BaseModder(): + + def __init__(self, sim, random_state=None): + self.sim = sim + if random_state is None: + self.random_state = np.random.RandomState() + else: + self.random_state = random_state + + @property + def model(self): + # Available for quick convenience access + return self.sim.model + + +class LightModder(BaseModder): + + def __init__(self, *args, **kwargs): + super().__init__(*args, **kwargs) + + def set_pos(self, name, value): + lightid = self.get_lightid(name) + assert lightid > -1, "Unkwnown light %s" % name + + value = list(value) + assert len(value) == 3, "Expected 3-dim value, got %s" % value + + self.model.light_pos[lightid] = value + + def set_dir(self, name, value): + lightid = self.get_lightid(name) + assert lightid > -1, "Unkwnown light %s" % name + + value = list(value) + assert len(value) == 3, "Expected 3-dim value, got %s" % value + + self.model.light_dir[lightid] = value + + def set_active(self, name, value): + lightid = self.get_lightid(name) + assert lightid > -1, "Unkwnown light %s" % name + + self.model.light_active[lightid] = value + + def set_specular(self, name, value): + lightid = self.get_lightid(name) + assert lightid > -1, "Unkwnown light %s" % name + + value = list(value) + assert len(value) == 3, "Expected 3-dim value, got %s" % value + + self.model.light_specular[lightid] = value + + def set_ambient(self, name, value): + lightid = self.get_lightid(name) + assert lightid > -1, "Unkwnown light %s" % name + + value = list(value) + assert len(value) == 3, "Expected 3-dim value, got %s" % value + + self.model.light_ambient[lightid] = value + + def set_diffuse(self, name, value): + lightid = self.get_lightid(name) + assert lightid > -1, "Unkwnown light %s" % name + + value = list(value) + assert len(value) == 3, "Expected 3-dim value, got %s" % value + + self.model.light_diffuse[lightid] = value + + def set_castshadow(self, name, value): + lightid = self.get_lightid(name) + assert lightid > -1, "Unkwnown light %s" % name + self.model.light_castshadow[lightid] = value + + def get_lightid(self, name): + return self.model.light_name2id(name) + + +class CameraModder(BaseModder): + + def __init__(self, *args, **kwargs): + super().__init__(*args, **kwargs) + + def set_fovy(self, name, value): + camid = self.get_camid(name) + assert 0 < value < 180 + assert camid > -1, "Unknown camera %s" % name + self.model.cam_fovy[camid] = value + + def get_quat(self, name): + camid = self.get_camid(name) + assert camid > -1, "Unknown camera %s" % name + return self.model.cam_quat[camid] + + def set_quat(self, name, value): + value = list(value) + assert len(value) == 4, ( + "Expectd value of length 3, instead got %s" % value) + camid = self.get_camid(name) + assert camid > -1, "Unknown camera %s" % name + self.model.cam_quat[camid] = value + + def get_pos(self, name): + camid = self.get_camid(name) + assert camid > -1, "Unknown camera %s" % name + return self.model.cam_pos[camid] + + def set_pos(self, name, value): + value = list(value) + assert len(value) == 3, ( + "Expected value of length 3, instead got %s" % value) + camid = self.get_camid(name) + assert camid > -1 + self.model.cam_pos[camid] = value + + def get_camid(self, name): + return self.model.camera_name2id(name) + + +class MaterialModder(BaseModder): + """ + Modify material properties of a model. Example use: + + sim = MjSim(...) + modder = MaterialModder(sim) + modder.set_specularity('some_geom', 0.5) + modder.rand_all('another_geom') + + """ + + def __init__(self, *args, **kwargs): + super().__init__(*args, **kwargs) + + def set_specularity(self, name, value): + assert 0 <= value <= 1.0 + mat_id = self.get_mat_id(name) + self.model.mat_specular[mat_id] = value + + def set_shininess(self, name, value): + assert 0 <= value <= 1.0 + mat_id = self.get_mat_id(name) + self.model.mat_shininess[mat_id] = value + + def set_reflectance(self, name, value): + assert 0 <= value <= 1.0 + mat_id = self.get_mat_id(name) + self.model.mat_reflectance[mat_id] = value + + def set_texrepeat(self, name, repeat_x, repeat_y): + mat_id = self.get_mat_id(name) + # ensure the following is set to false, so that repeats are + # relative to the extent of the body. + self.model.mat_texuniform[mat_id] = 0 + self.model.mat_texrepeat[mat_id, :] = [repeat_x, repeat_y] + + def rand_all(self, name): + self.rand_specularity(name) + self.rand_shininess(name) + self.rand_reflectance(name) + + def rand_specularity(self, name): + value = 0.1 + 0.2 * self.random_state.uniform() + self.set_specularity(name, value) + + def rand_shininess(self, name): + value = 0.1 + 0.5 * self.random_state.uniform() + self.set_shininess(name, value) + + def rand_reflectance(self, name): + value = 0.1 + 0.5 * self.random_state.uniform() + self.set_reflectance(name, value) + + def rand_texrepeat(self, name, max_repeat=5): + repeat_x = self.random_state.randint(0, max_repeat) + 1 + repeat_y = self.random_state.randint(0, max_repeat) + 1 + self.set_texrepeat(name, repeat_x, repeat_y) + + def get_mat_id(self, name): + """ Returns the material id based on the geom name. """ + geom_id = self.model.geom_name2id(name) + return self.model.geom_matid[geom_id] + + +class TextureModder(BaseModder): + """ + Modify textures in model. Example use: + + sim = MjSim(...) + modder = TextureModder(sim) + modder.whiten_materials() # ensures materials won't impact colors + modder.set_checker('some_geom', (255, 0, 0), (0, 0, 0)) + modder.rand_all('another_geom') + + Note: in order for the textures to take full effect, you'll need to set + the rgba values for all materials to [1, 1, 1, 1], otherwise the texture + colors will be modulated by the material colors. Call the + `whiten_materials` helper method to set all material colors to white. + """ + + def __init__(self, *args, **kwargs): + super().__init__(*args, **kwargs) + + self.textures = [Texture(self.model, i) + for i in range(self.model.ntex)] + self._build_tex_geom_map() + + # These matrices will be used to rapidly synthesize + # checker pattern bitmaps + self._cache_checker_matrices() + + def get_texture(self, name): + if name == 'skybox': + tex_id = -1 + for i in range(self.model.ntex): + # TODO: Don't hardcode this + skybox_textype = 2 + if self.model.tex_type[i] == skybox_textype: + tex_id = i + assert tex_id >= 0, "Model has no skybox" + else: + geom_id = self.model.geom_name2id(name) + mat_id = self.model.geom_matid[geom_id] + assert mat_id >= 0, "Geom has no assigned material" + tex_id = self.model.mat_texid[mat_id] + assert tex_id >= 0, "Material has no assigned texture" + + texture = self.textures[tex_id] + + return texture + + def get_checker_matrices(self, name): + if name == 'skybox': + return self._skybox_checker_mat + else: + geom_id = self.model.geom_name2id(name) + return self._geom_checker_mats[geom_id] + + def set_checker(self, name, rgb1, rgb2): + bitmap = self.get_texture(name).bitmap + cbd1, cbd2 = self.get_checker_matrices(name) + + rgb1 = np.asarray(rgb1).reshape([1, 1, -1]) + rgb2 = np.asarray(rgb2).reshape([1, 1, -1]) + bitmap[:] = rgb1 * cbd1 + rgb2 * cbd2 + + self.upload_texture(name) + return bitmap + + def set_gradient(self, name, rgb1, rgb2, vertical=True): + """ + Creates a linear gradient from rgb1 to rgb2. + + Args: + - rgb1 (array): start color + - rgb2 (array): end color + - vertical (bool): if True, the gradient in the positive + y-direction, if False it's in the positive x-direction. + """ + # NOTE: MuJoCo's gradient uses a sigmoid. Here we simplify + # and just use a linear gradient... We could change this + # to just use a tanh-sigmoid if needed. + bitmap = self.get_texture(name).bitmap + h, w = bitmap.shape[:2] + if vertical: + p = np.tile(np.linspace(0, 1, h)[:, None], (1, w)) + else: + p = np.tile(np.linspace(0, 1, w), (h, 1)) + + for i in range(3): + bitmap[..., i] = rgb2[i] * p + rgb1[i] * (1.0 - p) + + self.upload_texture(name) + return bitmap + + def set_rgb(self, name, rgb): + bitmap = self.get_texture(name).bitmap + bitmap[..., :] = np.asarray(rgb) + + self.upload_texture(name) + return bitmap + + def set_noise(self, name, rgb1, rgb2, fraction=0.9): + """ + Args: + - name (str): name of geom + - rgb1 (array): background color + - rgb2 (array): color of random noise foreground color + - fraction (float): fraction of pixels with foreground color + """ + bitmap = self.get_texture(name).bitmap + h, w = bitmap.shape[:2] + mask = self.random_state.uniform(size=(h, w)) < fraction + + bitmap[..., :] = np.asarray(rgb1) + bitmap[mask, :] = np.asarray(rgb2) + + self.upload_texture(name) + return bitmap + + def rand_all(self, name): + choices = [ + self.rand_checker, + self.rand_gradient, + self.rand_rgb, + self.rand_noise, + ] + choice = self.random_state.randint(len(choices)) + return choices[choice](name) + + def rand_checker(self, name): + rgb1, rgb2 = self.get_rand_rgb(2) + return self.set_checker(name, rgb1, rgb2) + + def rand_gradient(self, name): + rgb1, rgb2 = self.get_rand_rgb(2) + vertical = bool(self.random_state.uniform() > 0.5) + return self.set_gradient(name, rgb1, rgb2, vertical=vertical) + + def rand_rgb(self, name): + rgb = self.get_rand_rgb() + return self.set_rgb(name, rgb) + + def rand_noise(self, name): + fraction = 0.1 + self.random_state.uniform() * 0.8 + rgb1, rgb2 = self.get_rand_rgb(2) + return self.set_noise(name, rgb1, rgb2, fraction) + + def upload_texture(self, name): + """ + Uploads the texture to the GPU so it's available in the rendering. + """ + texture = self.get_texture(name) + if not self.sim.render_contexts: + cymj.MjRenderContextOffscreen(self.sim) + for render_context in self.sim.render_contexts: + render_context.upload_texture(texture.id) + + def whiten_materials(self, geom_names=None): + """ + Helper method for setting all material colors to white, otherwise + the texture modifications won't take full effect. + + Args: + - geom_names (list): list of geom names whose materials should be + set to white. If omitted, all materials will be changed. + """ + geom_names = geom_names or [] + if geom_names: + for name in geom_names: + geom_id = self.model.geom_name2id(name) + mat_id = self.model.geom_matid[geom_id] + self.model.mat_rgba[mat_id, :] = 1.0 + else: + self.model.mat_rgba[:] = 1.0 + + def get_rand_rgb(self, n=1): + def _rand_rgb(): + return np.array(self.random_state.uniform(size=3) * 255, + dtype=np.uint8) + + if n == 1: + return _rand_rgb() + else: + return tuple(_rand_rgb() for _ in range(n)) + + def _build_tex_geom_map(self): + # Build a map from tex_id to geom_ids, so we can check + # for collisions. + self._geom_ids_by_tex_id = defaultdict(list) + for geom_id in range(self.model.ngeom): + mat_id = self.model.geom_matid[geom_id] + if mat_id >= 0: + tex_id = self.model.mat_texid[mat_id] + if tex_id >= 0: + self._geom_ids_by_tex_id[tex_id].append(geom_id) + + def _cache_checker_matrices(self): + """ + Cache two matrices of the form [[1, 0, 1, ...], + [0, 1, 0, ...], + ...] + and [[0, 1, 0, ...], + [1, 0, 1, ...], + ...] + for each texture. To use for fast creation of checkerboard patterns + """ + self._geom_checker_mats = [] + for geom_id in range(self.model.ngeom): + mat_id = self.model.geom_matid[geom_id] + tex_id = self.model.mat_texid[mat_id] + texture = self.textures[tex_id] + h, w = texture.bitmap.shape[:2] + self._geom_checker_mats.append(self._make_checker_matrices(h, w)) + + # add skybox + skybox_tex_id = -1 + for tex_id in range(self.model.ntex): + skybox_textype = 2 + if self.model.tex_type[tex_id] == skybox_textype: + skybox_tex_id = tex_id + if skybox_tex_id >= 0: + texture = self.textures[skybox_tex_id] + h, w = texture.bitmap.shape[:2] + self._skybox_checker_mat = self._make_checker_matrices(h, w) + else: + self._skybox_checker_mat = None + + def _make_checker_matrices(self, h, w): + re = np.r_[(w // 2) * [0, 1]] + ro = np.r_[(w // 2) * [1, 0]] + cbd1 = np.expand_dims(np.row_stack((h // 2) * [re, ro]), -1) + cbd2 = np.expand_dims(np.row_stack((h // 2) * [ro, re]), -1) + return cbd1, cbd2 + + +# From mjtTexture +MJT_TEXTURE_ENUM = ['2d', 'cube', 'skybox'] + + +class Texture(): + """ + Helper class for operating on the MuJoCo textures. + """ + + __slots__ = ['id', 'type', 'height', 'width', 'tex_adr', 'tex_rgb'] + + def __init__(self, model, tex_id): + self.id = tex_id + self.type = MJT_TEXTURE_ENUM[model.tex_type[tex_id]] + self.height = model.tex_height[tex_id] + self.width = model.tex_width[tex_id] + self.tex_adr = model.tex_adr[tex_id] + self.tex_rgb = model.tex_rgb + + @property + def bitmap(self): + size = self.height * self.width * 3 + data = self.tex_rgb[self.tex_adr:self.tex_adr + size] + return data.reshape((self.height, self.width, 3)) diff --git a/mujoco_py/opengl_context.pyx b/mujoco_py/opengl_context.pyx new file mode 100644 index 00000000..276593c1 --- /dev/null +++ b/mujoco_py/opengl_context.pyx @@ -0,0 +1,143 @@ +import os +import sys +from abc import ABCMeta, abstractmethod +from mujoco_py.utils import discover_mujoco + + +def _add_mujoco_bin_to_dyld_library_path(): + mujoco_path, _ = discover_mujoco() + bin_path = os.path.join(mujoco_path, "bin") + old_dyld_library_path = os.getenv("DYLD_LIBRARY_PATH", "") + os.environ["DYLD_LIBRARY_PATH"] = "{}:{}".format( + bin_path, old_dyld_library_path) + + +try: + _add_mujoco_bin_to_dyld_library_path() + import glfw +except ImportError: + pass + + +class OpenGLContext(metaclass=ABCMeta): + + @abstractmethod + def make_context_current(self): + raise NotImplementedError() + + @abstractmethod + def set_buffer_size(self, width, height): + raise NotImplementedError() + + +class GlfwError(RuntimeError): + pass + + +class GlfwContext(OpenGLContext): + + _INIT_WIDTH = 1000 + _INIT_HEIGHT = 1000 + _GLFW_IS_INITIALIZED = False + + def __init__(self, offscreen=False): + GlfwContext._init_glfw() + + self._width = self._INIT_WIDTH + self._height = self._INIT_HEIGHT + self.window = self._create_window(offscreen) + self._set_window_size(self._width, self._height) + + @staticmethod + def _init_glfw(): + if GlfwContext._GLFW_IS_INITIALIZED: + return + + if 'glfw' not in globals(): + raise GlfwError("GLFW not installed") + + glfw.set_error_callback(GlfwContext._glfw_error_callback) + + # HAX: sometimes first init() fails, while second works fine. + glfw.init() + if not glfw.init(): + raise GlfwError("Failed to initialize GLFW") + + GlfwContext._GLFW_IS_INITIALIZED = True + + def make_context_current(self): + glfw.make_context_current(self.window) + + def set_buffer_size(self, width, height): + self._set_window_size(width, height) + self._width = width + self._height = height + + def _create_window(self, offscreen): + if offscreen: + print("Creating offscreen glfw") + glfw.window_hint(glfw.VISIBLE, 0) + glfw.window_hint(glfw.DOUBLEBUFFER, 0) + init_width, init_height = self._INIT_WIDTH, self._INIT_HEIGHT + else: + print("Creating window glfw") + glfw.window_hint(glfw.SAMPLES, 4) + glfw.window_hint(glfw.VISIBLE, 1) + glfw.window_hint(glfw.DOUBLEBUFFER, 1) + resolution, _, refresh_rate = glfw.get_video_mode( + glfw.get_primary_monitor()) + init_width, init_height = resolution + + self._width = init_width + self._height = init_height + window = glfw.create_window( + self._width, self._height, "mujoco_py", None, None) + + if not window: + raise GlfwError("Failed to create GLFW window") + + return window + + def get_buffer_size(self): + return glfw.get_framebuffer_size(self.window) + + def _set_window_size(self, target_width, target_height): + self.make_context_current() + if target_width != self._width or target_height != self._height: + self._width = target_width + self._height = target_height + glfw.set_window_size(self.window, target_width, target_height) + + # HAX: When running on a Mac with retina screen, the size + # sometimes doubles + width, height = glfw.get_framebuffer_size(self.window) + if target_width != width: + glfw.set_window_size(self.window, target_width // 2, target_height // 2) + + @staticmethod + def _glfw_error_callback(error_code, description): + print("GLFW error (code %d): %s", error_code, description) + + +class OffscreenOpenGLContext(): + + def __init__(self): + # TODO: support GPU rendering on mac + # TODO: allow user to pick GPU expilictly from code + device_id = int(os.getenv('CUDA_VISIBLE_DEVICES', '0').split(',')[0]) + res = initOpenGL(device_id) + if res != 1: + raise RuntimeError("Failed to initialize OpenGL") + + def close(self): + # TODO: properly close OpenGL in our contexts + closeOpenGL() + + def make_context_current(self): + # TODO: maybe expose this explicitly? + pass + + def set_buffer_size(self, int width, int height): + res = setOpenGLBufferSize(width, height) + if res != 1: + raise RuntimeError("Failed to set buffer size") diff --git a/mujoco_py/platname_targdir.py b/mujoco_py/platname_targdir.py deleted file mode 100644 index c68265b9..00000000 --- a/mujoco_py/platname_targdir.py +++ /dev/null @@ -1,9 +0,0 @@ -import sys -if sys.platform.startswith("darwin"): - platname = "osx" -elif sys.platform.startswith("linux"): - platname = "linux" -elif sys.platform.startswith("windows"): - platname = "win" -targdir = "mujoco_%s"%platname - diff --git a/mujoco_py/pxd/__init__.py b/mujoco_py/pxd/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/mujoco_py/pxd/mjdata.pxd b/mujoco_py/pxd/mjdata.pxd new file mode 100644 index 00000000..a87149f7 --- /dev/null +++ b/mujoco_py/pxd/mjdata.pxd @@ -0,0 +1,309 @@ +include "mjmodel.pxd" + + +cdef extern from "mjdata.h" nogil: + + #---------------------------- primitive types (mjt) ------------------------------------ + + ctypedef enum mjtWarning: # warning types + mjWARN_INERTIA = 0, # (near) singular inertia matrix + mjWARN_CONTACTFULL, # too many contacts in contact list + mjWARN_CNSTRFULL, # too many constraints + mjWARN_VGEOMFULL, # too many visual geoms + mjWARN_BADQPOS, # bad number in qpos + mjWARN_BADQVEL, # bad number in qvel + mjWARN_BADQACC, # bad number in qacc + mjWARN_BADCTRL, # bad number in ctrl + + enum: mjNWARNING # number of warnings + + + ctypedef enum mjtTimer: + # main api + mjTIMER_STEP = 0, # step + mjTIMER_FORWARD, # forward + mjTIMER_INVERSE, # inverse + + # breakdown of step/forward + mjTIMER_POSITION, # fwdPosition + mjTIMER_VELOCITY, # fwdVelocity + mjTIMER_ACTUATION, # fwdActuation + mjTIMER_ACCELERATION, # fwdAcceleration + mjTIMER_CONSTRAINT, # fwdConstraint + + # breakdown of fwdPosition + mjTIMER_POS_KINEMATICS, # kinematics, com, tendon, transmission + mjTIMER_POS_INERTIA, # inertia computations + mjTIMER_POS_COLLISION, # collision detection + mjTIMER_POS_MAKE, # make constraints + mjTIMER_POS_PROJECT, # project constraints + + enum: mjNTIMER # number of timers + + + #------------------------------ mjContact ---------------------------------------------- + + ctypedef struct mjContact: # result of collision detection functions + # contact parameters set by geom-specific collision detector + mjtNum dist # distance between nearest points; neg: penetration + mjtNum pos[3] # position of contact point: midpoint between geoms + mjtNum frame[9] # normal is in [0-2] + + # contact parameters set by mj_collideGeoms + mjtNum includemargin # include if distforce) + float stiffnessrot # mouse perturbation stiffness (space->torque) + float force # from force units to space units + float torque # from torque units to space units + float alpha # scale geom alphas when transparency is enabled + float fogstart # OpenGL fog starts at fogstart * mjModel.stat.extent + float fogend # OpenGL fog ends at fogend * mjModel.stat.extent + float znear # near clipping plane = znear * mjModel.stat.extent + float zfar # far clipping plane = zfar * mjModel.stat.extent + float shadowclip # directional light: shadowclip * mjModel.stat.extent + float shadowscale # spot light: shadowscale * light.cutoff + +cdef struct mjVisual_scale: # scale of decor elements relative to mean body size + float forcewidth # width of force arrow + float contactwidth # contact width + float contactheight # contact height + float connect # autoconnect capsule width + float com # com radius + float camera # camera object + float light # light object + float selectpoint # selection point + float jointlength # joint length + float jointwidth # joint width + float actuatorlength # actuator length + float actuatorwidth # actuator width + float framelength # bodyframe axis length + float framewidth # bodyframe axis width + float constraint # constraint width + float slidercrank # slidercrank width + +cdef struct mjVisual_rgba: # color of decor elements + float fog[4] # external force + float force[4] # external force + float inertia[4] # inertia box + float joint[4] # joint + float actuator[4] # actuator + float com[4] # center of mass + float camera[4] # camera object + float light[4] # light object + float selectpoint[4] # selection point + float connect[4] # auto connect + float contactpoint[4] # contact point + float contactforce[4] # contact force + float contactfriction[4] # contact friction force + float contacttorque[4] # contact torque + float constraint[4] # constraint + float slidercrank[4] # slidercrank + float crankbroken[4] # used when crank must be stretched/broken + +cdef extern from "mjmodel.h" nogil: + # ---------------------------- floating-point definitions ------------------------------- + ctypedef double mjtNum + # global constants + enum: mjPI + enum: mjMAXVAL + enum: mjMINMU + enum: mjMINIMP + enum: mjMAXIMP + enum: mjMAXCONPAIR + enum: mjMAXVFS + enum: mjMAXVFSNAME + + # ---------------------------- sizes ---------------------------------------------------- + enum: mjNEQDATA + enum: mjNDYN + enum: mjNGAIN + enum: mjNBIAS + enum: mjNREF + enum: mjNIMP + enum: mjNSOLVER + + # ---------------------------- primitive types (mjt) ------------------------------------ + ctypedef unsigned char mjtByte # used for true/false + + + ctypedef enum mjtDisableBit: # disable default feature bitflags + mjDSBL_CONSTRAINT # entire constraint solver + mjDSBL_EQUALITY # equality constraints + mjDSBL_FRICTIONLOSS # joint and tendon frictionloss constraints + mjDSBL_LIMIT # joint and tendon limit constraints + mjDSBL_CONTACT # contact constraints + mjDSBL_PASSIVE # passive forces + mjDSBL_GRAVITY # gravitational forces + mjDSBL_CLAMPCTRL # clamp control to specified range + mjDSBL_WARMSTART # warmstart constraint solver + mjDSBL_FILTERPARENT # remove collisions with parent body + mjDSBL_ACTUATION # apply actuation forces + mjDSBL_REFSAFE # integrator safety: make ref[0]>=2*timestep + enum: mjNDISABLE # number of disable flags + + ctypedef enum mjtEnableBit: # enable optional feature bitflags + mjENBL_OVERRIDE # override contact parameters + mjENBL_ENERGY # energy computation + mjENBL_FWDINV # record solver statistics + mjENBL_SENSORNOISE # add noise to sensor data + enum: mjNENABLE # number of enable flags + + ctypedef enum mjtJoint: # type of degree of freedom + mjJNT_FREE = 0, # global position and orientation (quat) (7) + mjJNT_BALL, # orientation (quat) relative to parent (4) + mjJNT_SLIDE, # sliding distance along body-fixed axis (1) + mjJNT_HINGE # rotation angle (rad) around body-fixed axis (1) + + ctypedef enum mjtGeom: # type of geometric shape + # regular geom types + mjGEOM_PLANE = 0, # plane + mjGEOM_HFIELD, # height field + mjGEOM_SPHERE, # sphere + mjGEOM_CAPSULE, # capsule + mjGEOM_ELLIPSOID, # ellipsoid + mjGEOM_CYLINDER, # cylinder + mjGEOM_BOX, # box + mjGEOM_MESH, # mesh + + mjNGEOMTYPES, # number of regular geom types + + # rendering-only geom types: not used in mjModel, not counted in mjNGEOMTYPES + mjGEOM_ARROW = 100, # arrow + mjGEOM_ARROW1, # arrow without wedges + mjGEOM_ARROW2, # arrow in both directions + mjGEOM_LABEL, # text label + + mjGEOM_NONE = 1001 # missing geom type + + + ctypedef enum mjtCamLight: # tracking mode for camera and light + mjCAMLIGHT_FIXED = 0, # pos and rot fixed in body + mjCAMLIGHT_TRACK, # pos tracks body, rot fixed in global + mjCAMLIGHT_TRACKCOM, # pos tracks subtree com, rot fixed in body + mjCAMLIGHT_TARGETBODY, # pos fixed in body, rot tracks target body + mjCAMLIGHT_TARGETBODYCOM # pos fixed in body, rot tracks target subtree com + + + ctypedef enum mjtTexture: # type of texture + mjTEXTURE_2D = 0, # 2d texture, suitable for planes and hfields + mjTEXTURE_CUBE, # cube texture, suitable for all other geom types + mjTEXTURE_SKYBOX # cube texture used as skybox + + + ctypedef enum mjtIntegrator: # integrator mode + mjINT_EULER = 0, # semi-implicit Euler + mjINT_RK4 # 4th-order Runge Kutta + + + ctypedef enum mjtCollision: # collision mode for selecting geom pairs + mjCOL_ALL = 0, # test precomputed and dynamic pairs + mjCOL_PAIR, # test predefined pairs only + mjCOL_DYNAMIC # test dynamic pairs only + + + ctypedef enum mjtCone: # type of friction cone + mjCONE_PYRAMIDAL = 0, # pyramidal + mjCONE_ELLIPTIC # elliptic + + + ctypedef enum mjtJacobian: # type of constraint Jacobian + mjJAC_DENSE = 0, # dense + mjJAC_SPARSE, # sparse + mjJAC_AUTO # dense if nv<60, sparse otherwise + + + ctypedef enum mjtSolver: # constraint solver algorithm + mjSOL_PGS = 0, # PGS (dual) + mjSOL_CG, # CG (primal) + mjSOL_NEWTON # Newton (primal) + + + ctypedef enum mjtImp: # how to interpret solimp parameters + mjIMP_CONSTANT = 0, # constant solimp[1] + mjIMP_SIGMOID, # sigmoid from solimp[0] to solimp[1], width solimp[2] + mjIMP_LINEAR, # piece-wise linear sigmoid + mjIMP_USER # impedance computed by callback + + + ctypedef enum mjtRef: # how to interpret solref parameters + mjREF_SPRING = 0, # spring-damper: timeconst=solref[0], dampratio=solref[1] + mjREF_USER # reference computed by callback + + + ctypedef enum mjtEq: # type of equality constraint + mjEQ_CONNECT = 0, # connect two bodies at a point (ball joint) + mjEQ_WELD, # fix relative position and orientation of two bodies + mjEQ_JOINT, # couple the values of two scalar joints with cubic + mjEQ_TENDON, # couple the lengths of two tendons with cubic + mjEQ_DISTANCE # fix the contact distance betweent two geoms + + + ctypedef enum mjtWrap: # type of tendon wrap object + mjWRAP_NONE = 0, # null object + mjWRAP_JOINT, # constant moment arm + mjWRAP_PULLEY, # pulley used to split tendon + mjWRAP_SITE, # pass through site + mjWRAP_SPHERE, # wrap around sphere + mjWRAP_CYLINDER # wrap around (infinite) cylinder + + + ctypedef enum mjtTrn: # type of actuator transmission + mjTRN_JOINT = 0, # force on joint + mjTRN_JOINTINPARENT, # force on joint, expressed in parent frame + mjTRN_SLIDERCRANK, # force via slider-crank linkage + mjTRN_TENDON, # force on tendon + mjTRN_SITE, # force on site + + mjTRN_UNDEFINED = 1000 # undefined transmission type + + + ctypedef enum mjtDyn: # type of actuator dynamics + mjDYN_NONE = 0, # no internal dynamics; ctrl specifies force + mjDYN_INTEGRATOR, # integrator: da/dt = u + mjDYN_FILTER, # linear filter: da/dt = (u-a) / tau + mjDYN_USER # user-defined dynamics type + + + ctypedef enum mjtGain: # type of actuator gain + mjGAIN_FIXED = 0, # fixed gain + mjGAIN_USER # user-defined gain type + + + ctypedef enum mjtBias: # type of actuator bias + mjBIAS_NONE = 0, # no bias + mjBIAS_AFFINE, # const + kp*length + kv*velocity + mjBIAS_USER # user-defined bias type + + + ctypedef enum mjtObj: # type of MujoCo object + mjOBJ_UNKNOWN = 0, # unknown object type + mjOBJ_BODY, # body + mjOBJ_XBODY, # body, used to access regular frame instead of i-frame + mjOBJ_JOINT, # joint + mjOBJ_DOF, # dof + mjOBJ_GEOM, # geom + mjOBJ_SITE, # site + mjOBJ_CAMERA, # camera + mjOBJ_LIGHT, # light + mjOBJ_MESH, # mesh + mjOBJ_HFIELD, # heightfield + mjOBJ_TEXTURE, # texture + mjOBJ_MATERIAL, # material for rendering + mjOBJ_PAIR, # geom pair to include + mjOBJ_EXCLUDE, # body pair to exclude + mjOBJ_EQUALITY, # equality constraint + mjOBJ_TENDON, # tendon + mjOBJ_ACTUATOR, # actuator + mjOBJ_SENSOR, # sensor + mjOBJ_NUMERIC, # numeric + mjOBJ_TEXT, # text + mjOBJ_TUPLE, # tuple + mjOBJ_KEY # keyframe + + + ctypedef enum mjtConstraint: # type of constraint + mjCNSTR_EQUALITY = 0, # equality constraint + mjCNSTR_FRICTION_DOF, # dof friction + mjCNSTR_FRICTION_TENDON, # tendon friction + mjCNSTR_LIMIT_JOINT, # joint limit + mjCNSTR_LIMIT_TENDON, # tendon limit + mjCNSTR_CONTACT_FRICTIONLESS, # frictionless contact + mjCNSTR_CONTACT_PYRAMIDAL, # frictional contact, pyramidal friction cone + mjCNSTR_CONTACT_ELLIPTIC # frictional contact, elliptic friction cone + + + ctypedef enum mjtConstraintState: # constraint state + mjCNSTRSTATE_SATISFIED = 0, # constraint satisfied, zero cost (limit, contact) + mjCNSTRSTATE_QUADRATIC, # quadratic cost (equality, friction, limit, contact) + mjCNSTRSTATE_LINEARNEG, # linear cost, negative side (friction) + mjCNSTRSTATE_LINEARPOS, # linear cost, positive side (friction) + mjCNSTRSTATE_CONE # squared distance to cone cost (elliptic contact) + + + + ctypedef enum mjtSensor: # type of sensor + # common robotic sensors, attached to a site + mjSENS_TOUCH = 0, # scalar contact normal forces summed over sensor zone + mjSENS_ACCELEROMETER, # 3D linear acceleration, in local frame + mjSENS_VELOCIMETER, # 3D linear velocity, in local frame + mjSENS_GYRO, # 3D angular velocity, in local frame + mjSENS_FORCE, # 3D force between site's body and its parent body + mjSENS_TORQUE, # 3D torque between site's body and its parent body + mjSENS_MAGNETOMETER, # 3D magnetometer + mjSENS_RANGEFINDER, # scalar distance to nearest geom or site along z-axis + + # sensors related to scalar joints, tendons, actuators + mjSENS_JOINTPOS, # scalar joint position (hinge and slide only) + mjSENS_JOINTVEL, # scalar joint velocity (hinge and slide only) + mjSENS_TENDONPOS, # scalar tendon position + mjSENS_TENDONVEL, # scalar tendon velocity + mjSENS_ACTUATORPOS, # scalar actuator position + mjSENS_ACTUATORVEL, # scalar actuator velocity + mjSENS_ACTUATORFRC, # scalar actuator force + + # sensors related to ball joints + mjSENS_BALLQUAT, # 4D ball joint quaterion + mjSENS_BALLANGVEL, # 3D ball joint angular velocity + + # sensors attached to an object with spatial frame: (x)body, geom, site, camera + mjSENS_FRAMEPOS, # 3D position + mjSENS_FRAMEQUAT, # 4D unit quaternion orientation + mjSENS_FRAMEXAXIS, # 3D unit vector: x-axis of object's frame + mjSENS_FRAMEYAXIS, # 3D unit vector: y-axis of object's frame + mjSENS_FRAMEZAXIS, # 3D unit vector: z-axis of object's frame + mjSENS_FRAMELINVEL, # 3D linear velocity + mjSENS_FRAMEANGVEL, # 3D angular velocity + mjSENS_FRAMELINACC, # 3D linear acceleration + mjSENS_FRAMEANGACC, # 3D angular acceleration + + # sensors related to kinematic subtrees; attached to a body (which is the subtree root) + mjSENS_SUBTREECOM, # 3D center of mass of subtree + mjSENS_SUBTREELINVEL, # 3D linear velocity of subtree + mjSENS_SUBTREEANGMOM, # 3D angular momentum of subtree + + # user-defined sensor + mjSENS_USER # sensor data provided by mjcb_sensor callback + + + ctypedef enum mjtStage: # computation stage + mjSTAGE_NONE = 0, # no computations + mjSTAGE_POS, # position-dependent computations + mjSTAGE_VEL, # velocity-dependent computations + mjSTAGE_ACC # acceleration/force-dependent computations + + + ctypedef enum mjtDataType: # data type for sensors + mjDATATYPE_REAL = 0, # real values, no constraints + mjDATATYPE_POSITIVE, # positive values; 0 or negative: inactive + mjDATATYPE_AXIS, # 3D unit vector + mjDATATYPE_QUAT # unit quaternion + + #------------------------------ mjVFS -------------------------------------------------- + + ctypedef struct mjVFS: # virtual file system for loading from memory + int nfile # number of files present + char filename[mjMAXVFS][mjMAXVFSNAME] # file name without path + int filesize[mjMAXVFS] # file size in bytes + void* filedata[mjMAXVFS] # buffer with file data + + + + #------------------------------ mjOption ----------------------------------------------- + + ctypedef struct mjOption: # physics options + # timing parameters + mjtNum timestep # timestep + mjtNum apirate # update rate for remote API (Hz) + + # solver parameters + mjtNum impratio # ratio of friction-to-normal contact impedance + mjtNum tolerance # solver convergence tolerance + mjtNum noslip_tolerance # noslip solver tolerance + mjtNum mpr_tolerance # MPR solver tolerance + + # physical constants + mjtNum gravity[3] # gravitational acceleration + mjtNum wind[3] # wind (for lift, drag and viscosity) + mjtNum magnetic[3] # global magnetic flux + mjtNum density # density of medium + mjtNum viscosity # viscosity of medium + + # override contact solver parameters (if enabled) + mjtNum o_margin # margin + mjtNum o_solref[mjNREF] # solref + mjtNum o_solimp[mjNIMP] # solimp + + # discrete settings + int integrator # integration mode (mjtIntegrator) + int collision # collision mode (mjtCollision) + int impedance # how to interpret solimp (mjtImp) + int reference # how to interpret solref (mjtRef) + int cone # type of friction cone (mjtCone) + int jacobian # type of Jacobian (mjtJacobian) + int solver # solver mode (mjtSolver) + int iterations # maximum number of solver iterations + int noslip_iterations # maximum number of noslip solver iterations + int mpr_iterations # maximum number of MPR solver iterations + int disableflags # bit flags for disabling standard features + int enableflags # bit flags for enabling optional features + + #------------------------------ mjVisual ----------------------------------------------- + + + ctypedef struct mjVisual: + mjVisual_global_ global_ "global" + mjVisual_quality quality + mjVisual_headlight headlight + mjVisual_map map + mjVisual_scale scale + mjVisual_rgba rgba + + #------------------------------ mjStatistic -------------------------------------------- + + ctypedef struct mjStatistic: # model statistics (in qpos0) + mjtNum meaninertia # mean diagonal inertia + mjtNum meanmass # mean body mass + mjtNum meansize # mean body size + mjtNum extent # spatial extent + mjtNum center[3] # center of model + + + # ---------------------------------- mjModel -------------------------------------------- + ctypedef struct mjModel: + # ------------------------------- sizes + + # sizes needed at mjModel construction + int nq # number of generalized coordinates = dim(qpos) + int nv # number of degrees of freedom = dim(qvel) + int nu # number of actuators/controls = dim(ctrl) + int na # number of activation states = dim(act) + int nbody # number of bodies + int njnt # number of joints + int ngeom # number of geoms + int nsite # number of sites + int ncam # number of cameras + int nlight # number of lights + int nmesh # number of meshes + int nmeshvert # number of vertices in all meshes + int nmeshface # number of triangular faces in all meshes + int nmeshgraph # number of ints in mesh auxiliary data + int nhfield # number of heightfields + int nhfielddata # number of data points in all heightfields + int ntex # number of textures + int ntexdata # number of bytes in texture rgb data + int nmat # number of materials + int npair # number of predefined geom pairs + int nexclude # number of excluded geom pairs + int neq # number of equality constraints + int ntendon # number of tendons + int nwrap # number of wrap objects in all tendon paths + int nsensor # number of sensors + int nnumeric # number of numeric custom fields + int nnumericdata # number of mjtNums in all numeric fields + int ntext # number of text custom fields + int ntextdata # number of mjtBytes in all text fields + int ntuple # number of tuple custom fields + int ntupledata # number of objects in all tuple fields + int nkey # number of keyframes + int nuser_body # number of mjtNums in body_user + int nuser_jnt # number of mjtNums in jnt_user + int nuser_geom # number of mjtNums in geom_user + int nuser_site # number of mjtNums in site_user + int nuser_cam # number of mjtNums in cam_user + int nuser_tendon # number of mjtNums in tendon_user + int nuser_actuator # number of mjtNums in actuator_user + int nuser_sensor # number of mjtNums in sensor_user + int nnames # number of chars in all names + + # sizes set after mjModel construction (only affect mjData) + int nM # number of non-zeros in sparse inertia matrix + int nemax # number of potential equality-constraint rows + int njmax # number of available rows in constraint Jacobian + int nconmax # number of potential contacts in contact list + int nstack # number of fields in mjData stack + int nuserdata # number of extra fields in mjData + int nmocap # number of mocap bodies + int nsensordata # number of fields in sensor data vector + + int nbuffer # number of bytes in buffer + + # ------------------------------- options and statistics + + mjOption opt # physics options + mjVisual vis # visualization options + mjStatistic stat # model statistics + + # ------------------------------- buffers + + # main buffer + void* buffer # main buffer; all pointers point in it (nbuffer) + + # default generalized coordinates + mjtNum* qpos0 # qpos values at default pose (nq x 1) + mjtNum* qpos_spring # reference pose for springs (nq x 1) + + # bodies + int* body_parentid # id of body's parent (nbody x 1) + int* body_rootid # id of root above body (nbody x 1) + int* body_weldid # id of body that this body is welded to (nbody x 1) + int* body_mocapid # id of mocap data; -1: none (nbody x 1) + int* body_jntnum # number of joints for this body (nbody x 1) + int* body_jntadr # start addr of joints; -1: no joints (nbody x 1) + int* body_dofnum # number of motion degrees of freedom (nbody x 1) + int* body_dofadr # start addr of dofs; -1: no dofs (nbody x 1) + int* body_geomnum # number of geoms (nbody x 1) + int* body_geomadr # start addr of geoms; -1: no geoms (nbody x 1) + mjtNum* body_pos # position offset rel. to parent body (nbody x 3) + mjtNum* body_quat # orientation offset rel. to parent body (nbody x 4) + mjtNum* body_ipos # local position of center of mass (nbody x 3) + mjtNum* body_iquat # local orientation of inertia ellipsoid (nbody x 4) + mjtNum* body_mass # mass (nbody x 1) + mjtNum* body_subtreemass # mass of subtree starting at this body (nbody x 1) + mjtNum* body_inertia # diagonal inertia in ipos/iquat frame (nbody x 3) + mjtNum* body_invweight0 # mean inv inert in qpos0 (trn, rot) (nbody x 2) + mjtNum* body_user # user data (nbody x nuser_body) + + # joints + int* jnt_type # type of joint (mjtJoint) (njnt x 1) + int* jnt_qposadr # start addr in 'qpos' for joint's data (njnt x 1) + int* jnt_dofadr # start addr in 'qvel' for joint's data (njnt x 1) + int* jnt_bodyid # id of joint's body (njnt x 1) + mjtByte* jnt_limited # does joint have limits (njnt x 1) + mjtNum* jnt_solref # constraint solver reference: limit (njnt x mjNREF) + mjtNum* jnt_solimp # constraint solver impedance: limit (njnt x mjNIMP) + mjtNum* jnt_pos # local anchor position (njnt x 3) + mjtNum* jnt_axis # local joint axis (njnt x 3) + mjtNum* jnt_stiffness # stiffness coefficient (njnt x 1) + mjtNum* jnt_range # joint limits (njnt x 2) + mjtNum* jnt_margin # min distance for limit detection (njnt x 1) + mjtNum* jnt_user # user data (njnt x nuser_jnt) + + # dofs + int* dof_bodyid # id of dof's body (nv x 1) + int* dof_jntid # id of dof's joint (nv x 1) + int* dof_parentid # id of dof's parent; -1: none (nv x 1) + int* dof_Madr # dof address in M-diagonal (nv x 1) + mjtNum* dof_solref # constraint solver reference:frictionloss (nv x mjNREF) + mjtNum* dof_solimp # constraint solver impedance:frictionloss (nv x mjNIMP) + mjtNum* dof_frictionloss # dof friction loss (nv x 1) + mjtNum* dof_armature # dof armature inertia/mass (nv x 1) + mjtNum* dof_damping # damping coefficient (nv x 1) + mjtNum* dof_invweight0 # inv. diag. inertia in qpos0 (nv x 1) + + # geoms + int* geom_type # geometric type (mjtGeom) (ngeom x 1) + int* geom_contype # geom contact type (ngeom x 1) + int* geom_conaffinity # geom contact affinity (ngeom x 1) + int* geom_condim # contact dimensionality (1, 3, 4, 6) (ngeom x 1) + int* geom_bodyid # id of geom's body (ngeom x 1) + int* geom_dataid # id of geom's mesh/hfield (-1: none) (ngeom x 1) + int* geom_matid # material id for rendering (ngeom x 1) + int* geom_group # group for visibility (ngeom x 1) + mjtNum* geom_solmix # mixing coef for solref/imp in geom pair (ngeom x 1) + mjtNum* geom_solref # constraint solver reference: contact (ngeom x mjNREF) + mjtNum* geom_solimp # constraint solver impedance: contact (ngeom x mjNIMP) + mjtNum* geom_size # geom-specific size parameters (ngeom x 3) + mjtNum* geom_rbound # radius of bounding sphere (ngeom x 1) + mjtNum* geom_pos # local position offset rel. to body (ngeom x 3) + mjtNum* geom_quat # local orientation offset rel. to body (ngeom x 4) + mjtNum* geom_friction # friction for (slide, spin, roll) (ngeom x 3) + mjtNum* geom_margin # detect contact if dist=max) automatic + char xlabel[100] # x-axis label + char title[100] # figure title + char xformat[20] # x-tick label format for sprintf + char yformat[20] # y-tick label format for sprintf + char minwidth[20] # string used to determine min y-tick width + + # line data + int linepnt[mjMAXLINE] # number of points in line; (0) disable + float linergb[mjMAXLINE][3] # line color + float linewidth[mjMAXLINE] # line width + float linedata[mjMAXLINE][2*mjMAXLINEPNT] # line data (x,y) + char linename[mjMAXLINE][100] # line name for legend + diff --git a/mujoco_py/pxd/mujoco.pxd b/mujoco_py/pxd/mujoco.pxd new file mode 100644 index 00000000..c2a5c8d4 --- /dev/null +++ b/mujoco_py/pxd/mujoco.pxd @@ -0,0 +1,1025 @@ +include "mjmodel.pxd" +include "mjdata.pxd" +include "mjrender.pxd" +include "mjvisualize.pxd" + + +cdef extern from "mujoco.h" nogil: + # macros + #define mjMARKSTACK int _mark = d->pstack; + #define mjFREESTACK d->pstack = _mark; + #define mjDISABLED(x) (m->opt.disableflags & (x)) + #define mjENABLED(x) (m->opt.enableflags & (x)) + + + # user error and memory handlers + void (*mju_user_error)(const char*); + void (*mju_user_warning)(const char*); + void* (*mju_user_malloc)(size_t); + void (*mju_user_free)(void*); + + + # # callbacks extending computation pipeline + # mjfGeneric mjcb_passive; + # mjfGeneric mjcb_control; + # mjfSensor mjcb_sensor; + # mjfTime mjcb_time; + # mjfAct mjcb_act_dyn; + # mjfAct mjcb_act_gain; + # mjfAct mjcb_act_bias; + # mjfSolImp mjcb_sol_imp; + # mjfSolRef mjcb_sol_ref; + # + # + # # collision function table + # mjfCollision mjCOLLISIONFUNC[mjNGEOMTYPES][mjNGEOMTYPES]; + # + # + # # string names + const char* mjDISABLESTRING[mjNDISABLE]; + const char* mjENABLESTRING[mjNENABLE]; + const char* mjTIMERSTRING[mjNTIMER]; + const char* mjLABELSTRING[mjNLABEL]; + const char* mjFRAMESTRING[mjNFRAME]; + const char* mjVISSTRING[mjNVISFLAG][3]; + const char* mjRNDSTRING[mjNRNDFLAG][3]; + + + #---------------------- Activation ----------------------------------------------------- + + # activate license, call mju_error on failure; return 1 if ok, 0 if failure + int mj_activate(const char* filename); + + # deactivate license, free memory + void mj_deactivate(); + + # server: generate certificate question + void mj_certQuestion(mjtNum question[16]); + + # client: generate certificate answer given question + void mj_certAnswer(const mjtNum question[16], mjtNum answer[16]); + + # server: check certificate question-answer pair; return 1 if match, 0 if mismatch + int mj_certCheck(const mjtNum question[16], const mjtNum answer[16]); + + #---------------------- Virtual file system -------------------------------------------- + + # Initialize VFS to empty (no deallocation). + void mj_defaultVFS(mjVFS* vfs); + + # Add file to VFS, return 0: success, 1: full, 2: repeated name, -1: not found on disk. + int mj_addFileVFS(mjVFS* vfs, const char* directory, const char* filename); + + # Make empty file in VFS, return 0: success, 1: full, 2: repeated name. + int mj_makeEmptyFileVFS(mjVFS* vfs, const char* filename, int filesize); + + # Return file index in VFS, or -1 if not found in VFS. + int mj_findFileVFS(const mjVFS* vfs, const char* filename); + + # Delete file from VFS, return 0: success, -1: not found in VFS. + int mj_deleteFileVFS(mjVFS* vfs, const char* filename); + + # Delete all files from VFS. + void mj_deleteVFS(mjVFS* vfs); + + #--------------------- Parse and compile ---------------------------------------------- + + # 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. + mjModel* mj_loadXML(const char* filename, const mjVFS* vfs, + char* error, int error_sz); + + # Update XML data structures with info from low-level model, save as MJCF. + # If error is not NULL, it must have size error_sz. + int mj_saveLastXML(const char* filename, const mjModel* m, + char* error, int error_sz); + + # Free last XML model if loaded. Called internally at each load. + void mj_freeLastXML(); + + # Print internal XML schema as plain text or HTML, with style-padding or  . + int mj_printSchema(const char* filename, char* buffer, int buffer_sz, + int flg_html, int flg_pad); + + + #--------------------- Main simulation ------------------------------------------------ + + # Advance simulation, use control callback to obtain external force and control. + void mj_step(const mjModel* m, mjData* d); + + # Advance simulation in two steps: before external force and control is set by user. + void mj_step1(const mjModel* m, mjData* d); + + # Advance simulation in two steps: after external force and control is set by user. + void mj_step2(const mjModel* m, mjData* d); + + # Forward dynamics: same as mj_step but do not integrate in time. + void mj_forward(const mjModel* m, mjData* d); + + # Inverse dynamics: qacc must be set before calling. + void mj_inverse(const mjModel* m, mjData* d); + + # Forward dynamics with skip; skipstage is mjtStage. + void mj_forwardSkip(const mjModel* m, mjData* d, + int skipstage, int skipsensorenergy); + + # Inverse dynamics with skip; skipstage is mjtStage. + void mj_inverseSkip(const mjModel* m, mjData* d, + int skipstage, int skipsensorenergy); + + + #--------------------- Initialization ------------------------------------------------- + + # Set solver parameters to default values. + void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp); + + # Set physics options to default values. + void mj_defaultOption(mjOption* opt); + + # Set visual options to default values. + void mj_defaultVisual(mjVisual* vis); + + # Copy mjModel, allocate new if dest is NULL. + mjModel* mj_copyModel(mjModel* dest, const mjModel* src); + + # Save model to binary MJB file or memory buffer; buffer has precedence when given. + void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buffer_sz); + + # Load model from binary MJB file. + # If vfs is not NULL, look up file in vfs before reading from disk. + mjModel* mj_loadModel(const char* filename, mjVFS* vfs); + + # Free memory allocation in model. + void mj_deleteModel(mjModel* m); + + # Return size of buffer needed to hold model. + int mj_sizeModel(const mjModel* m); + + # Allocate mjData correponding to given model. + mjData* mj_makeData(const mjModel* m); + + # Copy mjData. + mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src); + + # Reset data to defaults. + void mj_resetData(const mjModel* m, mjData* d); + + # Reset data to defaults, fill everything else with debug_value. + void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_value); + + # Reset data, set fields from specified keyframe. + void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key); + + # Allocate array of specified size on mjData stack. Call mju_error on stack overflow. + mjtNum* mj_stackAlloc(mjData* d, int size); + + # Free memory allocation in mjData. + void mj_deleteData(mjData* d); + + # Reset all callbacks to NULL pointers (NULL is the default). + void mj_resetCallbacks(); + + # Set constant fields of mjModel, corresponding to qpos0 configuration. + # The flag flg_actrange currently has no effect. + void mj_setConst(mjModel* m, mjData* d, int flg_actrange); + + + #--------------------- Printing ------------------------------------------------------- + + # Print model to text file. + void mj_printModel(const mjModel* m, const char* filename); + + # Print data to text file. + void mj_printData(const mjModel* m, mjData* d, const char* filename); + + # Print matrix to screen. + void mju_printMat(const mjtNum* mat, int nr, int nc); + + # Print sparse matrix to screen. + void mju_printMatSparse(const mjtNum* mat, int nr, + const int* rownnz, const int* rowadr, + const int* colind); + + + #--------------------- Components ----------------------------------------------------- + + # Run position-dependent computations. + void mj_fwdPosition(const mjModel* m, mjData* d); + + # Run velocity-dependent computations. + void mj_fwdVelocity(const mjModel* m, mjData* d); + + # Compute actuator force qfrc_actuation. + void mj_fwdActuation(const mjModel* m, mjData* d); + + # Add up all non-constraint forces, compute qacc_unc. + void mj_fwdAcceleration(const mjModel* m, mjData* d); + + # Run selected constraint solver. + void mj_fwdConstraint(const mjModel* m, mjData* d); + + # Euler integrator, semi-implicit in velocity. + void mj_Euler(const mjModel* m, mjData* d); + + # Runge-Kutta explicit order-N integrator. + void mj_RungeKutta(const mjModel* m, mjData* d, int N); + + # Run position-dependent computations in inverse dynamics. + void mj_invPosition(const mjModel* m, mjData* d); + + # Run velocity-dependent computations in inverse dynamics. + void mj_invVelocity(const mjModel* m, mjData* d); + + # Apply the analytical formula for inverse constraint dynamics. + void mj_invConstraint(const mjModel* m, mjData* d); + + # Compare forward and inverse dynamics, save results in fwdinv. + void mj_compareFwdInv(const mjModel* m, mjData* d); + + + #--------------------- Sub components ------------------------------------------------- + + # Evaluate position-dependent sensors. + void mj_sensorPos(const mjModel* m, mjData* d); + + # Evaluate velocity-dependent sensors. + void mj_sensorVel(const mjModel* m, mjData* d); + + # Evaluate acceleration and force-dependent sensors. + void mj_sensorAcc(const mjModel* m, mjData* d); + + # Evaluate position-dependent energy (potential). + void mj_energyPos(const mjModel* m, mjData* d); + + # Evaluate velocity-dependent energy (kinetic). + void mj_energyVel(const mjModel* m, mjData* d); + + # Check qpos, reset if any element is too big or nan. + void mj_checkPos(const mjModel* m, mjData* d); + + # Check qvel, reset if any element is too big or nan. + void mj_checkVel(const mjModel* m, mjData* d); + + # Check qacc, reset if any element is too big or nan. + void mj_checkAcc(const mjModel* m, mjData* d); + + # Run forward kinematics. + void mj_kinematics(const mjModel* m, mjData* d); + + # Map inertias and motion dofs to global frame centered at CoM. + void mj_comPos(const mjModel* m, mjData* d); + + # Compute camera and light positions and orientations. + void mj_camlight(const mjModel* m, mjData* d); + + # Compute tendon lengths, velocities and moment arms. + void mj_tendon(const mjModel* m, mjData* d); + + # Compute actuator transmission lengths and moments. + void mj_transmission(const mjModel* m, mjData* d); + + # Run composite rigid body inertia algorithm (CRB). + void mj_crb(const mjModel* m, mjData* d); + + # Compute sparse L'*D*L factorizaton of inertia matrix. + void mj_factorM(const mjModel* m, mjData* d); + + # Solve linear system M * x = y using factorization: x = inv(L'*D*L)*y + void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n); + + # Half of linear solve: x = sqrt(inv(D))*inv(L')*y + void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n); + + # Compute cvel, cdof_dot. + void mj_comVel(const mjModel* m, mjData* d); + + # Compute qfrc_passive from spring-dampers, viscosity and density. + void mj_passive(const mjModel* m, mjData* d); + + # RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term. + void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result); + + # RNE with complete data: compute cacc, cfrc_ext, cfrc_int. + void mj_rnePostConstraint(const mjModel* m, mjData* d); + + # Run collision detection. + void mj_collision(const mjModel* m, mjData* d); + + # Construct constraints. + void mj_makeConstraint(const mjModel* m, mjData* d); + + # Compute inverse constaint inertia efc_AR. + void mj_projectConstraint(const mjModel* m, mjData* d); + + # Compute efc_vel, efc_aref. + void mj_referenceConstraint(const mjModel* m, mjData* d); + + # 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. + void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar, + mjtNum* cost, int flg_coneHessian); + + + #--------------------- Support -------------------------------------------------------- + + # Add contact to d->contact list; return 0 if success; 1 if buffer full. + int mj_addContact(const mjModel* m, mjData* d, const mjContact* con); + + # Determine type of friction cone. + int mj_isPyramidal(const mjModel* m); + + # Determine type of constraint Jacobian. + int mj_isSparse(const mjModel* m); + + # Determine type of solver (PGS is dual, CG and Newton are primal). + int mj_isDual(const mjModel* m); + + # Multiply dense or sparse constraint Jacobian by vector. + void mj_mulJacVec(const mjModel* m, mjData* d, + mjtNum* res, const mjtNum* vec); + + # Multiply dense or sparse constraint Jacobian transpose by vector. + void mj_mulJacTVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec); + + # Compute 3/6-by-nv end-effector Jacobian of global point attached to given body. + void mj_jac(const mjModel* m, const mjData* d, + mjtNum* jacp, mjtNum* jacr, const mjtNum point[3], int body); + + # Compute body frame end-effector Jacobian. + void mj_jacBody(const mjModel* m, const mjData* d, + mjtNum* jacp, mjtNum* jacr, int body); + + # Compute body center-of-mass end-effector Jacobian. + void mj_jacBodyCom(const mjModel* m, const mjData* d, + mjtNum* jacp, mjtNum* jacr, int body); + + # Compute geom end-effector Jacobian. + void mj_jacGeom(const mjModel* m, const mjData* d, + mjtNum* jacp, mjtNum* jacr, int geom); + + # Compute site end-effector Jacobian. + void mj_jacSite(const mjModel* m, const mjData* d, + mjtNum* jacp, mjtNum* jacr, int site); + + # Compute translation end-effector Jacobian of point, and rotation Jacobian of axis. + void mj_jacPointAxis(const mjModel* m, mjData* d, + mjtNum* jacPoint, mjtNum* jacAxis, + const mjtNum point[3], const mjtNum axis[3], int body); + + # Get id of object with specified name, return -1 if not found; type is mjtObj. + int mj_name2id(const mjModel* m, int type, const char* name); + + # Get name of object with specified id, return 0 if invalid type or id; type is mjtObj. + const char* mj_id2name(const mjModel* m, int type, int id); + + # Convert sparse inertia matrix M into full (i.e. dense) matrix. + void mj_fullM(const mjModel* m, mjtNum* dst, const mjtNum* M); + + # Multiply vector by inertia matrix. + void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec); + + # Add inertia matrix to destination matrix. + # Destination can be sparse uncompressed, or dense when all int* are NULL + void mj_addM(const mjModel* m, mjData* d, mjtNum* dst, + int* rownnz, int* rowadr, int* colind); + + # Apply cartesian force and torque (outside xfrc_applied mechanism). + void mj_applyFT(const mjModel* m, mjData* d, + const mjtNum* force, const mjtNum* torque, + const mjtNum* point, int body, mjtNum* qfrc_target); + + # Compute object 6D velocity in object-centered frame, world/local orientation. + void mj_objectVelocity(const mjModel* m, const mjData* d, + int objtype, int objid, mjtNum* res, int flg_local); + + # Compute object 6D acceleration in object-centered frame, world/local orientation. + void mj_objectAcceleration(const mjModel* m, const mjData* d, + int objtype, int objid, mjtNum* res, int flg_local); + + # Compute velocity by finite-differencing two positions. + void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt, + const mjtNum* qpos1, const mjtNum* qpos2); + + # Extract 6D force:torque for one contact, in contact frame. + void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum* result); + + # Integrate position with given velocity. + void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum dt); + + # Normalize all quaterions in qpos-type vector. + void mj_normalizeQuat(const mjModel* m, mjtNum* qpos); + + # Map from body local to global Cartesian coordinates. + void mj_local2Global(mjData* d, mjtNum* xpos, mjtNum* xmat, + const mjtNum* pos, const mjtNum* quat, int body); + + # Sum all body masses. + mjtNum mj_getTotalmass(const mjModel* m); + + # Scale body masses and inertias to achieve specified total mass. + void mj_setTotalmass(mjModel* m, mjtNum newmass); + + # Return version number: 1.0.2 is encoded as 102. + int mj_version(); + + + #--------------------- Ray collisions ------------------------------------------------- + + # Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude. + # Return geomid and distance (x) to nearest surface, or -1 if no intersection. + # geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion. + mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum* pnt, const mjtNum* vec, + const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude, + int* geomid); + + # Interect ray with hfield, return nearest distance or -1 if no intersection. + mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid, + const mjtNum* pnt, const mjtNum* vec); + + # Interect ray with mesh, return nearest distance or -1 if no intersection. + mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid, + const mjtNum* pnt, const mjtNum* vec); + + # Interect ray with pure geom, return nearest distance or -1 if no intersection. + mjtNum mju_rayGeom(const mjtNum* pos, const mjtNum* mat, const mjtNum* size, + const mjtNum* pnt, const mjtNum* vec, int geomtype); + + + #--------------------- Interaction ---------------------------------------------------- + + # Set default camera. + void mjv_defaultCamera(mjvCamera* cam); + + # Set default perturbation. + void mjv_defaultPerturb(mjvPerturb* pert); + + # Transform pose from room to model space. + void mjv_room2model(mjtNum* modelpos, mjtNum* modelquat, const mjtNum* roompos, + const mjtNum* roomquat, const mjvScene* scn); + + # Transform pose from model to room space. + void mjv_model2room(mjtNum* roompos, mjtNum* roomquat, const mjtNum* modelpos, + const mjtNum* modelquat, const mjvScene* scn); + + # Get camera info in model space; average left and right OpenGL cameras. + void mjv_cameraInModel(mjtNum* headpos, mjtNum* forward, mjtNum* up, + const mjvScene* scn); + + # Get camera info in room space; average left and right OpenGL cameras. + void mjv_cameraInRoom(mjtNum* headpos, mjtNum* forward, mjtNum* up, + const mjvScene* scn); + + # Get frustum height at unit distance from camera; average left and right OpenGL cameras. + mjtNum mjv_frustumHeight(const mjvScene* scn); + + # Rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y). + void mjv_alignToCamera(mjtNum* res, const mjtNum* vec, const mjtNum* forward); + + # Move camera with mouse; action is mjtMouse. + void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy, + const mjvScene* scn, mjvCamera* cam); + + # Move perturb object with mouse; action is mjtMouse. + void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx, + mjtNum reldy, const mjvScene* scn, mjvPerturb* pert); + + # Move model with mouse; action is mjtMouse. + void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy, + const mjtNum* roomup, mjvScene* scn); + + # Copy perturb pos,quat from selected body; set scale for perturbation. + void mjv_initPerturb(const mjModel* m, const mjData* d, + const mjvScene* scn, mjvPerturb* pert); + + # 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. + void mjv_applyPerturbPose(const mjModel* m, mjData* d, const mjvPerturb* pert, + int flg_paused); + + # Set perturb force,torque in d->xfrc_applied, if selected body is dynamic. + void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb* pert); + + # Return the average of two OpenGL cameras. + mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2); + + # Select model geom with mouse, return -1 if none selected. selpnt is the 3D point. + int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt, + mjtNum aspectratio, mjtNum relx, mjtNum rely, + const mjvScene* scn, mjtNum* selpnt); + + + #--------------------- Visualization -------------------------------------------------- + + # Set default visualization options. + void mjv_defaultOption(mjvOption* opt); + + # Set default figure. + void mjv_defaultFigure(mjvFigure* fig); + + # Initialize given geom fields when not NULL, set the rest to their default values. + void mjv_initGeom(mjvGeom* geom, int type, const mjtNum* size, + const mjtNum* pos, const mjtNum* mat, const float* rgba); + + # Set (type, size, pos, mat) for connector-type geom between given points. + # Assume that mjv_initGeom was already called to set all other properties. + void mjv_makeConnector(mjvGeom* geom, int type, mjtNum width, + mjtNum a0, mjtNum a1, mjtNum a2, + mjtNum b0, mjtNum b1, mjtNum b2); + + # Allocate and init abstract scene. + void mjv_makeScene(mjvScene* scn, int maxgeom); + + # Free abstract scene. + void mjv_freeScene(mjvScene* scn); + + # Update entire scene given model state. + void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt, + const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn); + + # Add geoms from selected categories to existing scene. + void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt, + const mjvPerturb* pert, int catmask, mjvScene* scn); + + # Update camera only. + void mjv_updateCamera(const mjModel* m, mjData* d, mjvCamera* cam, mjvScene* scn); + + + #--------------------- OpenGL rendering ----------------------------------------------- + + # Set default mjrContext. + void mjr_defaultContext(mjrContext* con); + + # Allocate resources in custom OpenGL context; fontscale is mjtFontScale. + void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale); + + # Free resources in custom OpenGL context, set to default. + void mjr_freeContext(mjrContext* con); + + # Upload texture to GPU, overwriting previous upload if any. + void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid); + + # Upload mesh to GPU, overwriting previous upload if any. + void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid); + + # Upload height field to GPU, overwriting previous upload if any. + void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid); + + # Set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN. + # If only one buffer is available, set that buffer and ignore framebuffer argument. + void mjr_setBuffer(int framebuffer, mjrContext* con); + + # Read pixels from current OpenGL framebuffer to client buffer. + # Viewport is in OpenGL framebuffer; client buffer starts at (0,0). + void mjr_readPixels(unsigned char* rgb, float* depth, + mjrRect viewport, const mjrContext* con); + + # Draw pixels from client buffer to current OpenGL framebuffer. + # Viewport is in OpenGL framebuffer; client buffer starts at (0,0). + void mjr_drawPixels(const unsigned char* rgb, const float* depth, + mjrRect viewport, const mjrContext* con); + + # 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. + void mjr_blitBuffer(mjrRect src, mjrRect dst, + int flg_color, int flg_depth, const mjrContext* con); + + # Draw text at (x,y) in relative coordinates; font is mjtFont. + void mjr_text(int font, const char* txt, const mjrContext* con, + float x, float y, float r, float g, float b); + + # Draw text overlay; font is mjtFont; gridpos is mjtGridPos. + void mjr_overlay(int font, int gridpos, mjrRect viewport, + const char* overlay, const char* overlay2, const mjrContext* con); + + # Get maximum viewport for active buffer. + mjrRect mjr_maxViewport(const mjrContext* con); + + # Draw rectangle. + void mjr_rectangle(mjrRect viewport, float r, float g, float b, float a); + + # Draw 2D figure. + void mjr_figure(mjrRect viewport, const mjvFigure* fig, const mjrContext* con); + + # Render 3D scene. + void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con); + + # Call glFinish. + void mjr_finish(); + + # Call glGetError and return result. + int mjr_getError(); + + + #--------------------- Error and memory ----------------------------------------------- + + # Main error function; does not return to caller. + void mju_error(const char* msg); + + # Error function with int argument; msg is a printf format string. + void mju_error_i(const char* msg, int i); + + # Error function with string argument. + void mju_error_s(const char* msg, const char* text); + + # Main warning function; returns to caller. + void mju_warning(const char* msg); + + # Warning function with int argument. + void mju_warning_i(const char* msg, int i); + + # Warning function with string argument. + void mju_warning_s(const char* msg, const char* text); + + # Clear user error and memory handlers. + void mju_clearHandlers(); + + # Allocate memory; byte-align on 8; pad size to multiple of 8. + void* mju_malloc(size_t size); + + # Free memory, using free() by default. + void mju_free(void* ptr); + + # High-level warning function: count warnings in mjData, print only the first. + void mj_warning(mjData* d, int warning, int info); + + # Write [datetime, type: message] to MUJOCO_LOG.TXT. + void mju_writeLog(const char* type, const char* msg); + + + #--------------------- Standard math -------------------------------------------------- + +#define mjMAX(a,b) (((a) > (b)) ? (a) : (b)) +#define mjMIN(a,b) (((a) < (b)) ? (a) : (b)) + +#ifdef mjUSEDOUBLE + #define mju_sqrt sqrt + #define mju_exp exp + #define mju_sin sin + #define mju_cos cos + #define mju_tan tan + #define mju_asin asin + #define mju_acos acos + #define mju_atan2 atan2 + #define mju_tanh tanh + #define mju_pow pow + #define mju_abs fabs + #define mju_log log + #define mju_log10 log10 + #define mju_floor floor + #define mju_ceil ceil + +#else + #define mju_sqrt sqrtf + #define mju_exp expf + #define mju_sin sinf + #define mju_cos cosf + #define mju_tan tanf + #define mju_asin asinf + #define mju_acos acosf + #define mju_atan2 atan2f + #define mju_tanh tanhf + #define mju_pow powf + #define mju_abs fabsf + #define mju_log logf + #define mju_log10 log10f + #define mju_floor floorf + #define mju_ceil ceilf +#endif + + + #----------------------------- Vector math -------------------------------------------- + + # Set res = 0. + void mju_zero3(mjtNum res[3]); + + # Set res = vec. + void mju_copy3(mjtNum res[3], const mjtNum data[3]); + + # Set res = vec*scl. + void mju_scl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl); + + # Set res = vec1 + vec2. + void mju_add3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]); + + # Set res = vec1 - vec2. + void mju_sub3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]); + + # Set res = res + vec. + void mju_addTo3(mjtNum res[3], const mjtNum vec[3]); + + # Set res = res - vec. + void mju_subFrom3(mjtNum res[3], const mjtNum vec[3]); + + # Set res = res + vec*scl. + void mju_addToScl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl); + + # Set res = vec1 + vec2*scl. + void mju_addScl3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3], mjtNum scl); + + # Normalize vector, return length before normalization. + mjtNum mju_normalize3(mjtNum res[3]); + + # Return vector length (without normalizing the vector). + mjtNum mju_norm3(const mjtNum vec[3]); + + # Return dot-product of vec1 and vec2. + mjtNum mju_dot3(const mjtNum vec1[3], const mjtNum vec2[3]); + + # Return Cartesian distance between 3D vectors pos1 and pos2. + mjtNum mju_dist3(const mjtNum pos1[3], const mjtNum pos2[3]); + + # Multiply vector by 3D rotation matrix: res = mat * vec. + void mju_rotVecMat(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]); + + # Multiply vector by transposed 3D rotation matrix: res = mat' * vec. + void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]); + + # Compute cross-product: res = cross(a, b). + void mju_cross(mjtNum res[3], const mjtNum a[3], const mjtNum b[3]); + + # Set res = 0. + void mju_zero4(mjtNum res[4]); + + # Set res = (1,0,0,0). + void mju_unit4(mjtNum res[4]); + + # Set res = vec. + void mju_copy4(mjtNum res[4], const mjtNum data[4]); + + # Normalize vector, return length before normalization. + mjtNum mju_normalize4(mjtNum res[4]); + + # Set res = 0. + void mju_zero(mjtNum* res, int n); + + # Set res = vec. + void mju_copy(mjtNum* res, const mjtNum* data, int n); + + # Set res = vec*scl. + void mju_scl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n); + + # Set res = vec1 + vec2. + void mju_add(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n); + + # Set res = vec1 - vec2. + void mju_sub(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n); + + # Set res = res + vec. + void mju_addTo(mjtNum* res, const mjtNum* vec, int n); + + # Set res = res - vec. + void mju_subFrom(mjtNum* res, const mjtNum* vec, int n); + + # Set res = res + vec*scl. + void mju_addToScl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n); + + # Set res = vec1 + vec2*scl. + void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl, int n); + + # Normalize vector, return length before normalization. + mjtNum mju_normalize(mjtNum* res, int n); + + # Return vector length (without normalizing vector). + mjtNum mju_norm(const mjtNum* res, int n); + + # Return dot-product of vec1 and vec2. + mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, const int n); + + # Multiply matrix and vector: res = mat * vec. + void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, + int nr, int nc); + + # Multiply transposed matrix and vector: res = mat' * vec. + void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, + int nr, int nc); + + # Transpose matrix: res = mat'. + void mju_transpose(mjtNum* res, const mjtNum* mat, int nr, int nc); + + # Multiply matrices: res = mat1 * mat2. + void mju_mulMatMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2, + int r1, int c1, int c2); + + # Multiply matrices, second argument transposed: res = mat1 * mat2'. + void mju_mulMatMatT(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2, + int r1, int c1, int r2); + + # Multiply matrices, first argument transposed: res = mat1' * mat2. + void mju_mulMatTMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2, + int r1, int c1, int c2); + + # Set res = mat' * diag * mat if diag is not NULL, and res = mat' * mat otherwise. + void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, int nc); + + # 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. + void mju_transformSpatial(mjtNum res[6], const mjtNum vec[6], int flg_force, + const mjtNum newpos[3], const mjtNum oldpos[3], + const mjtNum rotnew2old[9]); + + + #--------------------- Sparse math ---------------------------------------------------- + + # Return dot-product of vec1 and vec2, where vec1 is sparse. + mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2, + const int nnz1, const int* ind1); + + # Return dot-product of vec1 and vec2, where both vectors are sparse. + mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2, + const int nnz1, const int* ind1, + const int nnz2, const int* ind2); + + # Convert matrix from dense to sparse format. + void mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc, + int* rownnz, int* rowadr, int* colind); + + # Convert matrix from sparse to dense format. + void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc, + const int* rownnz, const int* rowadr, const int* colind); + + # Multiply sparse matrix and dense vector: res = mat * vec. + void mju_mulMatVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, + const int* rownnz, const int* rowadr, const int* colind); + + # Compress layout of sparse matrix. + void mju_compressSparse(mjtNum* mat, int nr, int nc, + int* rownnz, int* rowadr, int* colind); + + # Set dst = a*dst + b*src, return nnz of result, modify dst sparsity pattern as needed. + # Both vectors are sparse. The required scratch space is 2*n. + int mju_combineSparse(mjtNum* dst, const mjtNum* src, int n, mjtNum a, mjtNum b, + int dst_nnz, int src_nnz, int* dst_ind, const int* src_ind, + mjtNum* scratch, int nscratch); + + # Set res = matT * diag * mat if diag is not NULL, and res = matT * mat otherwise. + # The required scratch space is 3*nc. The result has uncompressed layout. + void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT, + const mjtNum* diag, int nr, int nc, + int* res_rownnz, int* res_rowadr, int* res_colind, + const int* rownnz, const int* rowadr, const int* colind, + const int* rownnzT, const int* rowadrT, const int* colindT, + mjtNum* scratch, int nscratch); + + # Transpose sparse matrix. + void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc, + int* res_rownnz, int* res_rowadr, int* res_colind, + const int* rownnz, const int* rowadr, const int* colind); + + + #--------------------- Quaternions ---------------------------------------------------- + + # Rotate vector by quaternion. + void mju_rotVecQuat(mjtNum res[3], const mjtNum vec[3], const mjtNum quat[4]); + + # Negate quaternion. + void mju_negQuat(mjtNum res[4], const mjtNum quat[4]); + + # Muiltiply quaternions. + void mju_mulQuat(mjtNum res[4], const mjtNum quat1[4], const mjtNum quat2[4]); + + # Muiltiply quaternion and axis. + void mju_mulQuatAxis(mjtNum res[4], const mjtNum quat[4], const mjtNum axis[3]); + + # Convert axisAngle to quaternion. + void mju_axisAngle2Quat(mjtNum res[4], const mjtNum axis[3], mjtNum angle); + + # Convert quaternion (corresponding to orientation difference) to 3D velocity. + void mju_quat2Vel(mjtNum res[3], const mjtNum quat[4], mjtNum dt); + + # Convert quaternion to 3D rotation matrix. + void mju_quat2Mat(mjtNum res[9], const mjtNum quat[4]); + + # Convert 3D rotation matrix to quaterion. + void mju_mat2Quat(mjtNum quat[4], const mjtNum mat[9]); + + # Compute time-derivative of quaternion, given 3D rotational velocity. + void mju_derivQuat(mjtNum res[4], const mjtNum quat[4], const mjtNum vel[3]); + + # Integrate quaterion given 3D angular velocity. + void mju_quatIntegrate(mjtNum quat[4], const mjtNum vel[3], mjtNum scale); + + # Construct quaternion performing rotation from z-axis to given vector. + void mju_quatZ2Vec(mjtNum quat[4], const mjtNum vec[3]); + + + #--------------------- Poses ---------------------------------------------------------- + + # Multiply two poses. + void mju_mulPose(mjtNum posres[3], mjtNum quatres[4], + const mjtNum pos1[3], const mjtNum quat1[4], + const mjtNum pos2[3], const mjtNum quat2[4]); + + # Negate pose. + void mju_negPose(mjtNum posres[3], mjtNum quatres[4], + const mjtNum pos[3], const mjtNum quat[4]); + + # Transform vector by pose. + void mju_trnVecPose(mjtNum res[3], const mjtNum pos[3], const mjtNum quat[4], + const mjtNum vec[3]); + + + #--------------------- Decompositions -------------------------------------------------- + + # Cholesky decomposition: mat = L*L'; return rank. + int mju_cholFactor(mjtNum* mat, int n); + + # Solve mat * res = vec, where mat is Cholesky-factorized + void mju_cholSolve(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n); + + # Cholesky rank-one update: L*L' +/- x*x'; return rank. + int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus); + + # Sparse reverse-order Cholesky decomposition: mat = L'*L; return 'rank'. + # mat must have uncompressed layout; rownnz is modified to end at diagonal. + # The required scratch space is 2*n. + int mju_cholFactorSparse(mjtNum* mat, int n, + int* rownnz, int* rowadr, int* colind, + mjtNum* scratch, int nscratch); + + # Solve mat * res = vec, where mat is sparse reverse-order Cholesky factorized. + void mju_cholSolveSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n, + const int* rownnz, const int* rowadr, const int* colind); + + # Sparse reverse-order Cholesky rank-one update: L'*L +/- x*x'; return rank. + # The vector x is sparse; changes in sparsity pattern of mat are not allowed. + # The required scratch space is 2*n. + int mju_cholUpdateSparse(mjtNum* mat, mjtNum* x, int n, int flg_plus, + int* rownnz, int* rowadr, int* colind, int x_nnz, int* x_ind, + mjtNum* scratch, int nscratch); + + # Eigenvalue decomposition of symmetric 3x3 matrix. + int mju_eig3(mjtNum* eigval, mjtNum* eigvec, mjtNum* quat, const mjtNum* mat); + + + #--------------------- Miscellaneous -------------------------------------------------- + + # Muscle model; not yet implemented. + mjtNum mju_muscleFVL(mjtNum len, mjtNum vel, mjtNum lmin, mjtNum lmax, mjtNum* prm); + + # Passive muscle force; not yet implemented. + mjtNum mju_musclePassive(mjtNum len, mjtNum lmin, mjtNum lmax, mjtNum* prm); + + # Pneumatic cylinder dynamics; not yet implemented. + mjtNum mju_pneumatic(mjtNum len, mjtNum len0, mjtNum vel, mjtNum* prm, + mjtNum act, mjtNum ctrl, mjtNum timestep, mjtNum* jac); + + # Convert contact force to pyramid representation. + void mju_encodePyramid(mjtNum* pyramid, const mjtNum* force, + const mjtNum* mu, int dim); + + # Convert pyramid representation to contact force. + void mju_decodePyramid(mjtNum* force, const mjtNum* pyramid, + const mjtNum* mu, int dim); + + # Integrate spring-damper analytically, return pos(dt). + mjtNum mju_springDamper(mjtNum pos0, mjtNum vel0, mjtNum Kp, mjtNum Kv, mjtNum dt); + + # Return min(a,b) with single evaluation of a and b. + mjtNum mju_min(mjtNum a, mjtNum b); + + # Return max(a,b) with single evaluation of a and b. + mjtNum mju_max(mjtNum a, mjtNum b); + + # Return sign of x: +1, -1 or 0. + mjtNum mju_sign(mjtNum x); + + # Round x to nearest integer. + int mju_round(mjtNum x); + + # Convert type id (mjtObj) to type name. + const char* mju_type2Str(int type); + + # Convert type name to type id (mjtObj). + int mju_str2Type(const char* str); + + # Construct a warning message given the warning type and info. + const char* mju_warningText(int warning, int info); + + # Return 1 if nan or abs(x)>mjMAXVAL, 0 otherwise. Used by check functions. + int mju_isBad(mjtNum x); + + # Return 1 if all elements are 0. + int mju_isZero(mjtNum* vec, int n); + + # Standard normal random number generator (optional second number). + mjtNum mju_standardNormal(mjtNum* num2); + + # Convert from float to mjtNum. + void mju_f2n(mjtNum* res, const float* vec, int n); + + # Convert from mjtNum to float. + void mju_n2f(float* res, const mjtNum* vec, int n); + + # Convert from double to mjtNum. + void mju_d2n(mjtNum* res, const double* vec, int n); + + # Convert from mjtNum to double. + void mju_n2d(double* res, const mjtNum* vec, int n); + + # Insertion sort, resulting list is in increasing order. + void mju_insertionSort(mjtNum* list, int n); + + # Generate Halton sequence. + mjtNum mju_Halton(int index, int base); + diff --git a/mujoco_py/test_imgs/test_materials.premod.png b/mujoco_py/test_imgs/test_materials.premod.png new file mode 100644 index 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+ + + + + + + + + + + + + + + + + + + + + + + + +

z@3aBI2mWinktLTGY-1bZwtNGmt$0yB{f~>oU@A?4 zd$vj&m{4r>WNUa~SI>D{L@ZlrUqfYjDKO=|s0{L=x{~O;jiqzc+b3m_uHE}`eSaiBV5U-#u!Pv`$~Sv%{BQ24Zug|HGZD`$DJutw ze1Ex~OIu+n*I>N*=rJ?!D*oX?{h{qg11}q zrb`I}@ouyG-CR6#ia2+lJHqVlEaLYw8LPjuE7@MSwGTt#Y&5VMoUZAL^kK^6-zHG} z72d|=)@Ed=^1q^2JMpb@#CIdqnRE;+&^T!N6XGXG zI+VB;bHiGRH>3XL?2p!=9yjr@}WoMZ3aTZqJ)f`@5&#ZmYprww5o{;-W=Uq)23 zM@Bo1jW5~^5PuVo-pDu_pHQY`ZgZ#1bonG3Z21z2QCjH--lj64RsyK9}Pd;h$jiDH-m=p~Ry6DYG z*j1BWbDhca)whOM>3e6z-h#~Q$CXz7*@+}1Y+HYFUg6)|G6W?CKFih98Y!%G8if;E zF^|ux=)VxMLRCu}FpS;o7nSesga(mB=0#L5QLiqw(!FwdyDN+6d=ky69n#X-X!i0p_EUO5jCst{MAfBn zPA6S-*U=7>H8F2foC;P+Jnc zXdtJt%}^rF%GPE5G+<)-Ig87S=fSf%Hpa+rP}sQgFXbn$r>v(euc^cl&Gk>*st0mX zEQ=1AWvr!QH39X#h^EoV=G!0O4$^*E1!e#5Y3m>Y$wt(dA0!Z3Jv|F-_Zd5Yo*E-w z+PQf>!@z)ti8)u^EaT{23FAG5KrqTXYO`EmChk^cWd2E33T%c1r@a#ztQchO_+J^A zj^l6NX!EJd?szDQj`7*5iF%&Eup%kQfA=je{Uhf90b?^|+~33A1#B$(eb88m=}D4C z)`^iY#{1&25p8T`wij{2x7IEiM~KnIe@-L8V&CP0aiwVFj)n!|^_4|)Zt=dCGpzL; zGjX)LB65%aE`b?Ue)o%cB4d>U?}|Ey;3wsCx($r}-d&vD9QFM~77SlOQ8nF}tsMFL z<`G6OdFX*_eT=8=0Me1Le$^`ZS-7ypocTgRiOed=D1Qc;JTfuzO%o?D5UCHW!>SE* zv6x-AYQls~;A=brvq#8e3?m(d#Uh&*=#Qnq3~N_w*F(Sj>H%puXqH^Oro&CC!khv) zcZ_n$Zw7Rk$#)F`Jaa=4P^$b+?gEAGuXM7$l(q6DC(GzJZn-M4Waw&wL5$`p@OQPPE-a-s^yLZOG|R$tFid zkb7eghC33XG>=<&FcLxpQ1_6Y@?#Gs5grA}XcI%blNKbzz(Q;5BGk;Vw!Ikl?C{>RB zUYhY0#Bxt`gB@XW=$KJu=}%r32HAo}dfJz{w#+Y&jqxBGf$fvEcNbBKCIz_n%S5@i zHRSoYXUbxG-ie}l&H&jEBg3oyJ)f&0yvD=>at$f!wpDY~!`DwqBGP}xeiIi=5@r5T zK8hG83vHM!%!n?di9#dk_)J+*^Hi1cPd&1Y6;MjjF9|LPofOR-BhJ8Xvrm{X)x{hMenJ zACZAY18-c3U$%HRu`JTI>D-%G(1qPKc-y-+{Gu|2*x-@m + + + + + + \ No newline at end of file diff --git a/mujoco_py/tests/test.xml b/mujoco_py/tests/test.xml new file mode 100644 index 00000000..f78fb3f1 --- /dev/null +++ b/mujoco_py/tests/test.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/mujoco_py/tests/test_cymj.py b/mujoco_py/tests/test_cymj.py new file mode 100644 index 00000000..ffd1eb05 --- /dev/null +++ b/mujoco_py/tests/test_cymj.py @@ -0,0 +1,691 @@ +import pytest +from numbers import Number +from io import BytesIO, StringIO +import numpy as np +from numpy.testing import assert_array_equal, assert_array_almost_equal +from mujoco_py import (MjSim, MjSimPool, load_model_from_xml, + load_model_from_path, MjSimState, + ignore_mujoco_warnings, + load_model_from_mjb) +from mujoco_py import const, cymj +from mujoco_py.tests.utils import compare_imgs, requires_rendering +import scipy.misc +import os +import shutil +import glob +from multiprocessing import get_context +import sys + + +BASIC_MODEL_XML = """ + + + + + + + + + + + + + + + + + + + +""" + +def test_nested(): + model = load_model_from_xml(BASIC_MODEL_XML) + model.vis.global_.fovy + model.vis.quality.shadowsize + + +def test_mj_sim_basics(): + model = load_model_from_xml(BASIC_MODEL_XML) + sim = MjSim(model, nsubsteps=2) + + sim.reset() + sim.step() + sim.reset() + sim.forward() + + +@requires_rendering +def test_arrays_of_objs(): + model = load_model_from_xml(BASIC_MODEL_XML) + sim = MjSim(model) + sim.forward() + renderer = cymj.MjRenderContext(sim, offscreen=True) + assert len(renderer.scn.camera) == 2, "Expecting scn.camera to be available" + + +def test_model_save_load(): + model = load_model_from_xml(BASIC_MODEL_XML) + xml_from_model = model.get_xml() + model_from_xml = load_model_from_xml(xml_from_model) + assert(xml_from_model == model_from_xml.get_xml()) + mjb_from_model = model.get_mjb() + model_from_mjb = load_model_from_mjb(mjb_from_model) + assert(mjb_from_model == model_from_mjb.get_mjb()) + + +def test_sim_save(): + model = load_model_from_xml(BASIC_MODEL_XML) + assert model.nkey == 0 + sim = MjSim(model) + + with StringIO() as f: + sim.save(f) + + f.seek(0) + loaded_model = load_model_from_xml(f.read()) + + assert loaded_model.nkey == 1 + + with BytesIO() as f: + sim.save(f, format='mjb') + + f.seek(0) + loaded_model = load_model_from_mjb(f.read()) + assert loaded_model.nkey == 1 + + +def test_mj_sim_buffers(): + model = load_model_from_xml(BASIC_MODEL_XML) + + # test no callback + sim = MjSim(model, nsubsteps=2) + assert(sim.udd_state == {}) + + sim.step() + assert(sim.udd_state == {}) + + # test with callback + foo = 10 + d = {"foo": foo, + "foo_2": np.array([foo, foo])} + + def udd_callback(sim): + return d + + sim = MjSim(model, nsubsteps=2, udd_callback=udd_callback) + + assert(sim.udd_state is not None) + assert(sim.udd_state["foo"] == foo) + assert(sim.udd_state["foo_2"].shape[0] == 2) + assert(sim.udd_state["foo_2"][0] == foo) + + foo = 11 + d = {"foo": foo, + "foo_2": np.array([foo, foo])} + sim.step() + assert(sim.udd_state is not None) + assert(sim.udd_state["foo"] == foo) + assert(sim.udd_state["foo_2"][0] == foo) + + d = {} + with pytest.raises(AssertionError): + sim.step() + + d = {"foo": foo, + "foo_2": np.array([foo, foo]), + "foo_3": foo} + with pytest.raises(AssertionError): + sim.step() + + d = {"foo": foo, + "foo_2": np.array([foo, foo, foo])} + with pytest.raises(AssertionError): + sim.step() + + d = {"foo": "haha", + "foo_2": np.array([foo, foo, foo])} + with pytest.raises(AssertionError): + sim.step() + + +def test_mj_sim_pool_buffers(): + model = load_model_from_xml(BASIC_MODEL_XML) + + foo = 10 + + def udd_callback(sim): + return {"foo": foo} + + sims = [MjSim(model, udd_callback=udd_callback) for _ in range(2)] + sim_pool = MjSimPool(sims, nsubsteps=2) + + for i in range(len(sim_pool.sims)): + assert(sim_pool.sims[i].udd_state is not None) + assert(sim_pool.sims[i].udd_state["foo"] == 10) + + foo = 11 + sim_pool.step() + for i in range(len(sim_pool.sims)): + assert(sim_pool.sims[i].udd_state is not None) + assert(sim_pool.sims[i].udd_state["foo"] == 11) + + +def test_mj_sim_pool_basics(): + model = load_model_from_xml(BASIC_MODEL_XML) + sims = [MjSim(model) for _ in range(2)] + sim_pool = MjSimPool(sims, nsubsteps=2) + + sim_pool.reset() + sim_pool.step() + sim_pool.forward() + + +def test_data_attribute_getters(): + model = load_model_from_xml(BASIC_MODEL_XML) + sim = MjSim(model) + sim.forward() + + assert_array_equal(sim.data.get_body_xpos("body1"), [0, 0, 1]) + with pytest.raises(ValueError): + sim.data.get_body_xpos("body_foo") + with pytest.raises(RuntimeError): + sim.data.get_xpos("body1") + assert len(sim.data.get_body_xquat("body1")) == 4 + assert_array_equal(sim.data.get_body_xmat("body1").shape, (3, 3)) + # At (0, 1, 1) since the geom is displaced in the body + assert_array_equal(sim.data.get_body_xipos("body1"), [0, 1, 1]) + + assert_array_equal(sim.data.get_site_xpos("site1"), [1, 0, 1]) + assert_array_equal(sim.data.get_site_xmat("site1").shape, (3, 3)) + assert_array_equal(sim.data.get_geom_xpos("geom1"), [0.5, 0.4, 0.3]) + assert_array_equal(sim.data.get_geom_xpos("geom2"), [0, 1, 1]) + assert_array_equal(sim.data.get_geom_xmat("geom2").shape, (3, 3)) + assert_array_equal(sim.data.get_light_xpos("light1"), [0, 0, 3]) + assert_array_equal(sim.data.get_light_xdir("light1"), [0, 0, -1]) + assert_array_equal(sim.data.get_camera_xpos("camera1"), [3, 0, 0]) + assert_array_equal(sim.data.get_camera_xmat("camera1").shape, (3, 3)) + + assert_array_equal(sim.data.get_joint_xaxis("joint1"), [0, 0, 1]) + assert_array_equal(sim.data.get_joint_xanchor("joint1"), [0, 0, 1]) + + +def test_joint_qpos_qvel_ops(): + model = load_model_from_xml(BASIC_MODEL_XML) + sim = MjSim(model) + sim.forward() + + # Test setting one with a list + sim.data.set_joint_qpos("joint1", [1, 2, 3, 1, 0, 0, 0]) + # And the other with an np.ndarray + sim.data.set_joint_qvel("joint1", np.array([1, 2, 3, 0.1, 0.1, 0.1])) + sim.forward() + assert_array_equal(sim.data.get_joint_qpos( + "joint1"), [1, 2, 3, 1, 0, 0, 0]) + assert_array_equal(sim.data.get_joint_qvel( + "joint1"), [1, 2, 3, 0.1, 0.1, 0.1]) + + +def test_mocap_ops(): + model = load_model_from_xml(BASIC_MODEL_XML) + sim = MjSim(model) + sim.forward() + + assert_array_equal(sim.data.get_body_xpos("mocap1"), [1, 0, 0]) + assert_array_equal(sim.data.get_mocap_pos("mocap1"), [1, 0, 0]) + assert_array_equal(sim.data.get_mocap_quat("mocap1"), [1, 0, 0, 0]) + new_pos = [2, 1, 1] + new_quat = [0.707107, 0.707107, 0, 0] + sim.data.set_mocap_pos("mocap1", new_pos) + sim.data.set_mocap_quat("mocap1", new_quat) + sim.forward() + assert_array_equal(sim.data.get_mocap_pos("mocap1"), new_pos) + assert_array_almost_equal(sim.data.get_mocap_quat("mocap1"), new_quat) + assert_array_equal(sim.data.get_body_xpos("mocap1"), new_pos) + assert_array_almost_equal(sim.data.get_body_xquat("mocap1"), new_quat) + assert_array_almost_equal(sim.data.get_body_xmat("mocap1"), + [[1, 0, 0], [0, 0, -1], [0, 1, 0]]) + + +def test_sim_state(): + model = load_model_from_xml(BASIC_MODEL_XML) + + foo = 10 + d = {"foo": foo, + "foo_array": np.array([foo, foo, foo]), + "foo_2darray": np.reshape(np.array([foo, foo, foo, foo]), (2, 2)), + } + + def udd_callback(sim): + return d + + sim = MjSim(model, nsubsteps=2, udd_callback=udd_callback) + + state = sim.get_state() + assert np.array_equal(state.time, sim.data.time) + assert np.array_equal(state.qpos, sim.data.qpos) + assert np.array_equal(state.qvel, sim.data.qvel) + assert np.array_equal(state.act, sim.data.act) + for k in state.udd_state.keys(): + if (isinstance(state.udd_state[k], Number)): + assert state.udd_state[k] == sim.udd_state[k] + else: + assert np.array_equal(state.udd_state[k], sim.udd_state[k]) + + # test flatten, unflatten + a = state.flatten() + + assert len(a) == (1 + sim.model.nq + sim.model.nv + sim.model.na + 8) + + state2 = MjSimState.from_flattened(a, sim) + + assert np.array_equal(state.time, sim.data.time) + assert np.array_equal(state.qpos, sim.data.qpos) + assert np.array_equal(state.qvel, sim.data.qvel) + assert np.array_equal(state.act, sim.data.act) + for k in state2.udd_state.keys(): + if (isinstance(state2.udd_state[k], Number)): + assert state2.udd_state[k] == sim.udd_state[k] + else: + assert np.array_equal(state2.udd_state[k], sim.udd_state[k]) + + assert state2 == state + assert not state2 != state + + # test equality with deleting keys + state2 = state2._replace(udd_state={"foo": foo}) + assert state2 != state + assert not (state2 == state) + + # test equality with changing contents of array + state2 = state2._replace( + udd_state={"foo": foo, "foo_array": np.array([foo, foo + 1])}) + assert state2 != state + assert not (state2 == state) + + # test equality with adding keys + d2 = dict(d) + d2.update({"not_foo": foo}) + state2 = state2._replace(udd_state=d2) + assert state2 != state + assert not (state2 == state) + + # test defensive copy + sim.set_state(state) + state.qpos[0] = -1 + assert not np.array_equal(state.qpos, sim.data.qpos) + + state3 = sim.get_state() + state3.qpos[0] = -1 + assert not np.array_equal(state3.qpos, sim.data.qpos) + state3.udd_state["foo_array"][0] = -1 + assert not np.array_equal( + state3.udd_state["foo_array"], sim.udd_state["foo_array"]) + + # test no callback + sim = MjSim(model, nsubsteps=2) + state = sim.get_state() + print("state.udd_state = %s" % state.udd_state) + + assert state.udd_state == {} + + # test flatten, unflatten + a = state.flatten() + + assert len(a) == 1 + sim.model.nq + sim.model.nv + sim.model.na + + state2 = MjSimState.from_flattened(a, sim) + + assert np.array_equal(state.time, sim.data.time) + assert np.array_equal(state.qpos, sim.data.qpos) + assert np.array_equal(state.qvel, sim.data.qvel) + assert np.array_equal(state.act, sim.data.act) + assert state.udd_state == sim.udd_state + + +def test_mj_warning_raises(): + ''' Test that MuJoCo warnings cause exceptions. ''' + # Two boxes on a plane need more than 1 contact (nconmax) + xml = ''' + + + + + + + + + ''' + model = load_model_from_xml(xml) + sim = MjSim(model) + + sim.reset() + with pytest.raises(Exception): + # This should raise an exception due to the mujoco warning callback + sim.step() + + +def test_ignore_mujoco_warnings(): + # Two boxes on a plane need more than 1 contact (nconmax) + xml = ''' + + + + + + + + + ''' + model = load_model_from_xml(xml) + sim = MjSim(model) + + sim.reset() + with ignore_mujoco_warnings(): + # This should raise an exception due to the mujoco warning callback, + # but it's suppressed by the context manager. + sim.step() + + sim.reset() + with pytest.raises(Exception): + # test to make sure previous warning callback restored. + sim.step() + + +def test_jacobians(): + xml = """ + + + + + + + + + + + + + + + + + + """ + model = load_model_from_xml(xml) + sim = MjSim(model) + sim.reset() + # After reset jacobians are all zeros + target_jacp = np.zeros(3 * sim.model.nv) + sim.data.get_site_jacp('target', jacp=target_jacp) + np.testing.assert_allclose(target_jacp, np.zeros(3 * sim.model.nv)) + # After first forward, jacobians are real + sim.forward() + sim.data.get_site_jacp('target', jacp=target_jacp) + target_test = np.array([0, 0, -1, 1, 0, 0]) + np.testing.assert_allclose(target_jacp, target_test) + # Should be unchanged after steps (zero action) + for _ in range(2): + sim.step() + sim.forward() + sim.data.get_site_jacp('target', jacp=target_jacp) + assert np.linalg.norm(target_jacp - target_test) < 1e-3 + # Apply a very large action, ensure jacobian unchanged after step + sim.reset() + sim.forward() + sim.data.ctrl[:] = np.ones(sim.model.nu) * 1e9 + sim.step() + sim.data.get_site_jacp('target', jacp=target_jacp) + np.testing.assert_allclose(target_jacp, target_test) + # After large action, ensure jacobian changed after forward + sim.forward() + sim.data.get_site_jacp('target', jacp=target_jacp) + assert not np.allclose(target_jacp, target_test) + # Test the `site_jacp` property, which gets all at once + np.testing.assert_allclose(target_jacp, sim.data.site_jacp[0]) + # Test not passing in array + sim.reset() + sim.forward() + target_jacp = sim.data.get_site_jacp('target') + np.testing.assert_allclose(target_jacp, target_test) + # Test passing in bad array (long instead of double) + target_jacp = np.zeros(3 * sim.model.nv, dtype=np.long) + with pytest.raises(ValueError): + sim.data.get_site_jacp('target', jacp=target_jacp) + # Test rotation jacobian - like above but 'jacr' instead of 'jacp' + # After reset jacobians are all zeros + sim.reset() + target_jacr = np.zeros(3 * sim.model.nv) + sim.data.get_site_jacr('target', jacr=target_jacr) + np.testing.assert_allclose(target_jacr, np.zeros(3 * sim.model.nv)) + # After first forward, jacobians are real + sim.forward() + sim.data.get_site_jacr('target', jacr=target_jacr) + target_test = np.array([1, 1, 0, 0, 0, 0]) + # Test allocating dedicated array + target_jacr = sim.data.get_site_jacr('target') + np.testing.assert_allclose(target_jacr, target_test) + # Test the batch getter (all sites at once) + np.testing.assert_allclose(target_jacr, sim.data.site_jacr[0]) + # Test passing in bad array + target_jacr = np.zeros(3 * sim.model.nv, dtype=np.long) + with pytest.raises(ValueError): + sim.data.get_site_jacr('target', jacr=target_jacr) + + +def test_xvelp(): # xvelp = positional velocity in world frame + xml = """ + + + + + + + + + + + + + + + + + + """ + model = load_model_from_xml(xml) + sim = MjSim(model) + sim.reset() + sim.forward() + # Check that xvelp starts out at zero (since qvel is zero) + site1_xvelp = sim.data.get_site_xvelp('site1') + np.testing.assert_allclose(site1_xvelp, np.zeros(3)) + # Push the base body and step forward to get it moving + sim.data.ctrl[0] = 1e9 + sim.step() + sim.forward() + # Check that the first body has nonzero xvelp + body1_xvelp = sim.data.get_body_xvelp('body1') + assert not np.allclose(body1_xvelp, np.zeros(3)) + # Check that the second body has zero xvelp (still) + body2_xvelp = sim.data.get_body_xvelp('body2') + np.testing.assert_allclose(body2_xvelp, np.zeros(3)) + # Check that this matches the batch (gathered) getter property + np.testing.assert_allclose(body2_xvelp, sim.data.body_xvelp[2]) + + +def test_xvelr(): # xvelr = rotational velocity in world frame + xml = """ + + + + + + + + + + + + + + + + + + """ + model = load_model_from_xml(xml) + sim = MjSim(model) + sim.reset() + sim.forward() + # Check that xvelr starts out at zero (since qvel is zero) + site1_xvelr = sim.data.get_site_xvelr('site1') + np.testing.assert_allclose(site1_xvelr, np.zeros(3)) + # Push the base body and step forward to get it moving + sim.data.ctrl[0] = 1e9 + sim.step() + sim.forward() + # Check that the first body has nonzero xvelr + body1_xvelr = sim.data.get_body_xvelr('body1') + assert not np.allclose(body1_xvelr, np.zeros(3)) + # Check that the second body has zero xvelr (still) + body2_xvelr = sim.data.get_body_xvelr('body2') + np.testing.assert_allclose(body2_xvelr, np.zeros(3)) + # Check that this matches the batch (gathered) getter property + np.testing.assert_allclose(body2_xvelr, sim.data.body_xvelr[2]) + + +@requires_rendering +def test_rendering(): + model = load_model_from_xml(BASIC_MODEL_XML) + sim = MjSim(model) + sim.forward() + + img, depth = sim.render(200, 200, depth=True) + assert img.shape == (200, 200, 3) + compare_imgs(img, 'test_rendering.freecam.png') + + depth = (depth - np.min(depth)) / (np.max(depth) - np.min(depth)) + depth = np.asarray(depth * 255, dtype=np.uint8) + assert depth.shape == (200, 200) + compare_imgs(depth, 'test_rendering.freecam.depth.png') + + img = sim.render(100, 100, camera_name="camera1") + assert img.shape == (100, 100, 3) + compare_imgs(img, 'test_rendering.camera1.png') + + img = sim.render(200, 100, camera_name="camera1") + assert img.shape == (100, 200, 3) + compare_imgs(img, 'test_rendering.camera1.narrow.png') + + render_context = sim.render_contexts[0] + render_context.add_marker(size=np.array([.4, .5, .6]), + pos=np.array([.4, .5, .6]), + rgba=np.array([.7, .8, .9, 1.0]), + label="mark") + img = sim.render(200, 200, camera_name="camera1") + assert img.shape == (200, 200, 3) + compare_imgs(img, 'test_rendering_markers.camera1.png') + + +@requires_rendering +def test_rendering_failing(): + model = load_model_from_xml(BASIC_MODEL_XML) + sim = MjSim(model) + sim.forward() + sim.render(100, 100) + render_context = sim.render_contexts[0] + render_context.add_marker(size=np.array([.4, .5, .6]), + pos=np.array([.4, .5, .6]), + rgba=np.array([.7, .8, .9, 1.0]), + label="blaaaa") + img = sim.render(200, 200, camera_name="camera1") + assert img.shape == (200, 200, 3) + try: + compare_imgs(img, 'test_rendering_markers.camera1.png') + assert False + except Exception as e: + pass + + +@requires_rendering +def test_viewercontext(): + model = load_model_from_xml(BASIC_MODEL_XML) + sim = MjSim(model) + sim.forward() + renderer = cymj.MjRenderContext(sim, offscreen=True) + renderer.add_marker(type=const.GEOM_SPHERE, + size=np.ones(3) * 0.1, + pos=np.zeros(3), + mat=np.eye(3).flatten(), + rgba=np.ones(4), + label="mark") + + +@requires_rendering +def test_many_sims_rendering(): + model = load_model_from_xml(BASIC_MODEL_XML) + sims = [MjSim(model) for _ in range(5)] + pool = MjSimPool(sims) + pool.forward() + for sim in sims: + img, depth = sim.render(200, 200, depth=True) + assert img.shape == (200, 200, 3) + compare_imgs(img, 'test_rendering.freecam.png') + + +def test_xml_from_path(): + model = load_model_from_path("mujoco_py/tests/test.xml") + sim = MjSim(model) + xml = model.get_xml() + assert xml.find("blabla") > -1, "include should be embeeded" + assert xml.find("include") == - \ + 1, "include should be parsed and not present" + + +def test_sensors(): + model = load_model_from_xml(BASIC_MODEL_XML) + sim = MjSim(model) + sim.model.sensor_names + sim.data.get_sensor("touchsensor") + + +@requires_rendering +def test_high_res(): + model = load_model_from_xml(BASIC_MODEL_XML) + sim = MjSim(model) + sim.forward() + img = sim.render(1000, 1000) + img = scipy.misc.imresize(img, (200, 200, 3)) + assert img.shape == (200, 200, 3) + compare_imgs(img, 'test_rendering.freecam.png') + + +@pytest.mark.skipif(sys.platform.startswith("win"), reason="This test fails on windows.") +def test_multiprocess(): + ''' + Tests for importing mujoco_py from multiple processes. + ''' + ctx = get_context('spawn') + processes = [] + times = 3 + queue = ctx.Queue() + for idx in range(3): + processes.append(ctx.Process(target=import_process, args=(queue, ))) + for p in processes: + p.start() + for p in processes: + p.join() + for _ in range(times): + assert queue.get(), "One of processes failed." + + +def import_process(queue): + try: + from mujoco_py import builder + mjpro_path, key_path = builder.discover_mujoco() + builder.load_cython_ext(mjpro_path) + except Exception as e: + queue.put(False) + else: + queue.put(True) diff --git a/mujoco_py/tests/test_examples.py b/mujoco_py/tests/test_examples.py new file mode 100644 index 00000000..683edb3b --- /dev/null +++ b/mujoco_py/tests/test_examples.py @@ -0,0 +1,20 @@ +import subprocess +import glob +import os.path +import mujoco_py +import sys +from mujoco_py.tests.utils import requires_rendering +mujoco_py_root = os.path.dirname(os.path.dirname(mujoco_py.__file__)) + + +@requires_rendering +def test_examples(): + scripts = glob.glob("%s/examples/*.py" % mujoco_py_root) + env = os.environ.update({'TESTING': 'true'}) + assert len(scripts) > 0, 'No example scripts found!' + for tutorial_script in scripts: + if tutorial_script.find("mjvive") > -1: + continue + print("Executing %s" % tutorial_script) + + subprocess.check_call([sys.executable, tutorial_script], env=env) diff --git a/mujoco_py/tests/test_gen_wrappers.py b/mujoco_py/tests/test_gen_wrappers.py new file mode 100644 index 00000000..f51d0a97 --- /dev/null +++ b/mujoco_py/tests/test_gen_wrappers.py @@ -0,0 +1,15 @@ +import subprocess +import sys +import os +import pytest + + +@pytest.mark.skipif(sys.platform.startswith("win"), reason="This test fails on windows.") +def test_gen_wrappers(): + # Verifies that gen_wrappers can be executed. + if sys.platform.startswith("win"): + fname = "C:\generated_wrappers.pxi" + else: + fname = "/tmp/generated_wrappers.pxi" + subprocess.check_call([sys.executable, + os.path.join("scripts", "gen_wrappers.py"), fname]) diff --git a/mujoco_py/tests/test_modder.py b/mujoco_py/tests/test_modder.py new file mode 100644 index 00000000..49d77ef2 --- /dev/null +++ b/mujoco_py/tests/test_modder.py @@ -0,0 +1,173 @@ +from mujoco_py import MjSim, load_model_from_xml +from mujoco_py.modder import MaterialModder, TextureModder +from mujoco_py.tests.utils import compare_imgs, requires_rendering +import numpy as np + +BASIC_MODEL_XML = """ + + + + + + + + + + + + + + + + + + + + + + + + + +""" + +@requires_rendering +def test_textures(): + model = load_model_from_xml(BASIC_MODEL_XML) + sim = MjSim(model) + sim.forward() + + compare_imgs(sim.render(200, 200, camera_name="topcam"), + 'test_textures.premod.png') + + random_state = np.random.RandomState(0) + modder = TextureModder(sim, random_state=random_state) + modder.whiten_materials() + modder.whiten_materials(['g1', 'g2']) + + modder.set_rgb('g1', (255, 0, 0)) + modder.set_rgb('g2', (0, 255, 0)) + modder.set_rgb('g3', (0, 0, 255)) + modder.set_rgb('g4', (255, 0, 255)) + compare_imgs(sim.render(200, 200, camera_name="topcam"), + 'test_textures.rgb.png') + + modder.set_checker('g1', (255, 0, 0), (0, 255, 0)) + modder.set_gradient('g2', (0, 255, 0), (0, 0, 255), vertical=True) + modder.set_gradient('g3', (255, 255, 0), (0, 0, 255), vertical=False) + modder.set_noise('g4', (0, 0, 255), (255, 0, 0), 0.1) + compare_imgs(sim.render(200, 200, camera_name="topcam"), + 'test_textures.variety.png') + + modder.rand_checker('g1') + modder.rand_gradient('g2') + modder.rand_noise('g3') + modder.rand_rgb('g4') + compare_imgs(sim.render(200, 200, camera_name="topcam"), + 'test_textures.rand_specific.png') + + modder.rand_all('g1') + modder.rand_all('g2') + modder.rand_all('g3') + modder.rand_all('g4') + compare_imgs(sim.render(200, 200, camera_name="topcam"), + 'test_textures.rand_all.png') + + modder.rand_checker('g1') + modder.rand_checker('g2') + modder.rand_checker('g3') + modder.rand_checker('g4') + mat_modder = MaterialModder(sim, random_state=random_state) + mat_modder.rand_texrepeat('g1') + mat_modder.rand_texrepeat('g2') + mat_modder.rand_texrepeat('g3') + mat_modder.rand_texrepeat('g4') + compare_imgs(sim.render(200, 200, camera_name="topcam"), + 'test_textures.rand_texrepeat.png') + +@requires_rendering +def test_materials(): + model = load_model_from_xml(BASIC_MODEL_XML) + sim = MjSim(model) + sim.forward() + + compare_imgs(sim.render(200, 200, camera_name="topcam"), + 'test_materials.premod.png') + + random_state = np.random.RandomState(0) + modder = MaterialModder(sim, random_state=random_state) + + modder.set_specularity('g1', 1.0) + modder.set_reflectance('g2', 1.0) + modder.set_shininess('g3', 1.0) + compare_imgs(sim.render(200, 200, camera_name="topcam"), + 'test_materials.props.png') + + modder.rand_all('g4') + compare_imgs(sim.render(200, 200, camera_name="topcam"), + 'test_materials.rand_all.png') + +@requires_rendering +def test_multiple_sims(): + # Ensure that creating new simulators still produces good renderings. + xml = """ + + + + + + + + + + + + """ + + model = load_model_from_xml(xml) + random_state = np.random.RandomState(0) + + for i in range(3): + sim = MjSim(model) + sim.forward() + modder = TextureModder(sim, random_state=random_state) + for j in range(2): + modder.rand_checker('g1') + compare_imgs( + sim.render(200, 200, camera_name="topcam"), + 'test_multiple_sims.loop%d_%d.png' % (i, j)) + + +@requires_rendering +def test_resetting(): + # Ensure that resetting environment and creating new simulators + # still produces good renderings. + xml = """ + + + + + + + + + + + + """ + + def get_sim(seed): + geom_type = ["box", "sphere"][seed % 2] + model = load_model_from_xml(xml.format(geom_type=geom_type)) + return MjSim(model) + + random_state = np.random.RandomState(0) + + for i in range(3): + sim = get_sim(i - 1) + sim.forward() + modder = TextureModder(sim, random_state=random_state) + for j in range(2): + modder.rand_checker('g1') + compare_imgs(sim.render(200, 200, camera_name="topcam"), + 'test_resetting.loop%d_%d.png' % (i, j)) diff --git a/mujoco_py/tests/test_pymj_sim.py b/mujoco_py/tests/test_pymj_sim.py new file mode 100644 index 00000000..f5f2ef47 --- /dev/null +++ b/mujoco_py/tests/test_pymj_sim.py @@ -0,0 +1,16 @@ +import subprocess +import sys +import mujoco_py +import pytest +import os + + +def test_import_mujoco_py_as_cymj_with_shim(): + pip = 'pip3' if sys.executable.endswith('3') else 'pip' + cmd = [pip, 'install', '--verbose', os.path.join('vendor', 'pymj_shim')] + return_code = subprocess.check_call(cmd) + assert return_code == 0, "Failed to " + (" ".join(cmd)) + with pytest.warns(UserWarning): + import pymj + assert pymj.MjSim == mujoco_py.MjSim + assert pymj.__version__ == mujoco_py.__version__ diff --git a/mujoco_py/tests/test_vfs.py b/mujoco_py/tests/test_vfs.py new file mode 100644 index 00000000..59662e1f --- /dev/null +++ b/mujoco_py/tests/test_vfs.py @@ -0,0 +1,32 @@ +from tempfile import NamedTemporaryFile +from mujoco_py import functions +from mujoco_py.cymj import PyMjVFS + + +def test_vfs(): + ''' Test basic VFS functionality ''' + vfs = PyMjVFS() + functions.mj_defaultVFS(vfs) + functions.mj_deleteVFS(vfs) + + +def test_files(): + ''' Testing handling VFS files ''' + vfs = PyMjVFS() + functions.mj_defaultVFS(vfs) + f = NamedTemporaryFile(delete=False) + name = f.name + # Try to find file before added -> missing + assert functions.mj_findFileVFS(vfs, name) == -1 + # Add file -> success + assert functions.mj_addFileVFS(vfs, '', name) == 0 + # Add file again -> failure, duplicate + assert functions.mj_addFileVFS(vfs, '', name) == 2 + # Find file -> success (index 0) + assert functions.mj_findFileVFS(vfs, name) == 0 + # Delete file -> success + assert functions.mj_deleteFileVFS(vfs, name) == 0 + # Delete file again -> failure, missing + assert functions.mj_deleteFileVFS(vfs, name) == -1 + # Add a file which does not exist -> failure, missing + assert functions.mj_addFileVFS(vfs, 'bla', name) == -1 diff --git a/mujoco_py/tests/test_viewer.py b/mujoco_py/tests/test_viewer.py new file mode 100644 index 00000000..d86674e4 --- /dev/null +++ b/mujoco_py/tests/test_viewer.py @@ -0,0 +1,13 @@ +from mujoco_py import load_model_from_path, MjSim +from mujoco_py.mjviewer import MjViewer +from mujoco_py.tests.utils import requires_rendering + + +@requires_rendering +def test_viewer(): + model = load_model_from_path("mujoco_py/tests/test.xml") + sim = MjSim(model) + viewer = MjViewer(sim) + for _ in range(100): + sim.step() + viewer.render() diff --git a/mujoco_py/tests/utils.py b/mujoco_py/tests/utils.py new file mode 100644 index 00000000..bba5be30 --- /dev/null +++ b/mujoco_py/tests/utils.py @@ -0,0 +1,51 @@ +import os +from PIL import Image +from os.path import exists, join, dirname, abspath +from shutil import move +import numpy as np +from os.path import splitext +import imagehash +import pytest + +TEST_ASSET_DIR_PATH = abspath(join(dirname(__file__), '..', 'test_imgs')) + + +def save_test_image(filename, array): + Image.fromarray(array).save(filename) + + +def compare_imgs(img, truth_filename): + """ + PROTIP: run the following to re-generate the test images: + + REGENERATE_TEST_IMAGES=1 pytest mujoco_py/tests/test_modder.py + + Note: do this in Docker so that images will work for testing. + """ + assert isinstance(truth_filename, str) + truth_filename = join(TEST_ASSET_DIR_PATH, truth_filename) + if os.getenv('REGENERATE_TEST_IMAGES'): + if exists(truth_filename): + pre_path, ext = splitext(truth_filename) + backup_path = "%s_old%s" % (pre_path, ext) + move(truth_filename, backup_path) + save_test_image(truth_filename, img) + true_img = np.asarray(Image.open(truth_filename)) + assert img.shape == true_img.shape + hash0 = imagehash.dhash(Image.fromarray(img)) + hash1 = imagehash.dhash(Image.fromarray(true_img)) + diff = np.sum(hash0.hash != hash1.hash) + if diff != 0: + # If the assert fails, the best way to investigate is to run + # pytest for the particular test. For example, + # + # pytest -k test_something_something path/to/test.py + save_test_image("/tmp/img.png", img) + save_test_image("/tmp/true_img.png", true_img) + save_test_image("/tmp/diff_img.png", img - true_img) + assert diff <= 1 + + +# Skips test when RENDERING_OFF. +requires_rendering = pytest.mark.skipif(os.environ.get("RENDERING_OFF", False), + reason="Skip test when system doesn't support rendering") diff --git a/mujoco_py/util.py b/mujoco_py/util.py deleted file mode 100644 index acea3474..00000000 --- a/mujoco_py/util.py +++ /dev/null @@ -1,231 +0,0 @@ -import ctypes, os, sys -from ctypes import * -import six - -# MAXINT on Python 2, undefined on Python 3 -MAXINT = 9223372036854775807 - -class UserString: - def __init__(self, seq): - if isinstance(seq, basestring): - self.data = seq - elif isinstance(seq, UserString): - self.data = seq.data[:] - else: - self.data = str(seq) - def __str__(self): return str(self.data) - def __repr__(self): return repr(self.data) - def __int__(self): return int(self.data) - def __long__(self): return long(self.data) - def __float__(self): return float(self.data) - def __complex__(self): return complex(self.data) - def __hash__(self): return hash(self.data) - - def __cmp__(self, string): - if isinstance(string, UserString): - return cmp(self.data, string.data) - else: - return cmp(self.data, string) - def __contains__(self, char): - return char in self.data - - def __len__(self): return len(self.data) - def __getitem__(self, index): return self.__class__(self.data[index]) - def __getslice__(self, start, end): - start = max(start, 0); end = max(end, 0) - return self.__class__(self.data[start:end]) - - def __add__(self, other): - if isinstance(other, UserString): - return self.__class__(self.data + other.data) - elif isinstance(other, basestring): - return self.__class__(self.data + other) - else: - return self.__class__(self.data + str(other)) - def __radd__(self, other): - if isinstance(other, basestring): - return self.__class__(other + self.data) - else: - return self.__class__(str(other) + self.data) - def __mul__(self, n): - return self.__class__(self.data*n) - __rmul__ = __mul__ - def __mod__(self, args): - return self.__class__(self.data % args) - - # the following methods are defined in alphabetical order: - def capitalize(self): return self.__class__(self.data.capitalize()) - def center(self, width, *args): - return self.__class__(self.data.center(width, *args)) - def count(self, sub, start=0, end=MAXINT): - return self.data.count(sub, start, end) - def decode(self, encoding=None, errors=None): # XXX improve this? - if encoding: - if errors: - return self.__class__(self.data.decode(encoding, errors)) - else: - return self.__class__(self.data.decode(encoding)) - else: - return self.__class__(self.data.decode()) - def encode(self, encoding=None, errors=None): # XXX improve this? - if encoding: - if errors: - return self.__class__(self.data.encode(encoding, errors)) - else: - return self.__class__(self.data.encode(encoding)) - else: - return self.__class__(self.data.encode()) - def endswith(self, suffix, start=0, end=MAXINT): - return self.data.endswith(suffix, start, end) - def expandtabs(self, tabsize=8): - return self.__class__(self.data.expandtabs(tabsize)) - def find(self, sub, start=0, end=MAXINT): - return self.data.find(sub, start, end) - def index(self, sub, start=0, end=MAXINT): - return self.data.index(sub, start, end) - def isalpha(self): return self.data.isalpha() - def isalnum(self): return self.data.isalnum() - def isdecimal(self): return self.data.isdecimal() - def isdigit(self): return self.data.isdigit() - def islower(self): return self.data.islower() - def isnumeric(self): return self.data.isnumeric() - def isspace(self): return self.data.isspace() - def istitle(self): return self.data.istitle() - def isupper(self): return self.data.isupper() - def join(self, seq): return self.data.join(seq) - def ljust(self, width, *args): - return self.__class__(self.data.ljust(width, *args)) - def lower(self): return self.__class__(self.data.lower()) - def lstrip(self, chars=None): return self.__class__(self.data.lstrip(chars)) - def partition(self, sep): - return self.data.partition(sep) - def replace(self, old, new, maxsplit=-1): - return self.__class__(self.data.replace(old, new, maxsplit)) - def rfind(self, sub, start=0, end=MAXINT): - return self.data.rfind(sub, start, end) - def rindex(self, sub, start=0, end=MAXINT): - return self.data.rindex(sub, start, end) - def rjust(self, width, *args): - return self.__class__(self.data.rjust(width, *args)) - def rpartition(self, sep): - return self.data.rpartition(sep) - def rstrip(self, chars=None): return self.__class__(self.data.rstrip(chars)) - def split(self, sep=None, maxsplit=-1): - return self.data.split(sep, maxsplit) - def rsplit(self, sep=None, maxsplit=-1): - return self.data.rsplit(sep, maxsplit) - def splitlines(self, keepends=0): return self.data.splitlines(keepends) - def startswith(self, prefix, start=0, end=MAXINT): - return self.data.startswith(prefix, start, end) - def strip(self, chars=None): return self.__class__(self.data.strip(chars)) - def swapcase(self): return self.__class__(self.data.swapcase()) - def title(self): return self.__class__(self.data.title()) - def translate(self, *args): - return self.__class__(self.data.translate(*args)) - def upper(self): return self.__class__(self.data.upper()) - def zfill(self, width): return self.__class__(self.data.zfill(width)) - -class MutableString(UserString): - """mutable string objects - - Python strings are immutable objects. This has the advantage, that - strings may be used as dictionary keys. If this property isn't needed - and you insist on changing string values in place instead, you may cheat - and use MutableString. - - But the purpose of this class is an educational one: to prevent - people from inventing their own mutable string class derived - from UserString and than forget thereby to remove (override) the - __hash__ method inherited from UserString. This would lead to - errors that would be very hard to track down. - - A faster and better solution is to rewrite your program using lists.""" - def __init__(self, string=""): - self.data = string - def __hash__(self): - raise TypeError("unhashable type (it is mutable)") - def __setitem__(self, index, sub): - if index < 0: - index += len(self.data) - if index < 0 or index >= len(self.data): raise IndexError - self.data = self.data[:index] + sub + self.data[index+1:] - def __delitem__(self, index): - if index < 0: - index += len(self.data) - if index < 0 or index >= len(self.data): raise IndexError - self.data = self.data[:index] + self.data[index+1:] - def __setslice__(self, start, end, sub): - start = max(start, 0); end = max(end, 0) - if isinstance(sub, UserString): - self.data = self.data[:start]+sub.data+self.data[end:] - elif isinstance(sub, basestring): - self.data = self.data[:start]+sub+self.data[end:] - else: - self.data = self.data[:start]+str(sub)+self.data[end:] - def __delslice__(self, start, end): - start = max(start, 0); end = max(end, 0) - self.data = self.data[:start] + self.data[end:] - def immutable(self): - return UserString(self.data) - def __iadd__(self, other): - if isinstance(other, UserString): - self.data += other.data - elif isinstance(other, basestring): - self.data += other - else: - self.data += str(other) - return self - def __imul__(self, n): - self.data *= n - return self - -class String(MutableString, Union): - - _fields_ = [('raw', POINTER(c_char)), - ('data', c_char_p)] - - def __init__(self, obj=""): - if isinstance(obj, six.text_type): - self.data = obj.encode('ascii') - elif isinstance(obj, six.binary_type): - self.data = obj - elif isinstance(obj, UserString): - self.data = six.b(obj) - else: - self.raw = obj - - def __len__(self): - return self.data and len(self.data) or 0 - - def from_param(cls, obj): - # Convert None or 0 - if obj is None or obj == 0: - return cls(POINTER(c_char)()) - - # Convert from String - elif isinstance(obj, String): - return obj - - # Convert from str - elif isinstance(obj, str): - return cls(obj) - - # Convert from c_char_p - elif isinstance(obj, c_char_p): - return obj - - # Convert from POINTER(c_char) - elif isinstance(obj, POINTER(c_char)): - return obj - - # Convert from raw pointer - elif isinstance(obj, int): - return cls(cast(obj, POINTER(c_char))) - - # Convert from object - else: - return String.from_param(obj._as_parameter_) - from_param = classmethod(from_param) - -def ReturnString(obj, func=None, arguments=None): - return String.from_param(obj) diff --git a/mujoco_py/utils.py b/mujoco_py/utils.py new file mode 100644 index 00000000..cee9633f --- /dev/null +++ b/mujoco_py/utils.py @@ -0,0 +1,57 @@ +import copy +from os.path import join, expanduser + +import numpy as np + + + +def remove_empty_lines(string): + lines = [] + for line in string.splitlines(): + if line.strip(): + lines.append(line) + return "\n".join(lines) + + +def rec_assign(node, assign): + # Assigns values to node recursively. + # This is neccessary to avoid overriding pointers in MuJoCo. + for field in dir(node): + if field.find("__") == -1: + val = getattr(node, field) + if isinstance(val, (int, bool, float, None.__class__, str)): + setattr(node, field, assign[field]) + elif isinstance(val, np.ndarray): + val[:] = assign[field][:] + elif not hasattr(val, "__call__"): + rec_assign(val, assign[field]) + + +def rec_copy(node): + # Recursively copies object to dictionary. + # Applying directly copy.deepcopy causes seg fault. + ret = {} + for field in dir(node): + if field.find("__") == -1: + val = getattr(node, field) + if isinstance(val, (int, bool, float, None.__class__, str)): + ret[field] = val + elif isinstance(val, np.ndarray): + ret[field] = copy.deepcopy(val) + elif not hasattr(val, "__call__"): + ret[field] = rec_copy(val) + return ret + + +def discover_mujoco(): + """ + Discovers where MuJoCo is located in the file system. + Currently assumes path is in ~/.mujoco + + Returns: + - mjpro_path (str): Path to MuJoCo Pro 1.50 directory. + - key_path (str): Path to the MuJoCo license key. + """ + key_path = join(expanduser('~'), '.mujoco', 'mjkey.txt') + mjpro_path = join(expanduser('~'), '.mujoco', 'mjpro150') + return (mjpro_path, key_path) diff --git a/mujoco_py/vendor/osx/mujoco/mujoco.h b/mujoco_py/vendor/osx/mujoco/mujoco.h deleted file mode 100644 index e38c3cab..00000000 --- a/mujoco_py/vendor/osx/mujoco/mujoco.h +++ /dev/null @@ -1,829 +0,0 @@ -//-----------------------------------// -// This file is part of MuJoCo. // -// Copyright (C) 2016 Roboti LLC. // -//-----------------------------------// - - -#pragma once - - -// cross-platform import -#if defined(MJ_STATIC) - #define MJAPI -#else - #if defined(_WIN32) - #define MJAPI __declspec(dllimport) - #else - #define MJAPI - #endif -#endif - - -// this is a C-API -#if defined(__cplusplus) -extern "C" -{ -#endif - -// header version; should match the library version as returned by mj_version() -#define mjVERSION_HEADER 131 - - -// needed to define size_t, fabs and log10 -#include "stdlib.h" -#include "math.h" - - -// type definitions -#include "mjmodel.h" -#include "mjdata.h" -#include "mjvisualize.h" -#include "mjrender.h" - - -// macros -#define mjMARKSTACK int _mark = d->pstack; -#define mjFREESTACK d->pstack = _mark; -#define mjDISABLED(x) (m->opt.disableflags & (x)) -#define mjENABLED(x) (m->opt.enableflags & (x)) - - -// user error and memory handlers -MJAPI extern void (*mju_user_error)(const char*); -MJAPI extern void (*mju_user_warning)(const char*); -MJAPI extern void* (*mju_user_malloc)(size_t); -MJAPI extern void (*mju_user_free)(void*); - - -// callbacks extending computation pipeline -MJAPI extern mjfGeneric mjcb_endstep; -MJAPI extern mjfGeneric mjcb_passive; -MJAPI extern mjfGeneric mjcb_control; -MJAPI extern mjfTime mjcb_time; -MJAPI extern mjfAct mjcb_act_dyn; -MJAPI extern mjfAct mjcb_act_gain; -MJAPI extern mjfAct mjcb_act_bias; -MJAPI extern mjfMagnetic mjcb_magnetic; -MJAPI extern mjfSolImp mjcb_sol_imp; -MJAPI extern mjfSolRef mjcb_sol_ref; - -// collision function table -MJAPI extern mjfCollision mjCOLLISIONFUNC[mjNGEOMTYPES][mjNGEOMTYPES]; - - -// string names -MJAPI extern const char* mjVISSTRING[mjNVISFLAG][3]; -MJAPI extern const char* mjRNDSTRING[mjNRNDFLAG][3]; -MJAPI extern const char* mjDISABLESTRING[mjNDISABLE]; -MJAPI extern const char* mjENABLESTRING[mjNENABLE]; -MJAPI extern const char* mjTIMERSTRING[mjNTIMER]; - - -//---------------------- License activation and certificate (mutex-protected) ----------- - -// activate license, call mju_error on failure; return 1 if ok, 0 if failure -MJAPI int mj_activate(const char* filename); - -// deactivate license, free memory -MJAPI void mj_deactivate(void); - -// server: generate certificate question -MJAPI void mj_certQuestion(mjtNum question[16]); - -// client: generate certificate answer given question -MJAPI void mj_certAnswer(const mjtNum question[16], mjtNum answer[16]); - -// server: check certificate question-answer pair; return 1 if match, 0 if mismatch -MJAPI int mj_certCheck(const mjtNum question[16], const mjtNum answer[16]); - - -//---------------------- XML parser and C++ compiler (mutex-protected) ------------------ - -// parse XML file or string in MJCF or URDF format, compile it, return low-level model -// if xmlstring is not NULL, it has precedence over filename -// error can be NULL; otherwise assumed to have size error_sz -MJAPI mjModel* mj_loadXML(const char* filename, const char* xmlstring, - char* error, int error_sz); - -// update XML data structures with info from low-level model, save as MJCF -// error can be NULL; otherwise assumed to have size error_sz -MJAPI int mj_saveXML(const char* filename, const mjModel* m, char* error, int error_sz); - -// print internal XML schema as plain text or HTML, with style-padding or   -MJAPI int mj_printSchema(const char* filename, char* buffer, int buffer_sz, - int flg_html, int flg_pad); - - -//---------------------- Main entry points ---------------------------------------------- - -// advance simulation: use control callback, no external force, RK4 available -MJAPI void mj_step(const mjModel* m, mjData* d); - -// advance simulation in two steps: before external force/control is set by user -MJAPI void mj_step1(const mjModel* m, mjData* d); - -// advance simulation in two steps: after external force/control is set by user -MJAPI void mj_step2(const mjModel* m, mjData* d); - -// forward dynamics -MJAPI void mj_forward(const mjModel* m, mjData* d); - -// inverse dynamics -MJAPI void mj_inverse(const mjModel* m, mjData* d); - -// forward dynamics with skip: 0- no skip, 1- skip pos, 2- skip pos,vel -MJAPI void mj_forwardSkip(const mjModel* m, mjData* d, int skip); - -// inverse dynamics with skip: 0- no skip, 1- skip pos, 2- skip pos,vel -MJAPI void mj_inverseSkip(const mjModel* m, mjData* d, int skip); - -// sensor data -MJAPI void mj_sensor(const mjModel* m, mjData* d); - -// energy -MJAPI void mj_energy(const mjModel* m, mjData* d); - - -//---------------------- Model and data initialization ---------------------------------- - -// set default solver paramters -MJAPI void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp); - -// set physics options to default values -MJAPI void mj_defaultOption(mjOption* opt); - -// set visual options to default values -MJAPI void mj_defaultVisual(mjVisual* vis); - -// copy mjModel; allocate new if dest is NULL -MJAPI mjModel* mj_copyModel(mjModel* dest, const mjModel* src); - -// save model to binary file or memory buffer (buffer has precedence if szbuf>0) -MJAPI void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buffer_sz); - -// load model from binary file or memory buffer (buffer has precedence if szbuf>0) -MJAPI mjModel* mj_loadModel(const char* filename, void* buffer, int buffer_sz); - -// de-allocate model -MJAPI void mj_deleteModel(mjModel* m); - -// size of buffer needed to hold model -MJAPI int mj_sizeModel(const mjModel* m); - -// allocate mjData correponding to given model -MJAPI mjData* mj_makeData(const mjModel* m); - -// copy mjData -MJAPI mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src); - -// set data to defaults -MJAPI void mj_resetData(const mjModel* m, mjData* d); - -// set data to defaults, fill everything else with debug_value -MJAPI void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_value); - -// mjData stack allocate -MJAPI mjtNum* mj_stackAlloc(mjData* d, int size); - -// de-allocate data -MJAPI void mj_deleteData(mjData* d); - -// reset callbacks to defaults -MJAPI void mj_resetCallbacks(void); - -// set constant fields of mjModel -MJAPI void mj_setConst(mjModel* m, mjData* d, int flg_actrange); - - -//---------------------- Printing ------------------------------------------------------- - -// print model to text file -MJAPI void mj_printModel(const mjModel* m, const char* filename); - -// print data to text file -MJAPI void mj_printData(const mjModel* m, mjData* d, const char* filename); - -// print matrix to screen -MJAPI void mju_printMat(const mjtNum* mat, int nr, int nc); - - -//---------------------- Components: forward dynamics ----------------------------------- - -// position-dependent computations -MJAPI void mj_fwdPosition(const mjModel* m, mjData* d); - -// velocity-dependent computations -MJAPI void mj_fwdVelocity(const mjModel* m, mjData* d); - -// compute actuator force -MJAPI void mj_fwdActuation(const mjModel* m, mjData* d); - -// add up all non-constraint forces, compute qacc_unc -MJAPI void mj_fwdAcceleration(const mjModel* m, mjData* d); - -// constraint solver -MJAPI void mj_fwdConstraint(const mjModel* m, mjData* d); - -// Euler integrator, semi-implicit in velocity -MJAPI void mj_Euler(const mjModel* m, mjData* d); - -// Runge-Kutta explicit order-N integrator -MJAPI void mj_RungeKutta(const mjModel* m, mjData* d, int N); - - -//---------------------- Components: inverse dynamics ----------------------------------- - -// position-dependent computations -MJAPI void mj_invPosition(const mjModel* m, mjData* d); - -// velocity-dependent computations -MJAPI void mj_invVelocity(const mjModel* m, mjData* d); - -// constraint solver -MJAPI void mj_invConstraint(const mjModel* m, mjData* d); - -// compare forward and inverse dynamics, without changing results of forward dynamics -MJAPI void mj_compareFwdInv(const mjModel* m, mjData* d); - - -//---------------------- Sub-components of the computation pipeline --------------------- - -// check positions; reset if bad -MJAPI void mj_checkPos(const mjModel* m, mjData* d); - -// check velocities; reset if bad -MJAPI void mj_checkVel(const mjModel* m, mjData* d); - -// check accelerations; reset if bad -MJAPI void mj_checkAcc(const mjModel* m, mjData* d); - -// forward kinematics -MJAPI void mj_kinematics(const mjModel* m, mjData* d); - -// map inertias and motion dofs to global frame centered at CoM -MJAPI void mj_comPos(const mjModel* m, mjData* d); - -// compute camera and light positions and orientations -MJAPI void mj_camlight(const mjModel* m, mjData* d); - -// compute tendon lengths, velocities and moment arms -MJAPI void mj_tendon(const mjModel* m, mjData* d); - -// compute actuator transmission lengths and moments -MJAPI void mj_transmission(const mjModel* m, mjData* d); - -// composite rigid body inertia algorithm -MJAPI void mj_crb(const mjModel* m, mjData* d); - -// sparse L'*D*L factorizaton of the inertia matrix -MJAPI void mj_factorM(const mjModel* m, mjData* d); - -// sparse backsubstitution: x = inv(L'*D*L)*y -MJAPI void mj_backsubM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n); - -// half of sparse backsubstitution: x = sqrt(inv(D))*inv(L')*y -MJAPI void mj_backsubM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n); - -// compute cvel, cdof_dot -MJAPI void mj_comVel(const mjModel* m, mjData* d); - -// spring-dampers and body viscosity -MJAPI void mj_passive(const mjModel* m, mjData* d); - -// RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term -MJAPI void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result); - -// RNE with complete data: compute cacc, cfrc_ext, cfrc_int -MJAPI void mj_rnePostConstraint(const mjModel* m, mjData* d); - -// collision detection -MJAPI void mj_collision(const mjModel* m, mjData* d); - -// construct constraints -MJAPI void mj_makeConstraint(const mjModel* m, mjData* d); - -// compute dense matrices: efc_AR, e_ARchol, fc_half, fc_AR -MJAPI void mj_projectConstraint(const mjModel* m, mjData* d); - -// compute efc_vel, efc_aref -MJAPI void mj_referenceConstraint(const mjModel* m, mjData* d); - - -//---------------------- Support functions ---------------------------------------------- - -// determine type of friction cone -MJAPI int mj_isPyramid(const mjModel* m); - -// determine type of constraint Jacobian -MJAPI int mj_isSparse(const mjModel* m); - -// multiply Jacobian by vector -MJAPI void mj_mulJacVec(const mjModel* m, mjData* d, - mjtNum* res, const mjtNum* vec); - -// multiply JacobianT by vector -MJAPI void mj_mulJacTVec(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec); - -// compute 3/6-by-nv Jacobian of global point attached to given body -MJAPI void mj_jac(const mjModel* m, const mjData* d, - mjtNum* jacp, mjtNum* jacr, const mjtNum* point, int body); - -// compute body frame Jacobian -MJAPI void mj_jacBody(const mjModel* m, const mjData* d, - mjtNum* jacp, mjtNum* jacr, int body); - -// compute body center-of-mass Jacobian -MJAPI void mj_jacBodyCom(const mjModel* m, const mjData* d, - mjtNum* jacp, mjtNum* jacr, int body); - -// compute geom Jacobian -MJAPI void mj_jacGeom(const mjModel* m, const mjData* d, - mjtNum* jacp, mjtNum* jacr, int geom); - -// compute site Jacobian -MJAPI void mj_jacSite(const mjModel* m, const mjData* d, - mjtNum* jacp, mjtNum* jacr, int site); - -// compute translation Jacobian of point, and rotation Jacobian of axis -MJAPI void mj_jacPointAxis(const mjModel* m, mjData* d, - mjtNum* jacPoint, mjtNum* jacAxis, - const mjtNum* point, const mjtNum* axis, int body); - -// get id of object with specified name; -1: not found; type is mjtObj -MJAPI int mj_name2id(const mjModel* m, int type, const char* name); - -// get name of object with specified id; 0: invalid type or id; type is mjtObj -MJAPI const char* mj_id2name(const mjModel* m, int type, int id); - -// convert sparse inertia matrix M into full matrix -MJAPI void mj_fullM(const mjModel* m, mjtNum* dst, const mjtNum* M); - -// multiply vector by inertia matrix -MJAPI void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec); - -// apply cartesian force and torque (outside xfrc_applied mechanism) -MJAPI void mj_applyFT(const mjModel* m, mjData* d, - const mjtNum* force, const mjtNum* torque, - const mjtNum* point, int body, mjtNum* qfrc_target); - -// compute object 6D velocity in object-centered frame, world/local orientation -MJAPI void mj_objectVelocity(const mjModel* m, const mjData* d, - int objtype, int objid, mjtNum* res, int flg_local); - -// compute object 6D acceleration in object-centered frame, world/local orientation -MJAPI void mj_objectAcceleration(const mjModel* m, const mjData* d, - int objtype, int objid, mjtNum* res, int flg_local); - -// compute velocity by finite-differencing two positions -MJAPI void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt, - const mjtNum* qpos1, const mjtNum* qpos2); - -// extract 6D force:torque for one contact, in contact frame -MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum* result); - -// integrate position with given velocity -MJAPI void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum dt); - -// normalize all quaterions in qpos-type vector -MJAPI void mj_normalizeQuat(const mjModel* m, mjtNum* qpos); - -// map from body local to global Cartesian coordinates -MJAPI void mj_local2Global(mjData* d, mjtNum* xpos, mjtNum* xmat, - const mjtNum* pos, const mjtNum* quat, int body); - -// sum all body masses -MJAPI mjtNum mj_getTotalmass(const mjModel* m); - -// scale body masses and inertias to achieve specified total mass -MJAPI void mj_setTotalmass(mjModel* m, mjtNum newmass); - -// version number: 1.0.2 is encoded as 102 -MJAPI int mj_version(void); - - -//---------------------- Asbtract visualization: 3D -------------------------------------- - -// init visualization objects, allocate buffers -MJAPI void mjv_makeObjects(mjvObjects* obj, int maxgeom); - -// free visualization objects -MJAPI void mjv_freeObjects(mjvObjects* obj); - -// set default visualization options -MJAPI void mjv_defaultOption(mjvOption* vopt); - -// set default camera pose -MJAPI void mjv_defaultCameraPose(mjvCameraPose* pose); - -// set default camera -MJAPI void mjv_defaultCamera(mjvCamera* cam); - -// set high-level camera info, or pose for fixed camera -MJAPI void mjv_setCamera(const mjModel* m, const mjData* d, mjvCamera* cam); - -// update camera pose given high-level info -MJAPI void mjv_updateCameraPose(mjvCamera* cam, mjtNum aspect); - -// convert 3D vector to z-aligned world coordinates -MJAPI void mjv_convert3D(mjtNum* res, const mjtNum* vec, - mjtNum scale, const mjvCameraPose* campose); - -// convert 2D mouse motion to z-aligned 3D world coordinates; mode is mjtMouse -MJAPI void mjv_convert2D(mjtNum* res, int mode, mjtNum dx, mjtNum dy, - mjtNum scale, const mjvCameraPose* campose); - -// move camera; action is mjtMouse -MJAPI void mjv_moveCamera(int action, float dx, float dy, mjvCamera* cam, - float width, float height); - -// translate or rotate object; action is mjtMouse -MJAPI void mjv_moveObject(int action, float dx, float dy, const mjvCameraPose* campose, - float width, float height, mjtNum* pos, mjtNum* quat); - -// compute mouse perturbation: result = (3D force, 3D torque) -MJAPI void mjv_mousePerturb(const mjModel* m, mjData* d, int select, int perturb, - const mjtNum* refpos, const mjtNum* refquat, mjtNum* result); - -// move selected subtree or fixed body -MJAPI void mjv_mouseEdit(mjModel* m, mjData* d, int select, - int perturb, const mjtNum* refpos, const mjtNum* refquat); - -// make list of abstract geoms in mjvObjects -MJAPI void mjv_makeGeoms(const mjModel* m, mjData* d, mjvObjects* obj, - const mjvOption* vopt, int catmask, int select, - const mjtNum* refpos, const mjtNum* refquat, const mjtNum* localpos); - -// make list of abstract lights in mjvObjects -MJAPI void mjv_makeLights(const mjModel* m, mjData* d, mjvObjects* obj); - - -//---------------------- OpenGL rendering: 3D ------------------------------------------- - -// text overlay; gridpos is mjtGridPos -MJAPI void mjr_overlay(mjrRect viewport, int gridpos, int big, - const char* overlay, const char* overlay2, const mjrContext* con); - -// draw rectangle -MJAPI void mjr_rectangle(mjrRect viewport, - double left, double bottom, double rwidth, double rheight, - double r, double g, double b, double a); - -// plot 2d lines -MJAPI void mjr_lines(mjrRect viewport, int nline, const int* npoint, const mjtNum* data); - -// call glFinish -MJAPI void mjr_finish(void); - -// render text (normal or big) -MJAPI void mjr_text(const char* txt, const mjrContext* con, int big, - float x, float y, float z, float r, float g, float b); - -// render text with background clear (always normal) -MJAPI void mjr_textback(const char* txt, const mjrContext* con, - float x, float y, float z, float r, float g, float b); - -// compute text width (normal or big) -MJAPI int mjr_textWidth(const char* txt, const mjrContext* con, int big); - -// set default mjrOption -MJAPI void mjr_defaultOption(mjrOption* ropt); - -// set default mjrContext -MJAPI void mjr_defaultContext(mjrContext* con); - -// (re) upload texture to GPU -MJAPI void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid); - -// (re) upload mesh to GPU -MJAPI void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid); - -// (re) upload height field to GPU -MJAPI void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid); - -// allocate resources in custom OpenGL context; fontscale = 100, 150, 200 (%) -MJAPI void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale); - -// free resources in custom OpenGL context -MJAPI void mjr_freeContext(mjrContext* con); - -// 3D rendering -MJAPI void mjr_render(int flg_offscreen, mjrRect viewport, mjvObjects* obj, - const mjrOption* ropt, mjvCameraPose* campose, const mjrContext* con); - -// 3D selection -MJAPI int mjr_select(mjrRect viewport, mjvObjects* obj, - int mousex, int mousey, mjtNum* pos, mjtNum* depth, - const mjrOption* ropt, mjvCameraPose* campose, const mjrContext* con); - -// show offscreen image -MJAPI void mjr_showOffscreen(int left, int bottom, const mjrContext* con); - -// show image from RGB buffer -MJAPI void mjr_showBuffer(unsigned char* rgb, int rgbwidth, int rgbheight, - int left, int bottom, const mjrContext* con); - -// get offscreen image -MJAPI void mjr_getOffscreen(unsigned char* rgb, float* depth, - mjrRect viewport, const mjrContext* con); - -// get backbuffer image -MJAPI void mjr_getBackbuffer(unsigned char* rgb, float* depth, - mjrRect viewport, const mjrContext* con); - -// call glGetError internally and return result -MJAPI int mjr_getError(void); - - -//---------------------- Utility functions: error and memory ---------------------------- - -// main error function; does not return to caller -MJAPI void mju_error(const char* msg); - -// error function with int argument; msg is a printf format string -MJAPI void mju_error_i(const char* msg, int i); - -// error function with string argument -MJAPI void mju_error_s(const char* msg, const char* text); - -// main warning function; returns to caller -MJAPI void mju_warning(const char* msg); - -// warning function with int argument -MJAPI void mju_warning_i(const char* msg, int i); - -// warning function with string argument -MJAPI void mju_warning_s(const char* msg, const char* text); - -// clear user error and memory handlers -MJAPI void mju_clearHandlers(void); - -// allocate memory; byte-align on 8; pad size to multiple of 8 -MJAPI void* mju_malloc(size_t size); - -// free memory (with free() by default) -MJAPI void mju_free(void* ptr); - -// high-level warning function: count warnings in mjData, print only the first -MJAPI void mj_warning(mjData* d, int warning, int info); - - -//---------------------- Utility functions: basic math ---------------------------------- - -#define mjMAX(a,b) (((a) > (b)) ? (a) : (b)) -#define mjMIN(a,b) (((a) < (b)) ? (a) : (b)) - -#ifdef mjUSEDOUBLE - #define mju_sqrt sqrt - #define mju_exp exp - #define mju_sin sin - #define mju_cos cos - #define mju_tan tan - #define mju_asin asin - #define mju_acos acos - #define mju_atan2 atan2 - #define mju_tanh tanh - #define mju_pow pow - #define mju_abs fabs - #define mju_log log - #define mju_log10 log10 - #define mju_floor floor - #define mju_ceil ceil - -#else - #define mju_sqrt sqrtf - #define mju_exp expf - #define mju_sin sinf - #define mju_cos cosf - #define mju_tan tanf - #define mju_asin asinf - #define mju_acos acosf - #define mju_atan2 atan2f - #define mju_tanh tanhf - #define mju_pow powf - #define mju_abs fabsf - #define mju_log logf - #define mju_log10 log10f - #define mju_floor floorf - #define mju_ceil ceilf -#endif - -// set vector to zero -MJAPI void mju_zero3(mjtNum* res); - -// copy vector -MJAPI void mju_copy3(mjtNum* res, const mjtNum* data); - -// scale vector -MJAPI void mju_scl3(mjtNum* res, const mjtNum* vec, mjtNum scl); - -// add vectors -MJAPI void mju_add3(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2); - -// subtract vectors -MJAPI void mju_sub3(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2); - -// add to vector -MJAPI void mju_addTo3(mjtNum* res, const mjtNum* vec); - -// add scaled to vector -MJAPI void mju_addToScl3(mjtNum* res, const mjtNum* vec, mjtNum scl); - -// res = vec1 + scl*vec2 -MJAPI void mju_addScl3(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl); - -// normalize vector, return length before normalization -MJAPI mjtNum mju_normalize3(mjtNum* res); - -// compute vector length (without normalizing) -MJAPI mjtNum mju_norm3(const mjtNum* res); - -// vector dot-product -MJAPI mjtNum mju_dot3(const mjtNum* vec1, const mjtNum* vec2); - -// Cartesian distance between 3D vectors -MJAPI mjtNum mju_dist3(const mjtNum* pos1, const mjtNum* pos2); - -// multiply vector by 3D rotation matrix -MJAPI void mju_rotVecMat(mjtNum* res, const mjtNum* vec, const mjtNum* mat); - -// multiply vector by transposed 3D rotation matrix -MJAPI void mju_rotVecMatT(mjtNum* res, const mjtNum* vec, const mjtNum* mat); - -// vector cross-product, 3D -MJAPI void mju_cross(mjtNum* res, const mjtNum* a, const mjtNum* b); - -// set vector to zero -MJAPI void mju_zero(mjtNum* res, int n); - -// copy vector -MJAPI void mju_copy(mjtNum* res, const mjtNum* data, int n); - -// scale vector -MJAPI void mju_scl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n); - -// add vectors -MJAPI void mju_add(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n); - -// subtract vectors -MJAPI void mju_sub(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n); - -// add to vector -MJAPI void mju_addTo(mjtNum* res, const mjtNum* vec, int n); - -// add scaled to vector -MJAPI void mju_addToScl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n); - -// res = vec1 + scl*vec2 -MJAPI void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, - mjtNum scl, int n); - -// normalize vector, return length before normalization -MJAPI mjtNum mju_normalize(mjtNum* res, int n); - -// compute vector length (without normalizing) -MJAPI mjtNum mju_norm(const mjtNum* res, int n); - -// vector dot-product -MJAPI mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, const int n); - -// multiply matrix and vector -MJAPI void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, - int nr, int nc); - -// multiply transposed matrix and vector -MJAPI void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, - int nr, int nc); - -// transpose matrix -MJAPI void mju_transpose(mjtNum* res, const mjtNum* mat, int r, int c); - -// multiply matrices -MJAPI void mju_mulMatMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2, - int r1, int c1, int c2); - -// multiply matrices, second argument transposed -MJAPI void mju_mulMatMatT(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2, - int r1, int c1, int r2); - -// multiply matrices, first argument transposed -MJAPI void mju_mulMatTMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2, - int r1, int c1, int c2); - -// compute M*M'; scratch must be at least r*c -MJAPI void mju_sqrMat(mjtNum* res, const mjtNum* mat, int r, int c, - mjtNum* scratch, int nscratch); - -// compute M'*diag*M (diag=NULL: compute M'*M) -MJAPI void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int r, int c); - -// 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 -MJAPI void mju_transformSpatial(mjtNum* res, const mjtNum* vec, int flg_force, - const mjtNum* newpos, const mjtNum* oldpos, - const mjtNum* rotnew2old); - - -//---------------------- Utility functions: quaternions --------------------------------- - -// rotate vector by quaternion -MJAPI void mju_rotVecQuat(mjtNum* res, const mjtNum* vec, const mjtNum* quat); - -// negate quaternion -MJAPI void mju_negQuat(mjtNum* res, const mjtNum* quat); - -// muiltiply quaternions -MJAPI void mju_mulQuat(mjtNum* res, const mjtNum* quat1, const mjtNum* quat2); - -// muiltiply quaternion and axis -MJAPI void mju_mulQuatAxis(mjtNum* res, const mjtNum* quat, const mjtNum* axis); - -// convert axisAngle to quaternion -MJAPI void mju_axisAngle2Quat(mjtNum* res, const mjtNum* axis, mjtNum angle); - -// convert quaternion (corresponding to orientation difference) to 3D velocity -MJAPI void mju_quat2Vel(mjtNum* res, const mjtNum* quat, mjtNum dt); - -// convert quaternion to 3D rotation matrix -MJAPI void mju_quat2Mat(mjtNum* res, const mjtNum* quat); - -// convert 3D rotation matrix to quaterion -MJAPI void mju_mat2Quat(mjtNum* quat, const mjtNum* mat); - -// time-derivative of quaternion, given 3D rotational velocity -MJAPI void mju_derivQuat(mjtNum* res, const mjtNum* quat, const mjtNum* vel); - -// integrate quaterion given 3D angular velocity -MJAPI void mju_quatIntegrate(mjtNum* quat, const mjtNum* vel, mjtNum scale); - -// compute quaternion performing rotation from given vector to z-axis -MJAPI void mju_quatVec2Z(mjtNum* quat, const mjtNum* vec); - - -//---------------------- Utility functions: matrix decomposition ------------------------ - -// Cholesky decomposition -MJAPI int mju_cholFactor(mjtNum* mat, mjtNum* diag, int n, - mjtNum minabs, mjtNum minrel, mjtNum* correct); - -// Cholesky backsubstitution: phase&i enables forward(i=1), backward(i=2) pass -MJAPI void mju_cholBacksub(mjtNum* res, const mjtNum* mat, const mjtNum* vec, - int n, int nvec, int phase); - -// eigenvalue decomposition of symmetric 3x3 matrix -MJAPI int mju_eig3(mjtNum* eigval, mjtNum* eigvec, mjtNum* quat, const mjtNum* mat); - - -//---------------------- Utility functions: miscellaneous ------------------------------- - -// muscle FVL curve: prm = (lminrel, lmaxrel, widthrel, vmaxrel, fmax, fvsat) -MJAPI mjtNum mju_muscleFVL(mjtNum len, mjtNum vel, mjtNum lmin, mjtNum lmax, mjtNum* prm); - -// muscle passive force: prm = (lminrel, lmaxrel, fpassive) -MJAPI mjtNum mju_musclePassive(mjtNum len, mjtNum lmin, mjtNum lmax, mjtNum* prm); - -// pneumatic cylinder dynamics -MJAPI mjtNum mju_pneumatic(mjtNum len, mjtNum len0, mjtNum vel, mjtNum* prm, - mjtNum act, mjtNum ctrl, mjtNum timestep, mjtNum* jac); - -// convert contact force to pyramid representation -MJAPI void mju_encodePyramid(mjtNum* pyramid, const mjtNum* force, - const mjtNum* mu, int dim); - -// convert pyramid representation to contact force -MJAPI void mju_decodePyramid(mjtNum* force, const mjtNum* pyramid, - const mjtNum* mu, int dim); - -// integrate spring-damper analytically, return pos(dt) -MJAPI mjtNum mju_springDamper(mjtNum pos0, mjtNum vel0, mjtNum Kp, mjtNum Kv, mjtNum dt); - -// min function, single evaluation of a and b -MJAPI mjtNum mju_min(mjtNum a, mjtNum b); - -// max function, single evaluation of a and b -MJAPI mjtNum mju_max(mjtNum a, mjtNum b); - -// sign function -MJAPI mjtNum mju_sign(mjtNum x); - -// round to nearest integer -MJAPI int mju_round(mjtNum x); - -// convert type id (mjtObj) to type name -MJAPI const char* mju_type2Str(int type); - -// convert type name to type id (mjtObj) -MJAPI int mju_str2Type(const char* str); - -// warning text -MJAPI const char* mju_warningText(int warning, int info); - -// return 1 if nan or abs(x)>mjMAXVAL, 0 otherwise -MJAPI int mju_isBad(mjtNum x); - -// return 1 if all elements are 0 -MJAPI int mju_isZero(mjtNum* vec, int n); - - -#if defined(__cplusplus) -} -#endif diff --git a/mujoco_py/version.py b/mujoco_py/version.py new file mode 100644 index 00000000..aa99ea4c --- /dev/null +++ b/mujoco_py/version.py @@ -0,0 +1,13 @@ +__all__ = ['__version__', 'get_version'] + +version_info = (1, 50, 0, 14) +# format: +# ('mujoco_major', 'mujoco_minor', 'mujoco_py_major', 'mujoco_py_minor') + + +def get_version(): + "Returns the version as a human-format string." + return '%d.%d.%d.%d' % version_info + + +__version__ = get_version() diff --git a/requirements.dev.txt b/requirements.dev.txt new file mode 100644 index 00000000..4412b0bf --- /dev/null +++ b/requirements.dev.txt @@ -0,0 +1,10 @@ +imagehash>=3.4 +ipdb +Pillow>=4.0.0 +pycparser>=2.17.0 +pytest>=3.0.5 +pytest-instafail==0.3.0 +scipy>=0.18.0 +sphinx +sphinx_rtd_theme +numpydoc diff --git a/requirements.txt b/requirements.txt index fa0d0aae..8542a941 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,3 +1,4 @@ -PyOpenGL==3.1.0 -numpy>=1.10.4 -nose>=1.3.7 +glfw>=1.4.0 +numpy>=1.11 +Cython>=0.25.2 +imageio>=2.1.2 diff --git a/scripts/gen_wrappers.py b/scripts/gen_wrappers.py new file mode 100644 index 00000000..2ee89e8d --- /dev/null +++ b/scripts/gen_wrappers.py @@ -0,0 +1,848 @@ +import os +import re +import subprocess +import tempfile +from collections import OrderedDict +import sys +import pycparser +from pycparser.c_ast import ArrayDecl, TypeDecl, PtrDecl +import sys + +c_compiler = "cc" +if sys.platform.startswith("win"): + c_compiler = "cl" + +def tryint(x): + try: + return int(x) + except: + return x + + +def get_struct_dict(struct, struct_name, array_shapes): + struct_dict = OrderedDict() + struct_dict[struct_name] = {'scalars': [], + 'arrays': [], + 'ptrs': [], + 'depends_on_model': False} + for child in struct.children(): + child_name = child[1].name + child_type = child[1].type + decl = child[1].children()[0][1] + if isinstance(child_type, ArrayDecl): + if hasattr(decl.type.type, "names"): + array_type = ' '.join(decl.type.type.names) + else: + # TODO: support 2d arrays in cython. + print("skipping 2d array: %s" % child_name) + continue + if isinstance(decl.dim, pycparser.c_ast.ID): + array_size = decl.dim.name + else: + array_size = int(decl.dim.value) + struct_dict[struct_name]['arrays'].append((child_name, + array_type, + array_size)) + elif isinstance(child_type, TypeDecl): + if isinstance(decl.type, pycparser.c_ast.Struct): + fixed_name = decl.declname + if fixed_name == "global": + fixed_name = "global_" + name = struct_name + "_" + fixed_name + child_struct_dict = get_struct_dict( + decl.type, name, array_shapes) + struct_dict = OrderedDict(struct_dict, **child_struct_dict) + struct_dict[struct_name]['scalars'].append((fixed_name, name)) + else: + field_type = ' '.join(decl.type.names) + struct_dict[struct_name]['scalars'].append( + (child_name, field_type)) + + elif isinstance(child_type, PtrDecl): + ptr_type = ' '.join(decl.type.type.names) + n = struct_name + '.' + child_name + if n not in array_shapes: + print('Warning: skipping {} due to unknown shape'.format(n)) + else: + struct_dict[struct_name]['ptrs'].append( + (child_name, ptr_type, array_shapes[n])) + # Structs needing array shapes must get them through mjModel + # but mjModel itself doesn't need to be passed an extra mjModel. + # TODO: depends_on_model should be set to True if any member of this struct depends on mjModel + # but currently that never happens. + if struct_name != 'mjModel': + struct_dict[struct_name]['depends_on_model'] = True + else: + raise NotImplementedError + return struct_dict + + +def get_full_scr_lines(HEADER_DIR, HEADER_FILES): + # ===== Read all header files ===== + file_contents = [] + for filename in HEADER_FILES: + with open(os.path.join(HEADER_DIR, filename), 'r') as f: + file_contents.append(f.read()) + full_src_lines = [line.strip() + for line in '\n'.join(file_contents).splitlines()] + return full_src_lines + + +def get_array_shapes(full_src_lines): + # ===== Parse array shape hints ===== + array_shapes = {} + curr_struct_name = None + for line in full_src_lines: + # Current struct name + m = re.match(r'struct (\w+)', line) + if m: + curr_struct_name = m.group(1) + continue + # Pointer with a shape comment + m = re.match(r'\s*\w+\s*\*\s+(\w+);\s*//.*\((.+) x (.+)\)$', line) + if m: + name = curr_struct_name[1:] + '.' + m.group(1) + assert name not in array_shapes + array_shapes[name] = (tryint(m.group(2)), tryint(m.group(3))) + return array_shapes + + +def get_processed_src(HEADER_DIR, full_src_lines): + # ===== Preprocess header files ===== + with tempfile.NamedTemporaryFile(suffix='.h', delete=False) as f: + f.write('\n'.join(full_src_lines).encode()) + f.flush() + print("Saved all header information to: %s" % f.name) + # -E: run preprocessor only + # -P: don't generate debug lines starting with # + # -I: include directory + processed_src = subprocess.check_output( + [c_compiler, '-E', '-P', '-I', HEADER_DIR, f.name]).decode() + return processed_src + + +def get_full_struct_dict(processed_src, array_shapes): + # ===== Parse and extract structs ===== + ast = pycparser.c_parser.CParser().parse(processed_src) + struct_dict = OrderedDict() + for node in ast.children(): + assert (node[1].name is None) == isinstance( + node[1].type, pycparser.c_ast.Struct) + if isinstance(node[1].type, pycparser.c_ast.Struct): + (_, struct), = node[1].children() + assert struct.name.startswith('_mj') + struct_name = struct.name[1:] # take out leading underscore + assert struct_name not in struct_dict + struct_dict = dict( + struct_dict, **get_struct_dict(struct, struct_name, array_shapes)) + return struct_dict + + +def get_const_from_enum(processed_src): + # ===== Parse and extract structs ===== + ast = pycparser.c_parser.CParser().parse(processed_src) + + lines = [] + for node in ast.children(): + assert (node[1].name is None) == isinstance( + node[1].type, pycparser.c_ast.Struct) + struct = node[1].children()[0][1] + if hasattr(struct, "type") and isinstance(struct.type, pycparser.c_ast.Enum): + lines.append(" # " + struct.type.name) + enumlist = struct.children()[0][1].children()[0][1].children() + last_value = None + for _, enum in enumlist: + var = enum.name[2:] + if enum.value is not None: + children = enum.value.children() + if len(children) > 0: + value = children[1][1].value + else: + value = enum.value.value + value = int(value) + last_value = value + new_line = str(var) + " = " + str(value) + lines.append(new_line) + else: + assert(last_value is not None) + last_value += 1 + lines.append(str(var) + " = " + str(last_value)) + lines.append("") + return lines + + +def get_struct_wrapper(struct_dict): + # ===== Generate code ===== + structname2wrappername = {} + structname2wrapfuncname = {} + for name in struct_dict: + assert name.startswith('mj') + structname2wrappername[name] = 'PyMj' + name[2:] + structname2wrapfuncname[name] = 'WrapMj' + name[2:] + return structname2wrappername, structname2wrapfuncname + + +def _add_named_access_methods(obj_type, attr_name, attr_name_short): + getter_name = obj_type + if attr_name_short is not None: + getter_name += "_" + attr_name_short + reshape_suffix = ".reshape((3, 3))" if attr_name.endswith('mat') else '' + code = """ + def get_{getter_name}(self, name): + id = self._model.{obj_type}_name2id(name) + return self._{attr_name}[id]{reshape_suffix}\n""".format( + obj_type=obj_type, getter_name=getter_name, attr_name=attr_name, reshape_suffix=reshape_suffix) + if getter_name != attr_name: + code += """ + def get_{attr_name}(self, name): + raise RuntimeError("get_{getter_name} should be used instead of get_{attr_name}")\n""".format( + getter_name=getter_name, attr_name=attr_name) + return code + + +def _add_named_jacobian_methods(obj_type): + cap_type = obj_type.title() # Capitalized + code = """ + def get_{obj_type}_jacp(self, name, np.ndarray[double, ndim=1, mode="c"] jacp = None): + id = self._model.{obj_type}_name2id(name) + if jacp is None: + jacp = np.zeros(3 * self._model.nv) + cdef double * jacp_view = &jacp[0] + mj_jac{cap_type}(self._model.ptr, self.ptr, jacp_view, NULL, id) + return jacp + + def get_{obj_type}_jacr(self, name, np.ndarray[double, ndim=1, mode="c"] jacr = None): + id = self._model.{obj_type}_name2id(name) + if jacr is None: + jacr = np.zeros(3 * self._model.nv) + cdef double * jacr_view = &jacr[0] + mj_jac{cap_type}(self._model.ptr, self.ptr, NULL, jacr_view, id) + return jacr + + def get_{obj_type}_xvelp(self, name): + id = self._model.{obj_type}_name2id(name) + jacp = self.get_{obj_type}_jacp(name).reshape((3, self._model.nv)) + xvelp = np.dot(jacp, self.qvel) + return xvelp + + def get_{obj_type}_xvelr(self, name): + id = self._model.{obj_type}_name2id(name) + jacr = self.get_{obj_type}_jacr(name).reshape((3, self._model.nv)) + xvelr = np.dot(jacr, self.qvel) + return xvelr\n""".format(obj_type=obj_type, cap_type=cap_type) + return code + + +def _add_jacobian_getters(obj_type): + cap_type = obj_type.title() # Capitalized + code = ''' + @property + def {obj_type}_jacp(self): + jacps = np.zeros((self._model.n{obj_type}, 3 * self._model.nv)) + cdef double [:] jacp_view + for i, jacp in enumerate(jacps): + jacp_view = jacp + mj_jac{cap_type}(self._model.ptr, self.ptr, &jacp_view[0], NULL, i) + return jacps + + @property + def {obj_type}_jacr(self): + jacrs = np.zeros((self._model.n{obj_type}, 3 * self._model.nv)) + cdef double [:] jacr_view + for i, jacr in enumerate(jacrs): + jacr_view = jacr + mj_jac{cap_type}(self._model.ptr, self.ptr, NULL, &jacr_view[0], i) + return jacrs + + @property + def {obj_type}_xvelp(self): + jacp = self.{obj_type}_jacp.reshape((self._model.n{obj_type}, 3, self._model.nv)) + xvelp = np.dot(jacp, self.qvel) + return xvelp + + @property + def {obj_type}_xvelr(self): + jacr = self.{obj_type}_jacr.reshape((self._model.n{obj_type}, 3, self._model.nv)) + xvelr = np.dot(jacr, self.qvel) + return xvelr\n'''.format(obj_type=obj_type, cap_type=cap_type) + return code + + +def _set_body_identifiers(short_name, addr_name, long_name, obj_name): + return (" self.{long_name}_names, self._{long_name}_name2id, self._{long_name}_id2name = " + "self._extract_mj_names(p, p.name_{addr_name}adr, p.n{short_name}, mjtObj.mjOBJ_{obj_name})\n" + ).format(short_name=short_name, + long_name=long_name, + obj_name=obj_name, + addr_name=addr_name) + + +def _add_getters(obj_type): + return ''' + def {obj_type}_id2name(self, id): + if id not in self._{obj_type}_id2name: + raise ValueError("No {obj_type} with id %d exists." % id) + return self._{obj_type}_id2name[id] + + def {obj_type}_name2id(self, name): + if name not in self._{obj_type}_name2id: + raise ValueError("No \\"{obj_type}\\" with name %s exists. Available \\"{obj_type}\\" names = %s." % (name, self.{obj_type}_names)) + return self._{obj_type}_name2id[name] +'''.format(obj_type=obj_type) + + +def get_const_from_define(full_src_lines): + define_code = [] + for line in full_src_lines: + define = "#define" + if line.find(define) > -1: + line = line[len(define):].strip() + last_len = 100000 + while last_len != len(line): + last_len = len(line) + line = line.replace(" ", " ") + line = line.replace("\t", " ") + comment = "" + if line.find("//") > -1: + line, comment = line.split("//") + line, comment = line.strip(), comment.strip() + if line.find(" ") > -1: + var, val = line.split(" ") + try: + val = float(val) + new_line = var[2:] + " = " + str(val) + new_line += " " * (35 - len(new_line)) + new_line += " # " + comment + define_code.append(new_line) + except: + print("Couldn't parse line: %s" % line) + return define_code + + +def get_funcs(fname): + src = subprocess.check_output([c_compiler, '-E', '-P', fname]).decode() + src = src[src.find("int mj_activat"):] + l = -1 + while l != len(src): + l = len(src) + src = src.replace(" ", " ") + src = src.replace("\t", " ") + src = src.replace("\n", " ") + src = src.replace("const ", "") + src = src.replace(", ", ",") + src = src.strip() + funcs = src.split(";") + funcs = [f.strip() for f in funcs if len(f) > 0] + ret = "" + count = 0 + for f in funcs: + ret_name = f.split(" ")[0] + func_name = f.split(" ")[1].split("(")[0] + args = f.split("(")[1][:-1] + skip = False + py_args_string = [] + c_args_string = [] + if args != "void": + args = args.split(",") + for arg in args: + arg = arg.strip() + data_type = " ".join(arg.split(" ")[:-1]) + var_name = arg.split(" ")[-1] + if var_name.find("[") > -1: + #arr_size = var_name[var_name.find("[") + 1:var_name.find("]")] + data_type = data_type + "*" + var_name = var_name[:var_name.find("[")] + + if data_type in ["char*"]: + py_args_string.append("str " + var_name) + c_args_string.append(var_name + ".encode()") + continue + if data_type in ["unsigned char"]: + skip = True + break + if data_type == "mjtNum": + py_args_string.append("float " + var_name) + c_args_string.append(var_name) + continue + if data_type == "mjtNum*": + py_args_string.append( + "np.ndarray[np.float64_t, mode=\"c\", ndim=1] " + var_name) + c_args_string.append("&%s[0]" % var_name) + continue + if data_type[:2] == "mj" and data_type[-1] == "*": + py_args_string.append( + "PyMj" + data_type[2:-1] + " " + var_name) + c_args_string.append(var_name + ".ptr") + continue + if data_type[:2] == 'mj' and '*' not in data_type: + py_args_string.append( + "PyMj" + data_type[2:] + " " + var_name) + c_args_string.append(var_name + ".ptr[0]") # dereference + continue + if data_type in "int": + py_args_string.append("int " + var_name) + c_args_string.append(var_name) + continue + # XXX + skip = True + + if not skip and ((ret_name in ["int", "mjtNum", "void"]) or + (ret_name[:2] == "mj" and ret_name[-1] == "*") and ret_name != "mjtNum*" and ret_name != "mjData*"): + + code = "def _%s(%s):\n" % (func_name, ", ".join(py_args_string)) + ret_val = "%s(%s)" % (func_name, ", ".join(c_args_string)) + code += " " + if ret_name in ["int", "mjtNum"]: + code += "return " + ret_val + elif ret_name == "void": + code += ret_val + elif ret_name[:2] == "mj": + code += "return WrapMj" + ret_name[2:-1] + "(" + ret_val + ")" + else: + import ipdb + ipdb.set_trace() + ret += code + "\n\n" + count += 1 + + print(ret) + print("Generated %d out of %d" % (count, len(funcs))) + return ret + + +def main(): + HEADER_DIR = os.path.expanduser(os.path.join('~', '.mujoco', 'mjpro150', 'include')) + HEADER_FILES = [ + 'mjmodel.h', + 'mjdata.h', + 'mjvisualize.h', + 'mjrender.h', + ] + if len(sys.argv) > 1: + OUTPUT = sys.argv[1] + else: + OUTPUT = os.path.join('mujoco_py', 'generated', 'wrappers.pxi') + OUTPUT_CONST = os.path.join('mujoco_py', 'generated', 'const.py') + funcs = get_funcs(os.path.join(HEADER_DIR, "mujoco.h")) + full_src_lines = get_full_scr_lines(HEADER_DIR, HEADER_FILES) + array_shapes = get_array_shapes(full_src_lines) + processed_src = get_processed_src(HEADER_DIR, full_src_lines) + struct_dict = get_full_struct_dict(processed_src, array_shapes) + structname2wrappername, structname2wrapfuncname = get_struct_wrapper( + struct_dict) + + define_const = get_const_from_define(full_src_lines) + enum_const = get_const_from_enum(processed_src) + const_code = "# Automatically generated. Do not modify!\n\n###### const from defines ######\n" + const_code += "\n".join(define_const) + const_code += "\n\n###### const from enums ######\n\n" + const_code += "\n".join(enum_const) + with open(OUTPUT_CONST, 'w') as f: + f.write(const_code) + + code = [] + needed_1d_wrappers = set() + needed_2d_wrappers = set() + # ===== Generate wrapper extension classes ===== + for name, fields in struct_dict.items(): + member_decls, member_initializers, member_getters = [], [], [] + + model_var_name = 'p' if name == 'mjModel' else 'model' + + # Disabling a few accessors that are unsafe due to ambiguous meaning. + REPLACEMENT_BY_ORIGINAL = { + 'xpos': 'body_xpos', + 'xmat': 'body_xmat', + 'xquat': 'body_xquat', + 'efc_pos': 'active_contacts_efc_pos', + } + + for scalar_name, scalar_type in fields['scalars']: + if scalar_type in ['float', 'int', 'mjtNum', 'mjtByte', 'unsigned int']: + member_getters.append( + ' @property\n def {name}(self): return self.ptr.{name}'.format(name=scalar_name)) + member_getters.append(' @{name}.setter\n def {name}(self, {type} x): self.ptr.{name} = x'.format( + name=scalar_name, type=scalar_type)) + elif scalar_type in struct_dict: + # This is a struct member + member_decls.append(' cdef {} _{}'.format( + structname2wrappername[scalar_type], scalar_name)) + member_initializers.append(' self._{scalar_name} = {wrap_func_name}(&p.{scalar_name}{model_arg})'.format( + scalar_name=scalar_name, + wrap_func_name=structname2wrapfuncname[scalar_type], + model_arg=( + ', ' + model_var_name) if struct_dict[scalar_type]['depends_on_model'] else '' + )) + member_getters.append( + ' @property\n def {name}(self): return self._{name}'.format(name=scalar_name)) + else: + print('Warning: skipping {} {}.{}'.format( + scalar_type, name, scalar_name)) + + # Pointer types + for ptr_name, ptr_type, (shape0, shape1) in fields['ptrs']: + if ptr_type in struct_dict: + assert shape0.startswith('n') and shape1 == 1 + member_decls.append(' cdef tuple _{}'.format(ptr_name)) + member_initializers.append( + ' self._{ptr_name} = tuple([{wrap_func_name}(&p.{ptr_name}[i]{model_arg}) for i in range({size0})])'.format( + ptr_name=ptr_name, + wrap_func_name=structname2wrapfuncname[ptr_type], + size0='{}.{}'.format(model_var_name, shape0), + model_arg=( + ', ' + model_var_name) if struct_dict[ptr_type]['depends_on_model'] else '' + )) + else: + assert name == 'mjModel' or fields['depends_on_model'] + member_decls.append(' cdef np.ndarray _{}'.format(ptr_name)) + if shape0 == 1 or shape1 == 1: + # Collapse to 1d for the user's convenience + size0 = shape1 if shape0 == 1 else shape0 + member_initializers.append( + ' self._{ptr_name} = _wrap_{ptr_type}_1d(p.{ptr_name}, {size0})'.format( + ptr_name=ptr_name, + ptr_type=ptr_type.replace(' ', '_'), + size0='{}.{}'.format(model_var_name, size0) if ( + isinstance(size0, str) and size0.startswith('n')) else size0, + )) + else: + member_initializers.append( + ' self._{ptr_name} = _wrap_{ptr_type}_2d(p.{ptr_name}, {size0}, {size1})'.format( + ptr_name=ptr_name, + ptr_type=ptr_type.replace(' ', '_'), + size0='{}.{}'.format(model_var_name, shape0) if ( + isinstance(shape0, str) and shape0.startswith('n')) else shape0, + size1='{}.{}'.format(model_var_name, shape1) if ( + isinstance(shape1, str) and shape1.startswith('n')) else shape1, + )) + needed_2d_wrappers.add(ptr_type) + + if ptr_name in REPLACEMENT_BY_ORIGINAL: + member_getters.append(""" + @property + def {name}(self): + raise RuntimeError("{replacement} should be used instead of {name}")\n""".format( + name=ptr_name, replacement=REPLACEMENT_BY_ORIGINAL[ptr_name])) + else: + member_getters.append( + ' @property\n def {name}(self): return self._{name}'.format(name=ptr_name)) + + # Array types: handle the same way as pointers + for array_name, array_type, array_size in fields['arrays']: + if array_type in struct_dict: + # This is a struct member + member_decls.append(' cdef list _{}'.format(array_name)) + member_initializers.append(' self._{array_name} = [{wrap_func_name}(&p.{array_name}{model_arg}[i]) for i in range({array_size})]'.format( + array_name=array_name, + array_size=array_size, + wrap_func_name=structname2wrapfuncname[array_type], + model_arg=( + ', ' + model_var_name) if struct_dict[array_type]['depends_on_model'] else '' + )) + member_getters.append( + ' @property\n def {name}(self): return self._{name}'.format(name=array_name)) + else: + member_decls.append( + ' cdef np.ndarray _{}'.format(array_name)) + member_initializers.append( + ' self._{array_name} = _wrap_{array_type}_1d(&p.{array_name}[0], {size})'.format( + array_name=array_name, + array_type=array_type.replace(' ', '_'), + size=array_size, + )) + member_getters.append( + ' @property\n def {name}(self): return self._{name}'.format(name=array_name)) + needed_1d_wrappers.add(array_type) + + member_getters = '\n'.join(member_getters) + member_decls = '\n' + '\n'.join(member_decls) if member_decls else '' + member_initializers = '\n' + \ + '\n'.join(member_initializers) if member_initializers else '' + model_decl = '\n cdef PyMjModel _model' if fields[ + 'depends_on_model'] else '' + model_param = ', PyMjModel model' if fields['depends_on_model'] else '' + model_setter = 'self._model = model' if fields[ + 'depends_on_model'] else '' + model_arg = ', model' if fields['depends_on_model'] else '' + + if name == "mjModel": + extra = ''' + cdef readonly tuple body_names, joint_names, geom_names, site_names, light_names, camera_names, actuator_names, sensor_names + cdef readonly dict _body_id2name, _joint_id2name, _geom_id2name, _site_id2name, _light_id2name, _camera_id2name, _actuator_id2name, _sensor_id2name + cdef readonly dict _body_name2id, _joint_name2id, _geom_name2id, _site_name2id, _light_name2id, _camera_name2id, _actuator_name2id, _sensor_name2id +''' + extra += _add_getters('body') + extra += _add_getters('joint') + extra += _add_getters('geom') + extra += _add_getters('site') + extra += _add_getters('light') + extra += _add_getters('camera') + extra += _add_getters('actuator') + extra += _add_getters('sensor') + extra += ''' + cdef inline tuple _extract_mj_names(self, mjModel* p, int*name_adr, int n, mjtObj obj_type): + cdef char *name + cdef int obj_id + + # objects don't need to be named in the XML, so name might be None + id2name = {i: None for i in range(n)} + name2id = {} + for i in range(n): + name = p.names + name_adr[i] + decoded_name = name.decode() + if decoded_name: + obj_id = mj_name2id(p, obj_type, name) + assert 0 <= obj_id < n and id2name[obj_id] is None + name2id[decoded_name] = obj_id + id2name[obj_id] = decoded_name + + # sort names by increasing id to keep order deterministic + return tuple(id2name[id] for id in sorted(name2id.values())), name2id, id2name + + def get_xml(self): + cdef char errstr[300] + cdef int ret + with TemporaryDirectory() as td: + filename = os.path.join(td, 'model.xml') + with wrap_mujoco_warning(): + ret = mj_saveLastXML(filename.encode(), self.ptr, errstr, 300) + if ret == 0: + raise Exception('Failed to save XML: {}'.format(errstr)) + return open(filename).read() + + def get_mjb(self): + with TemporaryDirectory() as td: + filename = os.path.join(td, 'model.mjb') + with wrap_mujoco_warning(): + mj_saveModel(self.ptr, filename.encode(), NULL, 0) + return open(filename, 'rb').read() + + def __dealloc__(self): + mj_deleteModel(self.ptr) +''' + extra_set = '\n' + # MuJoCo isn't very consistent in how it uses long and + # abbreviated names :( + extra_set += _set_body_identifiers('body', 'body', 'body', 'BODY') + extra_set += _set_body_identifiers('jnt', 'jnt', 'joint', 'JOINT') + extra_set += _set_body_identifiers('geom', 'geom', 'geom', 'GEOM') + extra_set += _set_body_identifiers('site', 'site', 'site', 'SITE') + extra_set += _set_body_identifiers('light', + 'light', 'light', 'LIGHT') + extra_set += _set_body_identifiers('cam', + 'cam', 'camera', 'CAMERA') + extra_set += _set_body_identifiers('u', + 'actuator', 'actuator', 'ACTUATOR') + extra_set += _set_body_identifiers('sensor', + 'sensor', 'sensor', 'SENSOR') + + for q_type in ('pos', 'vel'): + # Position dimensionality and degrees of freedom are different + # for free and ball joints. + if q_type == 'pos': + adr_name, free_ndim, ball_ndim = 'qpos', 7, 4 + else: + adr_name, free_ndim, ball_ndim = 'dof', 6, 3 + + extra += """ + def get_joint_q{q_type}_addr(self, name): + ''' + Returns the q{q_type} address for given joint. + + Returns: + - address (int, tuple): returns int address if 1-dim joint, otherwise + returns the a (start, end) tuple for {q_type}[start:end] access. + ''' + joint_id = self.joint_name2id(name) + joint_type = self.jnt_type[joint_id] + joint_addr = self.jnt_{adr_name}adr[joint_id] + if joint_type == mjtJoint.mjJNT_FREE: + ndim = {free_ndim} + elif joint_type == mjtJoint.mjJNT_BALL: + ndim = {ball_ndim} + else: + assert joint_type in (mjtJoint.mjJNT_HINGE, mjtJoint.mjJNT_SLIDE) + ndim = 1 + + if ndim == 1: + return joint_addr + else: + return (joint_addr, joint_addr + ndim)\n""".format( + q_type=q_type, adr_name=adr_name, + free_ndim=free_ndim, ball_ndim=ball_ndim) + + elif name == "mjData": + extra = ''' + @property + def body_xpos(self): + return self._xpos + + @property + def body_xquat(self): + return self._xquat + + @property + def body_xmat(self): + return self._xmat + + @property + def active_contacts_efc_pos(self): + return self._efc_pos[self.ne:self.nefc] + + def __dealloc__(self): + mj_deleteData(self.ptr) + +''' + extra += _add_named_access_methods('body', 'xpos', 'xpos') + extra += _add_named_access_methods('body', 'xquat', 'xquat') + extra += _add_named_access_methods('body', 'xmat', 'xmat') + extra += _add_named_access_methods('body', 'xipos', 'xipos') + extra += _add_named_access_methods('body', 'ximat', 'ximat') + extra += _add_named_jacobian_methods('body') + member_getters += _add_jacobian_getters('body') + extra += _add_named_access_methods('joint', 'xanchor', 'xanchor') + extra += _add_named_access_methods('joint', 'xaxis', 'xaxis') + extra += _add_named_access_methods('geom', 'geom_xpos', 'xpos') + extra += _add_named_access_methods('geom', 'geom_xmat', 'xmat') + extra += _add_named_jacobian_methods('geom') + member_getters += _add_jacobian_getters('geom') + extra += _add_named_access_methods('site', 'site_xpos', 'xpos') + extra += _add_named_access_methods('site', 'site_xmat', 'xmat') + extra += _add_named_jacobian_methods('site') + member_getters += _add_jacobian_getters('site') + extra += _add_named_access_methods('camera', 'cam_xpos', 'xpos') + extra += _add_named_access_methods('camera', 'cam_xmat', 'xmat') + extra += _add_named_access_methods('light', 'light_xpos', 'xpos') + extra += _add_named_access_methods('light', 'light_xdir', 'xdir') + extra += _add_named_access_methods('sensor', 'sensordata', None) + + for pose_type in ('pos', 'quat'): + extra += """ + def get_mocap_{pose_type}(self, name): + body_id = self._model.body_name2id(name) + mocap_id = self._model.body_mocapid[body_id] + return self.mocap_{pose_type}[mocap_id] + + def set_mocap_{pose_type}(self, name, value): + body_id = self._model.body_name2id(name) + mocap_id = self._model.body_mocapid[body_id] + self.mocap_{pose_type}[mocap_id] = value\n""".format( + pose_type=pose_type) + + for q_type in ('pos', 'vel'): + extra += """ + def get_joint_q{q_type}(self, name): + addr = self._model.get_joint_q{q_type}_addr(name) + if isinstance(addr, (int, np.int32, np.int64)): + return self.q{q_type}[addr] + else: + start_i, end_i = addr + return self.q{q_type}[start_i:end_i] + + def set_joint_q{q_type}(self, name, value): + addr = self._model.get_joint_q{q_type}_addr(name) + if isinstance(addr, (int, np.int32, np.int64)): + self.q{q_type}[addr] = value + else: + start_i, end_i = addr + value = np.array(value) + assert value.shape == (end_i - start_i,), ( + "Value has incorrect shape %s: %s" % (name, value)) + self.q{q_type}[start_i:end_i] = value\n""".format( + q_type=q_type) + + extra_set = "" + elif name in ["mjVFS", "mjrRect"]: + extra = ''' + def __cinit__(self): + self.ptr = <{name}*> PyMem_Malloc(sizeof({name})) + if not self.ptr: + raise MemoryError() + + def __dealloc__(self): + PyMem_Free(self.ptr) +'''.format(name=name) + extra_set = '' + elif name[:2] == 'mj': + extra = ''' + def __cinit__(self): + self.ptr = NULL +''' + extra_set = '' + else: + extra = "" + extra_set = "" + + code.append(''' +cdef class {wrapper_name}(object): + cdef {struct_name}* ptr + {model_decl} + {member_decls} + {extra} + cdef void _set(self, {struct_name}* p{model_param}): + {extra_set} + self.ptr = p + {model_setter} + {member_initializers} + \n{member_getters} + +cdef {wrapper_name} {wrap_func_name}({struct_name}* p{model_param}): + cdef {wrapper_name} o = {wrapper_name}() + o._set(p{model_arg}) + return o + + '''.format( + wrapper_name=structname2wrappername[name], + extra=extra, + extra_set=extra_set, + struct_name=name, + wrap_func_name=structname2wrapfuncname[name], + model_decl=model_decl, + model_param=model_param, + model_setter=model_setter, + model_arg=model_arg, + member_decls=member_decls, + member_initializers=member_initializers, + member_getters=member_getters, + ).strip()) + + # ===== Generate array-to-NumPy wrappers ===== + # TODO: instead of returning None for empty arrays, instead return NumPy arrays with the appropriate shape and type + # The only reason we're not doing this already is that cython's views don't work with 0-length axes, + # even though NumPy does. + # TODO: set NumPy array type explicitly (e.g. char will be viewed + # incorrectly as np.int64) + for type_name in sorted(needed_1d_wrappers): + code.append(''' +cdef inline np.ndarray _wrap_{type_name_nospaces}_1d({type_name}* a, int shape0): + if shape0 == 0: return None + cdef {type_name}[:] b = <{type_name}[:shape0]> a + return np.asarray(b) +'''.format(type_name_nospaces=type_name.replace(' ', '_'), type_name=type_name).strip()) + + for type_name in sorted(needed_2d_wrappers): + code.append(''' +cdef inline np.ndarray _wrap_{type_name_nospaces}_2d({type_name}* a, int shape0, int shape1): + if shape0 * shape1 == 0: return None + cdef {type_name}[:,:] b = <{type_name}[:shape0,:shape1]> a + return np.asarray(b) +'''.format(type_name_nospaces=type_name.replace(' ', '_'), type_name=type_name).strip()) + + header = '''# cython: language_level=3 +# Automatically generated. Do not modify! + +include "../pxd/mujoco.pxd" +from cpython.mem cimport PyMem_Malloc, PyMem_Free +cimport numpy as np +import numpy as np +from tempfile import TemporaryDirectory + +''' + code.append(funcs) + + code = header + '\n\n'.join(code) + '\n' + print(len(code.splitlines())) + with open(OUTPUT, 'w') as f: + f.write(code) + +if __name__ == "__main__": + main() diff --git a/setup.py b/setup.py index d390cd36..63990de2 100644 --- a/setup.py +++ b/setup.py @@ -1,19 +1,51 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 +import importlib.util +from distutils.command.build import build as DistutilsBuild +from os.path import abspath, join, dirname, realpath +from setuptools import find_packages, setup -from setuptools import setup +with open(join("mujoco_py", "version.py")) as version_file: + exec(version_file.read()) + + +class Build(DistutilsBuild): + def run(self): + # Pre-compile the Cython + current_path = abspath(dirname(__file__)) + builder_path = join(current_path, 'mujoco_py', 'builder.py') + spec = importlib.util.spec_from_file_location( + "mujoco_py.builder", builder_path) + builder = importlib.util.module_from_spec(spec) + spec.loader.exec_module(builder) + + DistutilsBuild.run(self) + + +def read_requirements_file(filename): + req_file_path = '%s/%s' % (dirname(realpath(__file__)), filename) + with open(req_file_path) as f: + return [line.strip() for line in f] + + +packages = find_packages() +# Ensure that we don't pollute the global namespace. +for p in packages: + assert p == 'mujoco_py' or p.startswith('mujoco_py.') setup( name='mujoco-py', - version='0.5.7', - description='Python wrapper for Mojoco', - author='OpenAI', - packages=['mujoco_py'], - install_requires=[ - 'PyOpenGL>=3.1.0', - 'numpy>=1.10.4', - 'six', - ], - tests_requires=[ - 'nose2' - ] + version=__version__, # noqa + author='OpenAI Robotics Team', + author_email='robotics@openai.com', + url='https://github.com/openai/mujoco-py', + packages=packages, + include_package_data=True, + install_requires=read_requirements_file('requirements.txt'), + tests_require=read_requirements_file('requirements.dev.txt'), + # Add requirements for mujoco_py/builder.py here since there's no + # guarantee that they've been installed before this setup script + # is run. (The install requirements only guarantee that those packages + # are installed as part of installation. No promises about order.) + setup_requires=read_requirements_file('requirements.txt'), + cmdclass={'build': Build}, ) diff --git a/tests/models/ant.xml b/tests/models/ant.xml deleted file mode 100644 index 18ad38b3..00000000 --- a/tests/models/ant.xml +++ /dev/null @@ -1,80 +0,0 @@ - - - diff --git a/tests/models/cartpole.xml b/tests/models/cartpole.xml deleted file mode 100644 index c948cbda..00000000 --- a/tests/models/cartpole.xml +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - diff --git a/tests/test_mjlib.py b/tests/test_mjlib.py deleted file mode 100644 index c33251c4..00000000 --- a/tests/test_mjlib.py +++ /dev/null @@ -1,91 +0,0 @@ -""" -Test mujoco function bindings in mjlib. -This includes basic tests to make sure the function calls work. -""" -import ctypes -import unittest - -from mujoco_py.mjlib import mjlib -from mujoco_py import mjtypes -from mujoco_py import glfw - - -class MjLibTest(unittest.TestCase): - xml_path = 'tests/models/cartpole.xml' - - def setUp(self): - self.buf = ctypes.create_string_buffer(300) - self.model_ptr = mjlib.mj_loadXML(self.xml_path, None, self.buf, 300) - self.data_ptr = mjlib.mj_makeData(self.model_ptr) - - def tearDown(self): - self.buf = None - mjlib.mj_deleteData(self.data_ptr) - mjlib.mj_deleteModel(self.model_ptr) - - def test_model(self): - self.assertEqual(len(self.buf.value), 0) - - self.assertIsInstance(self.model_ptr, ctypes.POINTER(mjtypes.MJMODEL)) - - def test_data(self): - self.assertIsNotNone(self.data_ptr) - - self.assertIsInstance(self.data_ptr, ctypes.POINTER(mjtypes.MJDATA)) - - def test_step(self): - start_time = self.data_ptr.contents.time - mjlib.mj_step(self.model_ptr, self.data_ptr) - self.assertGreater(self.data_ptr.contents.time, start_time) - - def test_forward(self): - start_moment = self.data_ptr.contents.actuator_moment.contents.value - mjlib.mj_forward(self.model_ptr, self.data_ptr) - self.assertGreater(self.data_ptr.contents.actuator_moment.contents.value, - start_moment) - - def test_make_objects(self): - objects = mjtypes.MJVOBJECTS() - mjlib.mjv_makeObjects(ctypes.byref(objects), 1000) - mjlib.mjv_freeObjects(ctypes.byref(objects)) - - def test_default_camera(self): - cam = mjtypes.MJVCAMERA() - mjlib.mjv_defaultCamera(ctypes.byref(cam)) - - def test_default_option(self): - vopt = mjtypes.MJVOPTION() - ropt = mjtypes.MJROPTION() - mjlib.mjv_defaultOption(ctypes.byref(vopt)) - mjlib.mjr_defaultOption(ctypes.byref(ropt)) - - def test_default_context(self): - context = mjtypes.MJRCONTEXT() - mjlib.mjr_defaultContext(ctypes.byref(context)) - - def test_context(self): - if not glfw.init(): - raise Exception('glfw failed to initialize') - - window = None - glfw.window_hint(glfw.VISIBLE, 0) - - _, _, refresh_rate = glfw.get_video_mode(glfw.get_primary_monitor()) - if refresh_rate >= 100: - glfw.window_hint(glfw.STEREO, 1) - window = glfw.create_window( - 100, 100, "Simulate", None, None) - - # no stereo: try mono - if not window: - glfw.window_hint(glfw.STEREO, 0) - window = glfw.create_window( - 100, 100, "Simulate", None, None) - - # Make the window's context current - glfw.make_context_current(window) - - context = mjtypes.MJRCONTEXT() - mjlib.mjr_makeContext(self.model_ptr, ctypes.byref(context), 150) - - mjlib.mjr_freeContext(ctypes.byref(context)) diff --git a/tests/test_mjmodel.py b/tests/test_mjmodel.py deleted file mode 100644 index f2ae7cfc..00000000 --- a/tests/test_mjmodel.py +++ /dev/null @@ -1,15 +0,0 @@ -import mujoco_py -import six - -def test_smoke(): - model = mujoco_py.MjModel('tests/models/ant.xml') - - # Try stepping - model.step() - - model._compute_subtree() - - # Try getting some data out of the model - n = model.body_names - idx = n.index(six.b('torso')) - com = model.data.com_subtree[idx] diff --git a/tests/test_mjviewer.py b/tests/test_mjviewer.py deleted file mode 100644 index 54069476..00000000 --- a/tests/test_mjviewer.py +++ /dev/null @@ -1,41 +0,0 @@ -""" -Test mujoco viewer. -""" -import unittest - -from mujoco_py import mjviewer, mjcore - - -class MjLibTest(unittest.TestCase): - xml_path = 'tests/models/cartpole.xml' - - def setUp(self): - self.width = 100 - self.height = 100 - self.viewer = mjviewer.MjViewer(visible=False, - init_width=self.width, - init_height=self.height) - - def tearDown(self): - self.viewer.finish() - self.viewer = None - - def test_start(self): - self.viewer.start() - self.assertTrue(self.viewer.running) - - def test_render(self): - self.viewer.start() - - model = mjcore.MjModel(self.xml_path) - self.viewer.set_model(model) - - (data, width, height) = self.viewer.get_image() - - # check image size is consistent - # note that width and height may not equal self.width and self.height - # e.g. on a computer with retina screen, - # the width and height are scaled - self.assertEqual(len(data), 3 * width * height) - # make sure the image is not pitch black - self.assertTrue(any(map(lambda x: x > 0, data))) diff --git a/tox.ini b/tox.ini deleted file mode 100644 index 179a2444..00000000 --- a/tox.ini +++ /dev/null @@ -1,25 +0,0 @@ -# Tox (http://tox.testrun.org/) is a tool for running tests -# in multiple virtualenvs. This configuration file will run the -# test suite on all supported python versions. To use it, "pip install tox" -# and then run "tox" from this directory. - -[tox] -envlist = py27, py35 - -[testenv:py35] -whitelist_externals=make -passenv=DISPLAY -deps = - nose2 -commands = - make test - python setup.py clean --all - -[testenv:py27] -whitelist_externals=make -passenv=DISPLAY -deps = - nose2 -commands = - make test - python setup.py clean --all diff --git a/vendor/10_nvidia.json b/vendor/10_nvidia.json new file mode 100644 index 00000000..2bfcca05 --- /dev/null +++ b/vendor/10_nvidia.json @@ -0,0 +1,6 @@ +{ + "file_format_version" : "1.0.0", + "ICD" : { + "library_path" : "libEGL_nvidia.so.0" + } +} diff --git a/vendor/Xdummy b/vendor/Xdummy new file mode 100644 index 00000000..1ffddfa4 --- /dev/null +++ b/vendor/Xdummy @@ -0,0 +1,1955 @@ +#!/bin/sh +# ---------------------------------------------------------------------- +# Copyright (C) 2005-2011 Karl J. Runge +# All rights reserved. +# +# This file is part of Xdummy. +# +# Xdummy is free software; you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation; either version 2 of the License, or (at +# your option) any later version. +# +# Xdummy is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with Xdummy; if not, write to the Free Software +# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA +# or see . +# ---------------------------------------------------------------------- +# +# +# Xdummy: an LD_PRELOAD hack to run a stock Xorg(1) or XFree86(1) server +# with the "dummy" video driver to make it avoid Linux VT switching, etc. +# +# Run "Xdummy -help" for more info. +# +install="" +uninstall="" +runit=1 +prconf="" +notweak="" +root="" +nosudo="" +xserver="" +geom="" +nomodelines="" +depth="" +debug="" +strace="" +cmdline_config="" + +PATH=$PATH:/bin:/usr/bin +export PATH + +program=`basename "$0"` + +help () { + ${PAGER:-more} << END +$program: + + A hack to run a stock Xorg(1) or XFree86(1) X server with the "dummy" + (RAM-only framebuffer) video driver such that it AVOIDS the Linux VT + switching, opening device files in /dev, keyboard and mouse conflicts, + and other problems associated with the normal use of "dummy". + + In other words, it tries to make Xorg/XFree86 with the "dummy" + device driver act more like Xvfb(1). + + The primary motivation for the Xdummy script is to provide a virtual X + server for x11vnc but with more features than Xvfb (or Xvnc); however + it could be used for other reasons (e.g. better automated testing + than with Xvfb.) One nice thing is the dummy server supports RANDR + dynamic resizing while Xvfb does not. + + So, for example, x11vnc+Xdummy terminal services are a little better + than x11vnc+Xvfb. + + To achieve this, while running the real Xserver $program intercepts + system and library calls via the LD_PRELOAD method and modifies + the behavior to make it work correctly (e.g. avoid the VT stuff.) + LD_PRELOAD tricks are usually "clever hacks" and so might not work + in all situations or break when something changes. + + WARNING: Take care in using Xdummy, although it never has it is + possible that it could damage hardware. One can use the -prconf + option to have it print out the xorg.conf config that it would use + and then inspect it carefully before actually using it. + + This program no longer needs to be run as root as of 12/2009. + However, if there are problems for certain situations (usually older + servers) it may perform better if run as root (use the -root option.) + When running as root remember the previous paragraph and that Xdummy + comes without any warranty. + + gcc/cc and other build tools are required for this script to be able + to compile the LD_PRELOAD shared object. Be sure they are installed + on the system. See -install and -uninstall described below. + + Your Linux distribution may not install the dummy driver by default, + e.g: + + /usr/lib/xorg/modules/drivers/dummy_drv.so + + some have it in a package named xserver-xorg-video-dummy you that + need to install. + +Usage: + + $program <${program}-args> + + (actually, the arguments can be supplied in any order.) + +Examples: + + $program -install + + $program :1 + + $program -debug :1 + + $program -tmpdir ~/mytmp :1 -nolisten tcp + +startx example: + + startx -e bash -- $program :2 -depth 16 + + (if startx needs to be run as root, you can su(1) to a normal + user in the bash shell and then launch ~/.xinitrc or ~/.xsession, + gnome-session, startkde, startxfce4, etc.) + +xdm example: + + xdm -config /usr/local/dummy/xdm-config -nodaemon + + where the xdm-config file has line: + + DisplayManager.servers: /usr/local/dummy/Xservers + + and /usr/local/dummy/Xservers has lines: + + :1 local /usr/local/dummy/Xdummy :1 -debug + :2 local /usr/local/dummy/Xdummy :2 -debug + + (-debug is optional) + +gdm/kdm example: + + TBD. + +Config file: + + If the file $program.cfg exists it will be sourced as shell + commands. Usually one will set some variables this way. + To disable sourcing, supply -nocfg or set XDUMMY_NOCFG=1. + +Root permission and x11vnc: + + Update: as of 12/2009 this program no longer must be run as root. + So try it as non-root before running it as root and/or the + following schemes. + + In some circumstances X server program may need to be run as root. + If so, one could run x11vnc as root with -unixpw (it switches + to the user that logs in) and that may be OK, some other ideas: + + - add this to sudo via visudo: + + ALL ALL = NOPASSWD: /usr/local/bin/Xdummy + + - use this little suid wrapper: +/* + * xdummy.c + * + cc -o ./xdummy xdummy.c + sudo cp ./xdummy /usr/local/bin/xdummy + sudo chown root:root /usr/local/bin/xdummy + sudo chmod u+s /usr/local/bin/xdummy + * + */ +#include +#include +#include +#include + +int main (int argc, char *argv[]) { + extern char **environ; + char str[100]; + sprintf(str, "XDUMMY_UID=%d", (int) getuid()); + putenv(str); + setuid(0); + setgid(0); + execv("/usr/local/bin/Xdummy", argv); + exit(1); + return 1; +} + + +Options: + + ${program}-args: + + -install Compile the LD_PRELOAD shared object and install it + next to the $program script file as: + + $0.so + + When that file exists it is used as the LD_PRELOAD + shared object without recompiling. Otherwise, + each time $program is run the LD_PRELOAD shared + object is compiled as a file in /tmp (or -tmpdir) + + If you set the environment variable + INTERPOSE_GETUID=1 when building, then when + $program is run as an ordinary user, the shared + object will interpose getuid() calls and pretend + to be root. Otherwise it doesn't pretend to + be root. + + You can also set the CFLAGS environment variable + to anything else you want on the compile cmdline. + + -uninstall Remove the file: + + $0.so + + The LD_PRELOAD shared object will then be compiled + each time this program is run. + + The X server is not started under -install, -uninstall, or -prconf. + + + :N The DISPLAY (e.g. :15) is often the first + argument. It is passed to the real X server and + also used by the Xdummy script as an identifier. + + -geom geom1[,geom2...] Take the geometry (e.g. 1024x768) or list + of geometries and insert them into the Screen + section of the tweaked X server config file. + Use this to have a different geometry than the + one(s) in the system config file. + + The option -geometry can be used instead of -geom; + x11vnc calls Xdummy and Xvfb this way. + + -nomodelines When you specify -geom/-geometry, $program will + create Modelines for each geometry and put them + in the Monitor section. If you do not want this + then supply -nomodelines. + + -depth n Use pixel color depth n (e.g. 8, 16, or 24). This + makes sure the X config file has a Screen.Display + subsection of this depth. Note this option is + ALSO passed to the X server. + + -DEPTH n Same as -depth, except not passed to X server. + + -tmpdir dir Specify a temporary directory, owned by you and + only writable by you. This is used in place of + /tmp/Xdummy.\$USER/.. to place the $program.so + shared object, tweaked config files, etc. + + -nonroot Run in non-root mode (working 12/2009, now default) + + -root Run as root (may still be needed in some + environments.) Same as XDUMMY_RUN_AS_ROOT=1. + + -nosudo Do not try to use sudo(1) when re-running as root, + use su(1) instead. + + -xserver path Specify the path to the Xserver to use. Default + is to try "Xorg" first and then "XFree86". If + those are not in \$PATH, it tries these locations: + /usr/bin/Xorg + /usr/X11R6/bin/Xorg + /usr/X11R6/bin/XFree86 + + -n Do not run the command to start the X server, + just show the command that $program would run. + The LD_PRELOAD shared object will be built, + if needed. Also note any XDUMMY* environment + variables that need to be set. + + -prconf Print, to stdout, the tweaked Xorg/XFree86 + config file (-config and -xf86config server + options, respectively.) The Xserver is not + started. + + -notweak Do not tweak (modify) the Xorg/XFree86 config file + (system or server command line) at all. The -geom + and similar config file modifications are ignored. + + It is up to you to make sure it is a working + config file (e.g. "dummy" driver, etc.) + Perhaps you want to use a file based on the + -prconf output. + + -nocfg Do not try to source $program.cfg even if it + exists. Same as setting XDUMMY_NOCFG=1. + + -debug Extra debugging output. + + -strace strace(1) the Xserver process (for troubleshooting.) + -ltrace ltrace(1) instead of strace (can be slow.) + + -h, -help Print out this help. + + + Xserver-args: + + Most of the Xorg and XFree86 options will work and are simply + passed along if you supply them. Important ones that may be + supplied if missing: + + :N X Display number for server to use. + + vtNN Linux virtual terminal (VT) to use (a VT is currently + still used, just not switched to and from.) + + -config file Driver "dummy" tweaked config file, a + -xf86config file number of settings are tweaked besides Driver. + + If -config/-xf86config is not given, the system one + (e.g. /etc/X11/xorg.conf) is used. If the system one cannot be + found, a built-in one is used. Any settings in the config file + that are not consistent with "dummy" mode will be overwritten + (unless -notweak is specified.) + + Use -config xdummy-builtin to force usage of the builtin config. + + If "file" is only a basename (e.g. "xorg.dummy.conf") with no /'s, + then no tweaking of it is done: the X server will look for that + basename via its normal search algorithm. If the found file does + not refer to the "dummy" driver, etc, then the X server will fail. + + You can set the env. var. XDUMMY_EXTRA_SERVER_ARGS to hold some + extra Xserver-args too. (Useful for cfg file.) + +Notes: + + The Xorg/XFree86 "dummy" driver is currently undocumented. It works + well in this mode, but it is evidently not intended for end-users. + So it could be removed or broken at any time. + + If the display Xserver-arg (e.g. :1) is not given, or ":" is given + that indicates $program should try to find a free one (based on + tcp ports.) + + If the display virtual terminal, VT, (e.g. vt9) is not given that + indicates $program should try to find a free one (or guess a high one.) + + This program is not completely secure WRT files in /tmp (but it tries + to a good degree.) Better is to use the -tmpdir option to supply a + directory only writable by you. Even better is to get rid of users + on the local machine you do not trust :-) + + Set XDUMMY_SET_XV=1 to turn on debugging output for this script. + +END +} + +warn() { + echo "$*" 1>&2 +} + +if [ "X$XDUMMY_SET_XV" != "X" ]; then + set -xv +fi + +if [ "X$XDUMMY_UID" = "X" ]; then + XDUMMY_UID=`id -u` + export XDUMMY_UID +fi +if [ "X$XDUMMY_UID" = "X0" ]; then + if [ "X$SUDO_UID" != "X" ]; then + XDUMMY_UID=$SUDO_UID + export XDUMMY_UID + fi +fi + +# check if root=1 first: +# +if [ "X$XDUMMY_RUN_AS_ROOT" = "X1" ]; then + root=1 +fi +for arg in $* +do + if [ "X$arg" = "X-nonroot" ]; then + root="" + elif [ "X$arg" = "X-root" ]; then + root=1 + elif [ "X$arg" = "X-nocfg" ]; then + XDUMMY_NOCFG=1 + export XDUMMY_NOCFG + fi +done + +if [ "X$XDUMMY_NOCFG" = "X" -a -f "$0.cfg" ]; then + . "$0.cfg" +fi + +# See if it really needs to be run as root: +# +if [ "X$XDUMMY_SU_EXEC" = "X" -a "X$root" = "X1" -a "X`id -u`" != "X0" ]; then + # this is to prevent infinite loop in case su/sudo doesn't work: + XDUMMY_SU_EXEC=1 + export XDUMMY_SU_EXEC + + dosu=1 + nosudo="" + + for arg in $* + do + if [ "X$arg" = "X-nonroot" ]; then + dosu="" + elif [ "X$arg" = "X-nosudo" ]; then + nosudo="1" + elif [ "X$arg" = "X-help" ]; then + dosu="" + elif [ "X$arg" = "X-h" ]; then + dosu="" + elif [ "X$arg" = "X-install" ]; then + dosu="" + elif [ "X$arg" = "X-uninstall" ]; then + dosu="" + elif [ "X$arg" = "X-n" ]; then + dosu="" + elif [ "X$arg" = "X-prconf" ]; then + dosu="" + fi + done + if [ $dosu ]; then + # we need to restart it with su/sudo: + if type sudo > /dev/null 2>&1; then + : + else + nosudo=1 + fi + if [ "X$nosudo" = "X" ]; then + warn "$program: supply the sudo password to restart as root:" + if [ "X$XDUMMY_UID" != "X" ]; then + exec sudo $0 -uid $XDUMMY_UID "$@" + else + exec sudo $0 "$@" + fi + else + warn "$program: supply the root password to restart as root:" + if [ "X$XDUMMY_UID" != "X" ]; then + exec su -c "$0 -uid $XDUMMY_UID $*" + else + exec su -c "$0 $*" + fi + fi + # DONE: + exit + fi +fi + +# This will hold the X display, e.g. :20 +# +disp="" +args="" +cmdline_config="" + +# Process Xdummy args: +# +while [ "X$1" != "X" ] +do + if [ "X$1" = "X-config" -o "X$1" = "X-xf86config" ]; then + cmdline_config="$2" + fi + case $1 in + ":"*) disp=$1 + ;; + "-install") install=1; runit="" + ;; + "-uninstall") uninstall=1; runit="" + ;; + "-n") runit="" + ;; + "-no") runit="" + ;; + "-norun") runit="" + ;; + "-prconf") prconf=1; runit="" + ;; + "-notweak") notweak=1 + ;; + "-noconf") notweak=1 + ;; + "-nonroot") root="" + ;; + "-root") root=1 + ;; + "-nosudo") nosudo=1 + ;; + "-xserver") xserver="$2"; shift + ;; + "-uid") XDUMMY_UID="$2"; shift + export XDUMMY_UID + ;; + "-geom") geom="$2"; shift + ;; + "-geometry") geom="$2"; shift + ;; + "-nomodelines") nomodelines=1 + ;; + "-depth") depth="$2"; args="$args -depth $2"; + shift + ;; + "-DEPTH") depth="$2"; shift + ;; + "-tmpdir") XDUMMY_TMPDIR="$2"; shift + ;; + "-debug") debug=1 + ;; + "-nocfg") : + ;; + "-nodebug") debug="" + ;; + "-strace") strace=1 + ;; + "-ltrace") strace=2 + ;; + "-h") help; exit 0 + ;; + "-help") help; exit 0 + ;; + *) args="$args $1" + ;; + esac + shift +done + +if [ "X$XDUMMY_EXTRA_SERVER_ARGS" != "X" ]; then + args="$args $XDUMMY_EXTRA_SERVER_ARGS" +fi + +# Try to get a username for use in our tmp directory, etc. +# +user="" +if [ X`id -u` = "X0" ]; then + user=root # this will also be used below for id=0 +elif [ "X$USER" != "X" ]; then + user=$USER +elif [ "X$LOGNAME" != "X" ]; then + user=$LOGNAME +fi + +# Keep trying... +# +if [ "X$user" = "X" ]; then + user=`whoami 2>/dev/null` +fi +if [ "X$user" = "X" ]; then + user=`basename "$HOME"` +fi +if [ "X$user" = "X" -o "X$user" = "X." ]; then + user="u$$" +fi + +if [ "X$debug" = "X1" -a "X$runit" != "X" ]; then + echo "" + echo "/usr/bin/env:" + env | egrep -v '^(LS_COLORS|TERMCAP)' | sort + echo "" +fi + +# Function to compile the LD_PRELOAD shared object: +# +make_so() { + # extract code embedded in this script into a tmp C file: + n1=`grep -n '^#code_begin' $0 | head -1 | awk -F: '{print $1}'` + n2=`grep -n '^#code_end' $0 | head -1 | awk -F: '{print $1}'` + n1=`expr $n1 + 1` + dn=`expr $n2 - $n1` + + tmp=$tdir/Xdummy.$RANDOM$$.c + rm -f $tmp + if [ -e $tmp -o -h $tmp ]; then + warn "$tmp still exists." + exit 1 + fi + touch $tmp || exit 1 + tail -n +$n1 $0 | head -n $dn > $tmp + + # compile it to Xdummy.so: + if [ -f "$SO" ]; then + mv $SO $SO.$$ + rm -f $SO.$$ + fi + rm -f $SO + touch $SO + if [ ! -f "$SO" ]; then + SO=$tdir/Xdummy.$user.so + warn "warning switching LD_PRELOAD shared object to: $SO" + fi + + if [ -f "$SO" ]; then + mv $SO $SO.$$ + rm -f $SO.$$ + fi + rm -f $SO + + # we assume gcc: + if [ "X$INTERPOSE_GETUID" = "X1" ]; then + CFLAGS="$CFLAGS -DINTERPOSE_GETUID" + fi + echo "$program:" cc -shared -fPIC $CFLAGS -o $SO $tmp -ldl + cc -shared -fPIC $CFLAGS -o $SO $tmp -ldl + rc=$? + rm -f $tmp + if [ $rc != 0 ]; then + warn "$program: cannot build $SO" + exit 1 + fi + if [ "X$debug" != "X" -o "X$install" != "X" ]; then + warn "$program: created $SO" + ls -l "$SO" + fi +} + +# Set tdir to tmp dir for make_so(): +if [ "X$XDUMMY_TMPDIR" != "X" ]; then + tdir=$XDUMMY_TMPDIR + mkdir -p $tdir +else + tdir="/tmp" +fi + +# Handle -install/-uninstall case: +SO=$0.so +if [ "X$install" != "X" -o "X$uninstall" != "X" ]; then + if [ -e "$SO" -o -h "$SO" ]; then + warn "$program: removing $SO" + fi + if [ -f "$SO" ]; then + mv $SO $SO.$$ + rm -f $SO.$$ + fi + rm -f $SO + if [ -e "$SO" -o -h "$SO" ]; then + warn "warning: $SO still exists." + exit 1 + fi + if [ $install ]; then + make_so + if [ ! -f "$SO" ]; then + exit 1 + fi + fi + exit 0 +fi + +# We need a tmp directory for the .so, tweaked config file, and for +# redirecting filenames we cannot create (under -nonroot) +# +tack="" +if [ "X$XDUMMY_TMPDIR" = "X" ]; then + XDUMMY_TMPDIR="/tmp/Xdummy.$user" + + # try to tack on a unique subdir (display number or pid) + # to allow multiple instances + # + if [ "X$disp" != "X" ]; then + t0=$disp + else + t0=$1 + fi + tack=`echo "$t0" | sed -e 's/^.*://'` + if echo "$tack" | grep '^[0-9][0-9]*$' > /dev/null; then + : + else + tack=$$ + fi + if [ "X$tack" != "X" ]; then + XDUMMY_TMPDIR="$XDUMMY_TMPDIR/$tack" + fi +fi + +tmp=$XDUMMY_TMPDIR +if echo "$tmp" | grep '^/tmp' > /dev/null; then + if [ "X$tmp" != "X/tmp" -a "X$tmp" != "X/tmp/" ]; then + # clean this subdir of /tmp out, otherwise leave it... + rm -rf $XDUMMY_TMPDIR + if [ -e $XDUMMY_TMPDIR ]; then + warn "$XDUMMY_TMPDIR still exists" + exit 1 + fi + fi +fi + +mkdir -p $XDUMMY_TMPDIR +chmod 700 $XDUMMY_TMPDIR +if [ "X$tack" != "X" ]; then + chmod 700 `dirname "$XDUMMY_TMPDIR"` 2>/dev/null +fi + +# See if we can write something there: +# +tfile="$XDUMMY_TMPDIR/test.file" +touch $tfile +if [ ! -f "$tfile" ]; then + XDUMMY_TMPDIR="/tmp/Xdummy.$$.$USER" + warn "warning: setting tmpdir to $XDUMMY_TMPDIR ..." + rm -rf $XDUMMY_TMPDIR || exit 1 + mkdir -p $XDUMMY_TMPDIR || exit 1 +fi +rm -f $tfile + +export XDUMMY_TMPDIR + +# Compile the LD_PRELOAD shared object if needed (needs XDUMMY_TMPDIR) +# +if [ ! -f "$SO" ]; then + SO="$XDUMMY_TMPDIR/Xdummy.so" + make_so +fi + +# Decide which X server to use: +# +if [ "X$xserver" = "X" ]; then + if type Xorg >/dev/null 2>&1; then + xserver="Xorg" + elif type XFree86 >/dev/null 2>&1; then + xserver="XFree86" + elif -x /usr/bin/Xorg; then + xserver="/usr/bin/Xorg" + elif -x /usr/X11R6/bin/Xorg; then + xserver="/usr/X11R6/bin/Xorg" + elif -x /usr/X11R6/bin/XFree86; then + xserver="/usr/X11R6/bin/XFree86" + fi + if [ "X$xserver" = "X" ]; then + # just let it fail below. + xserver="/usr/bin/Xorg" + warn "$program: cannot locate a stock Xserver... assuming $xserver" + fi +fi + +# See if the binary is suid or not readable under -nonroot mode: +# +if [ "X$BASH_VERSION" != "X" ]; then + xserver_path=`type -p $xserver 2>/dev/null` +else + xserver_path=`type $xserver 2>/dev/null | awk '{print $NF}'` +fi +if [ -e "$xserver_path" -a "X$root" = "X" -a "X$runit" != "X" ]; then + if [ ! -r $xserver_path -o -u $xserver_path -o -g $xserver_path ]; then + # XXX not quite correct with rm -rf $XDUMMY_TMPDIR ... + # we keep on a filesystem we know root can write to. + base=`basename "$xserver_path"` + new="/tmp/$base.$user.bin" + if [ -e $new ]; then + snew=`ls -l $new | awk '{print $5}' | grep '^[0-9][0-9]*$'` + sold=`ls -l $xserver_path | awk '{print $5}' | grep '^[0-9][0-9]*$'` + if [ "X$snew" != "X" -a "X$sold" != "X" -a "X$sold" != "X$snew" ]; then + warn "removing different sized copy:" + ls -l $new $xserver_path + rm -f $new + fi + fi + if [ ! -e $new -o ! -s $new ]; then + rm -f $new + touch $new || exit 1 + chmod 700 $new || exit 1 + if [ ! -r $xserver_path ]; then + warn "" + warn "NEED TO COPY UNREADABLE $xserver_path to $new as root:" + warn "" + ls -l $xserver_path 1>&2 + warn "" + warn "This only needs to be done once:" + warn " cat $xserver_path > $new" + warn "" + nos=$nosudo + if type sudo > /dev/null 2>&1; then + : + else + nos=1 + fi + if [ "X$nos" = "X1" ]; then + warn "Please supply root passwd to 'su -c'" + su -c "cat $xserver_path > $new" + else + warn "Please supply the sudo passwd if asked:" + sudo /bin/sh -c "cat $xserver_path > $new" + fi + else + warn "" + warn "COPYING SETUID $xserver_path to $new" + warn "" + ls -l $xserver_path 1>&2 + warn "" + cat $xserver_path > $new + fi + ls -l $new + if [ -s $new ]; then + : + else + rm -f $new + ls -l $new + exit 1 + fi + warn "" + warn "Please restart Xdummy now." + exit 0 + fi + if [ ! -O $new ]; then + warn "file \"$new\" not owned by us!" + ls -l $new + exit 1 + fi + xserver=$new + fi +fi + +# Work out display: +# +if [ "X$disp" != "X" ]; then + : +elif [ "X$1" != "X" ]; then + if echo "$1" | grep '^:[0-9]' > /dev/null; then + disp=$1 + shift + elif [ "X$1" = "X:" ]; then + # ":" means for us to find one. + shift + fi +fi +if [ "X$disp" = "X" -o "X$disp" = "X:" ]; then + # try to find an open display port: + # (tcp outdated...) + ports=`netstat -ant | grep LISTEN | awk '{print $4}' | sed -e 's/^.*://'` + n=0 + while [ $n -le 20 ] + do + port=`printf "60%02d" $n` + if echo "$ports" | grep "^${port}\$" > /dev/null; then + : + else + disp=":$n" + warn "$program: auto-selected DISPLAY $disp" + break + fi + n=`expr $n + 1` + done +fi + +# Work out which vt to use, try to find/guess an open one if necessary. +# +vt="" +for arg in $* +do + if echo "$arg" | grep '^vt' > /dev/null; then + vt=$arg + break + fi +done +if [ "X$vt" = "X" ]; then + if [ "X$user" = "Xroot" ]; then + # root can user fuser(1) to see if it is in use: + if type fuser >/dev/null 2>&1; then + # try /dev/tty17 thru /dev/tty32 + n=17 + while [ $n -le 32 ] + do + dev="/dev/tty$n" + if fuser $dev >/dev/null 2>&1; then + : + else + vt="vt$n" + warn "$program: auto-selected VT $vt => $dev" + break + fi + n=`expr $n + 1` + done + fi + fi + if [ "X$vt" = "X" ]; then + # take a wild guess... + vt=vt16 + warn "$program: selected fallback VT $vt" + fi +else + vt="" +fi + +# Decide flavor of Xserver: +# +stype=`basename "$xserver"` +if echo "$stype" | grep -i xfree86 > /dev/null; then + stype=xfree86 +else + stype=xorg +fi + +tweak_config() { + in="$1" + config2="$XDUMMY_TMPDIR/xdummy_modified_xconfig.conf" + if [ "X$disp" != "X" ]; then + d=`echo "$disp" | sed -e 's,/,,g' -e 's/:/_/g'` + config2="$config2$d" + fi + + # perl script to tweak the config file... add/delete options, etc. + # + env XDUMMY_GEOM=$geom \ + XDUMMY_DEPTH=$depth \ + XDUMMY_NOMODELINES=$nomodelines \ + perl > $config2 < $in -e ' + $n = 0; + $geom = $ENV{XDUMMY_GEOM}; + $depth = $ENV{XDUMMY_DEPTH}; + $nomodelines = $ENV{XDUMMY_NOMODELINES}; + $mode_str = ""; + $videoram = "24000"; + $HorizSync = "30.0 - 130.0"; + $VertRefresh = "50.0 - 250.0"; + if ($geom ne "") { + my $tmp = ""; + foreach $g (split(/,/, $geom)) { + $tmp .= "\"$g\" "; + if (!$nomodelines && $g =~ /(\d+)x(\d+)/) { + my $w = $1; + my $h = $2; + $mode_str .= " Modeline \"$g\" "; + my $dot = sprintf("%.2f", $w * $h * 70 * 1.e-6); + $mode_str .= $dot; + $mode_str .= " " . $w; + $mode_str .= " " . int(1.02 * $w); + $mode_str .= " " . int(1.10 * $w); + $mode_str .= " " . int(1.20 * $w); + $mode_str .= " " . $h; + $mode_str .= " " . int($h + 1); + $mode_str .= " " . int($h + 3); + $mode_str .= " " . int($h + 20); + $mode_str .= "\n"; + } + } + $tmp =~ s/\s*$//; + $geom = $tmp; + } + while (<>) { + if ($ENV{XDUMMY_NOTWEAK}) { + print $_; + next; + } + $n++; + if (/^\s*#/) { + # pass comments straight thru + print; + next; + } + if (/^\s*Section\s+(\S+)/i) { + # start of Section + $sect = $1; + $sect =~ s/\W//g; + $sect =~ y/A-Z/a-z/; + $sects{$sect} = 1; + print; + next; + } + if (/^\s*EndSection/i) { + # end of Section + if ($sect eq "serverflags") { + if (!$got_DontVTSwitch) { + print " ##Xdummy:##\n"; + print " Option \"DontVTSwitch\" \"true\"\n"; + } + if (!$got_AllowMouseOpenFail) { + print " ##Xdummy:##\n"; + print " Option \"AllowMouseOpenFail\" \"true\"\n"; + } + if (!$got_PciForceNone) { + print " ##Xdummy:##\n"; + print " Option \"PciForceNone\" \"true\"\n"; + } + } elsif ($sect eq "device") { + if (!$got_Driver) { + print " ##Xdummy:##\n"; + print " Driver \"dummy\"\n"; + } + if (!$got_VideoRam) { + print " ##Xdummy:##\n"; + print " VideoRam $videoram\n"; + } + } elsif ($sect eq "screen") { + if ($depth ne "" && !got_DefaultDepth) { + print " ##Xdummy:##\n"; + print " DefaultDepth $depth\n"; + } + if ($got_Monitor eq "") { + print " ##Xdummy:##\n"; + print " Monitor \"Monitor0\"\n"; + } + } elsif ($sect eq "monitor") { + if (!got_HorizSync) { + print " ##Xdummy:##\n"; + print " HorizSync $HorizSync\n"; + } + if (!got_VertRefresh) { + print " ##Xdummy:##\n"; + print " VertRefresh $VertRefresh\n"; + } + if (!$nomodelines) { + print " ##Xdummy:##\n"; + print $mode_str; + } + } + $sect = ""; + print; + next; + } + + if (/^\s*SubSection\s+(\S+)/i) { + # start of Section + $subsect = $1; + $subsect =~ s/\W//g; + $subsect =~ y/A-Z/a-z/; + $subsects{$subsect} = 1; + if ($sect eq "screen" && $subsect eq "display") { + $got_Modes = 0; + } + print; + next; + } + if (/^\s*EndSubSection/i) { + # end of SubSection + if ($sect eq "screen") { + if ($subsect eq "display") { + if ($depth ne "" && !$set_Depth) { + print " ##Xdummy:##\n"; + print " Depth\t$depth\n"; + } + if ($geom ne "" && ! $got_Modes) { + print " ##Xdummy:##\n"; + print " Modes\t$geom\n"; + } + } + } + $subsect = ""; + print; + next; + } + + $l = $_; + $l =~ s/#.*$//; + if ($sect eq "serverflags") { + if ($l =~ /^\s*Option.*DontVTSwitch/i) { + $_ =~ s/false/true/ig; + $got_DontVTSwitch = 1; + } + if ($l =~ /^\s*Option.*AllowMouseOpenFail/i) { + $_ =~ s/false/true/ig; + $got_AllowMouseOpenFail = 1; + } + if ($l =~ /^\s*Option.*PciForceNone/i) { + $_ =~ s/false/true/ig; + $got_PciForceNone= 1; + } + } + if ($sect eq "module") { + if ($l =~ /^\s*Load.*\b(dri|fbdevhw)\b/i) { + $_ = "##Xdummy## $_"; + } + } + if ($sect eq "monitor") { + if ($l =~ /^\s*HorizSync/i) { + $got_HorizSync = 1; + } + if ($l =~ /^\s*VertRefresh/i) { + $got_VertRefresh = 1; + } + } + if ($sect eq "device") { + if ($l =~ /^(\s*Driver)\b/i) { + $_ = "$1 \"dummy\"\n"; + $got_Driver = 1; + } + if ($l =~ /^\s*VideoRam/i) { + $got_VideoRam= 1; + } + } + if ($sect eq "inputdevice") { + if ($l =~ /^\s*Option.*\bDevice\b/i) { + print " ##Xdummy:##\n"; + $_ = " Option \"Device\" \"/dev/dilbert$n\"\n"; + } + } + if ($sect eq "screen") { + if ($l =~ /^\s*DefaultDepth\s+(\d+)/i) { + if ($depth ne "") { + print " ##Xdummy:##\n"; + $_ = " DefaultDepth\t$depth\n"; + } + $got_DefaultDepth = 1; + } + if ($l =~ /^\s*Monitor\s+(\S+)/i) { + $got_Monitor = $1; + $got_Monitor =~ s/"//g; + } + if ($subsect eq "display") { + if ($geom ne "") { + if ($l =~ /^(\s*Modes)\b/i) { + print " ##Xdummy:##\n"; + $_ = "$1 $geom\n"; + $got_Modes = 1; + } + } + if ($l =~ /^\s*Depth\s+(\d+)/i) { + my $d = $1; + if (!$set_Depth && $depth ne "") { + $set_Depth = 1; + if ($depth != $d) { + print " ##Xdummy:##\n"; + $_ = " Depth\t$depth\n"; + } + } + } + } + } + print; + } + if ($ENV{XDUMMY_NOTWEAK}) { + exit; + } + # create any crucial sections that are missing: + if (! exists($sects{serverflags})) { + print "\n##Xdummy:##\n"; + print "Section \"ServerFlags\"\n"; + print " Option \"DontVTSwitch\" \"true\"\n"; + print " Option \"AllowMouseOpenFail\" \"true\"\n"; + print " Option \"PciForceNone\" \"true\"\n"; + print "EndSection\n"; + } + if (! exists($sects{device})) { + print "\n##Xdummy:##\n"; + print "Section \"Device\"\n"; + print " Identifier \"Videocard0\"\n"; + print " Driver \"dummy\"\n"; + print " VideoRam $videoram\n"; + print "EndSection\n"; + } + if (! exists($sects{monitor})) { + print "\n##Xdummy:##\n"; + print "Section \"Monitor\"\n"; + print " Identifier \"Monitor0\"\n"; + print " HorizSync $HorizSync\n"; + print " VertRefresh $VertRefresh\n"; + print "EndSection\n"; + } + if (! exists($sects{screen})) { + print "\n##Xdummy:##\n"; + print "Section \"Screen\"\n"; + print " Identifier \"Screen0\"\n"; + print " Device \"Videocard0\"\n"; + if ($got_Monitor ne "") { + print " Monitor \"$got_Monitor\"\n"; + } else { + print " Monitor \"Monitor0\"\n"; + } + if ($depth ne "") { + print " DefaultDepth $depth\n"; + } else { + print " DefaultDepth 24\n"; + } + print " SubSection \"Display\"\n"; + print " Viewport 0 0\n"; + print " Depth 24\n"; + if ($got_Modes) { + ; + } elsif ($geom ne "") { + print " Modes $geom\n"; + } else { + print " Modes \"1280x1024\" \"1024x768\" \"800x600\"\n"; + } + print " EndSubSection\n"; + print "EndSection\n"; + } +'; +} + +# Work out config file and tweak it. +# +if [ "X$cmdline_config" = "X" ]; then + : +elif [ "X$cmdline_config" = "Xxdummy-builtin" ]; then + : +elif echo "$cmdline_config" | grep '/' > /dev/null; then + : +else + # ignore basename only case (let server handle it) + cmdline_config="" + notweak=1 +fi + +config=$cmdline_config + +if [ "X$notweak" = "X1" -a "X$root" = "X" -a -f "$cmdline_config" ]; then + # if not root we need to copy (but not tweak) the specified config. + XDUMMY_NOTWEAK=1 + export XDUMMY_NOTWEAK + notweak="" +fi + +if [ ! $notweak ]; then + # tweaked config will be put in $config2: + config2="" + if [ "X$config" = "X" ]; then + # use the default one: + if [ "X$stype" = "Xxorg" ]; then + config=/etc/X11/xorg.conf + else + if [ -f "/etc/X11/XF86Config-4" ]; then + config="/etc/X11/XF86Config-4" + else + config="/etc/X11/XF86Config" + fi + fi + if [ ! -f "$config" ]; then + for c in /etc/X11/xorg.conf /etc/X11/XF86Config-4 /etc/X11/XF86Config + do + if [ -f $c ]; then + config=$c + break + fi + done + fi + fi + + if [ "X$config" = "Xxdummy-builtin" ]; then + config="" + fi + + if [ ! -f "$config" ]; then + config="$XDUMMY_TMPDIR/xorg.conf" + warn "$program: using minimal built-in xorg.conf settings." + cat > $config < /dev/null; then + so=`echo "$so" | sed -e "s,^\.,$pwd,"` + fi + if echo "$so" | grep '/' > /dev/null; then + : + else + so="$pwd/$so" + fi + warn "env LD_PRELOAD=$so $xserver $disp $args $vt" + warn "" + if [ ! $runit ]; then + exit 0 + fi +fi + +if [ $strace ]; then + if [ "X$strace" = "X2" ]; then + ltrace -f env LD_PRELOAD=$SO $xserver $disp $args $vt + else + strace -f env LD_PRELOAD=$SO $xserver $disp $args $vt + fi +else + exec env LD_PRELOAD=$SO $xserver $disp $args $vt +fi + +exit $? + +######################################################################### + +code() { +#code_begin +#include +#define O_ACCMODE 0003 +#define O_RDONLY 00 +#define O_WRONLY 01 +#define O_RDWR 02 +#define O_CREAT 0100 /* not fcntl */ +#define O_EXCL 0200 /* not fcntl */ +#define O_NOCTTY 0400 /* not fcntl */ +#define O_TRUNC 01000 /* not fcntl */ +#define O_APPEND 02000 +#define O_NONBLOCK 04000 +#define O_NDELAY O_NONBLOCK +#define O_SYNC 010000 +#define O_FSYNC O_SYNC +#define O_ASYNC 020000 + +#include +#include +#include + +#include +#include + +#define __USE_GNU +#include + +static char tmpdir[4096]; +static char str1[4096]; +static char str2[4096]; + +static char devs[256][1024]; +static int debug = -1; +static int root = -1; +static int changed_uid = 0; +static int saw_fonts = 0; +static int saw_lib_modules = 0; + +static time_t start = 0; + +void check_debug(void) { + if (debug < 0) { + if (getenv("XDUMMY_DEBUG") != NULL) { + debug = 1; + } else { + debug = 0; + } + /* prevent other processes using the preload: */ + putenv("LD_PRELOAD="); + } +} +void check_root(void) { + if (root < 0) { + /* script tells us if we are root */ + if (getenv("XDUMMY_ROOT") != NULL) { + root = 1; + } else { + root = 0; + } + } +} + +void check_uid(void) { + if (start == 0) { + start = time(NULL); + if (debug) fprintf(stderr, "START: %u\n", (unsigned int) start); + return; + } else if (changed_uid == 0) { + if (saw_fonts || time(NULL) > start + 20) { + if (getenv("XDUMMY_UID")) { + int uid = atoi(getenv("XDUMMY_UID")); + if (debug) fprintf(stderr, "SETREUID: %d saw_fonts=%d\n", uid, saw_fonts); + if (uid >= 0) { + /* this will simply fail in -nonroot mode: */ + setreuid(uid, -1); + } + } + changed_uid = 1; + } + } +} + +#define CHECKIT if (debug < 0) check_debug(); \ + if (root < 0) check_root(); \ + check_uid(); + +static void set_tmpdir(void) { + char *s; + static int didset = 0; + if (didset) { + return; + } + s = getenv("XDUMMY_TMPDIR"); + if (! s) { + s = "/tmp"; + } + tmpdir[0] = '\0'; + strcat(tmpdir, s); + strcat(tmpdir, "/"); + didset = 1; +} + +static char *tmpdir_path(const char *path) { + char *str; + set_tmpdir(); + strcpy(str2, path); + str = str2; + while (*str) { + if (*str == '/') { + *str = '_'; + } + str++; + } + strcpy(str1, tmpdir); + strcat(str1, str2); + return str1; +} + +int open(const char *pathname, int flags, unsigned short mode) { + int fd; + char *store_dev = NULL; + static int (*real_open)(const char *, int , unsigned short) = NULL; + + CHECKIT + if (! real_open) { + real_open = (int (*)(const char *, int , unsigned short)) + dlsym(RTLD_NEXT, "open"); + } + + if (strstr(pathname, "lib/modules/")) { + /* not currently used. */ + saw_lib_modules = 1; + } + + if (!root) { + if (strstr(pathname, "/dev/") == pathname) { + store_dev = strdup(pathname); + } + if (strstr(pathname, "/dev/tty") == pathname && strcmp(pathname, "/dev/tty")) { + pathname = tmpdir_path(pathname); + if (debug) fprintf(stderr, "OPEN: %s -> %s (as FIFO)\n", store_dev, pathname); + /* we make it a FIFO so ioctl on it does not fail */ + unlink(pathname); + mkfifo(pathname, 0666); + } else if (0) { + /* we used to handle more /dev files ... */ + fd = real_open(pathname, O_WRONLY|O_CREAT, 0777); + close(fd); + } + } + + fd = real_open(pathname, flags, mode); + + if (debug) fprintf(stderr, "OPEN: %s %d %d fd=%d\n", pathname, flags, mode, fd); + + if (! root) { + if (store_dev) { + if (fd < 256) { + strcpy(devs[fd], store_dev); + } + free(store_dev); + } + } + + return(fd); +} + +int open64(const char *pathname, int flags, unsigned short mode) { + int fd; + + CHECKIT + if (debug) fprintf(stderr, "OPEN64: %s %d %d\n", pathname, flags, mode); + + fd = open(pathname, flags, mode); + return(fd); +} + +int rename(const char *oldpath, const char *newpath) { + static int (*real_rename)(const char *, const char *) = NULL; + + CHECKIT + if (! real_rename) { + real_rename = (int (*)(const char *, const char *)) + dlsym(RTLD_NEXT, "rename"); + } + + if (debug) fprintf(stderr, "RENAME: %s %s\n", oldpath, newpath); + + if (root) { + return(real_rename(oldpath, newpath)); + } + + if (strstr(oldpath, "/var/log") == oldpath) { + if (debug) fprintf(stderr, "RENAME: returning 0\n"); + return 0; + } + return(real_rename(oldpath, newpath)); +} + +FILE *fopen(const char *pathname, const char *mode) { + static FILE* (*real_fopen)(const char *, const char *) = NULL; + char *str; + + if (! saw_fonts) { + if (strstr(pathname, "/fonts/")) { + if (strstr(pathname, "fonts.dir")) { + saw_fonts = 1; + } else if (strstr(pathname, "fonts.alias")) { + saw_fonts = 1; + } + } + } + + CHECKIT + if (! real_fopen) { + real_fopen = (FILE* (*)(const char *, const char *)) + dlsym(RTLD_NEXT, "fopen"); + } + + if (debug) fprintf(stderr, "FOPEN: %s %s\n", pathname, mode); + + if (strstr(pathname, "xdummy_modified_xconfig.conf")) { + /* make our config appear to be in /etc/X11, etc. */ + char *q = strrchr(pathname, '/'); + if (q != NULL && getenv("XDUMMY_TMPDIR") != NULL) { + strcpy(str1, getenv("XDUMMY_TMPDIR")); + strcat(str1, q); + if (debug) fprintf(stderr, "FOPEN: %s -> %s\n", pathname, str1); + pathname = str1; + } + } + + if (root) { + return(real_fopen(pathname, mode)); + } + + str = (char *) pathname; + if (strstr(pathname, "/var/log") == pathname) { + str = tmpdir_path(pathname); + if (debug) fprintf(stderr, "FOPEN: %s -> %s\n", pathname, str); + } + return(real_fopen(str, mode)); +} + + +#define RETURN0 if (debug) \ + {fprintf(stderr, "IOCTL: covered %d 0x%x\n", fd, req);} return 0; +#define RETURN1 if (debug) \ + {fprintf(stderr, "IOCTL: covered %d 0x%x\n", fd, req);} return -1; + +int ioctl(int fd, int req, void *ptr) { + static int closed_xf86Info_consoleFd = 0; + static int (*real_ioctl)(int, int , void *) = NULL; + + CHECKIT + if (! real_ioctl) { + real_ioctl = (int (*)(int, int , void *)) + dlsym(RTLD_NEXT, "open"); + } + if (debug) fprintf(stderr, "IOCTL: %d 0x%x %p\n", fd, req, ptr); + + /* based on xorg-x11-6.8.1-dualhead.patch */ + if (req == VT_GETMODE) { + /* close(xf86Info.consoleFd) */ + if (0 && ! closed_xf86Info_consoleFd) { + /* I think better not to close it... */ + close(fd); + closed_xf86Info_consoleFd = 1; + } + RETURN0 + } else if (req == VT_SETMODE) { + RETURN0 + } else if (req == VT_GETSTATE) { + RETURN0 + } else if (req == KDSETMODE) { + RETURN0 + } else if (req == KDSETLED) { + RETURN0 + } else if (req == KDGKBMODE) { + RETURN0 + } else if (req == KDSKBMODE) { + RETURN0 + } else if (req == VT_ACTIVATE) { + RETURN0 + } else if (req == VT_WAITACTIVE) { + RETURN0 + } else if (req == VT_RELDISP) { + if (ptr == (void *) 1) { + RETURN1 + } else if (ptr == (void *) VT_ACKACQ) { + RETURN0 + } + } + + return(real_ioctl(fd, req, ptr)); +} + +typedef void (*sighandler_t)(int); +#define SIGUSR1 10 +#define SIG_DFL ((sighandler_t)0) + +sighandler_t signal(int signum, sighandler_t handler) { + static sighandler_t (*real_signal)(int, sighandler_t) = NULL; + + CHECKIT + if (! real_signal) { + real_signal = (sighandler_t (*)(int, sighandler_t)) + dlsym(RTLD_NEXT, "signal"); + } + + if (debug) fprintf(stderr, "SIGNAL: %d %p\n", signum, handler); + + if (signum == SIGUSR1) { + if (debug) fprintf(stderr, "SIGNAL: skip SIGUSR1\n"); + return SIG_DFL; + } + + return(real_signal(signum, handler)); +} + +int close(int fd) { + static int (*real_close)(int) = NULL; + + CHECKIT + if (! real_close) { + real_close = (int (*)(int)) dlsym(RTLD_NEXT, "close"); + } + + if (debug) fprintf(stderr, "CLOSE: %d\n", fd); + if (!root) { + if (fd < 256) { + devs[fd][0] = '\0'; + } + } + return(real_close(fd)); +} + +struct stat { + int foo; +}; + +int stat(const char *path, struct stat *buf) { + static int (*real_stat)(const char *, struct stat *) = NULL; + + CHECKIT + if (! real_stat) { + real_stat = (int (*)(const char *, struct stat *)) + dlsym(RTLD_NEXT, "stat"); + } + + if (debug) fprintf(stderr, "STAT: %s\n", path); + + return(real_stat(path, buf)); +} + +int stat64(const char *path, struct stat *buf) { + static int (*real_stat64)(const char *, struct stat *) = NULL; + + CHECKIT + if (! real_stat64) { + real_stat64 = (int (*)(const char *, struct stat *)) + dlsym(RTLD_NEXT, "stat64"); + } + + if (debug) fprintf(stderr, "STAT64: %s\n", path); + + return(real_stat64(path, buf)); +} + +int chown(const char *path, uid_t owner, gid_t group) { + static int (*real_chown)(const char *, uid_t, gid_t) = NULL; + + CHECKIT + if (! real_chown) { + real_chown = (int (*)(const char *, uid_t, gid_t)) + dlsym(RTLD_NEXT, "chown"); + } + + if (root) { + return(real_chown(path, owner, group)); + } + + if (debug) fprintf(stderr, "CHOWN: %s %d %d\n", path, owner, group); + + if (strstr(path, "/dev") == path) { + if (debug) fprintf(stderr, "CHOWN: return 0\n"); + return 0; + } + + return(real_chown(path, owner, group)); +} + +extern int *__errno_location (void); +#ifndef ENODEV +#define ENODEV 19 +#endif + +int ioperm(unsigned long from, unsigned long num, int turn_on) { + static int (*real_ioperm)(unsigned long, unsigned long, int) = NULL; + + CHECKIT + if (! real_ioperm) { + real_ioperm = (int (*)(unsigned long, unsigned long, int)) + dlsym(RTLD_NEXT, "ioperm"); + } + if (debug) fprintf(stderr, "IOPERM: %d %d %d\n", (int) from, (int) num, turn_on); + if (root) { + return(real_ioperm(from, num, turn_on)); + } + if (from == 0 && num == 1024 && turn_on == 1) { + /* we want xf86EnableIO to fail */ + if (debug) fprintf(stderr, "IOPERM: setting ENODEV.\n"); + *__errno_location() = ENODEV; + return -1; + } + return 0; +} + +int iopl(int level) { + static int (*real_iopl)(int) = NULL; + + CHECKIT + if (! real_iopl) { + real_iopl = (int (*)(int)) dlsym(RTLD_NEXT, "iopl"); + } + if (debug) fprintf(stderr, "IOPL: %d\n", level); + if (root) { + return(real_iopl(level)); + } + return 0; +} + +#ifdef INTERPOSE_GETUID + +/* + * we got things to work w/o pretending to be root. + * so we no longer interpose getuid(), etc. + */ + +uid_t getuid(void) { + static uid_t (*real_getuid)(void) = NULL; + CHECKIT + if (! real_getuid) { + real_getuid = (uid_t (*)(void)) dlsym(RTLD_NEXT, "getuid"); + } + if (root) { + return(real_getuid()); + } + if (debug) fprintf(stderr, "GETUID: 0\n"); + return 0; +} +uid_t geteuid(void) { + static uid_t (*real_geteuid)(void) = NULL; + CHECKIT + if (! real_geteuid) { + real_geteuid = (uid_t (*)(void)) dlsym(RTLD_NEXT, "geteuid"); + } + if (root) { + return(real_geteuid()); + } + if (debug) fprintf(stderr, "GETEUID: 0\n"); + return 0; +} +uid_t geteuid_kludge1(void) { + static uid_t (*real_geteuid)(void) = NULL; + CHECKIT + if (! real_geteuid) { + real_geteuid = (uid_t (*)(void)) dlsym(RTLD_NEXT, "geteuid"); + } + if (debug) fprintf(stderr, "GETEUID: 0 saw_libmodules=%d\n", saw_lib_modules); + if (root && !saw_lib_modules) { + return(real_geteuid()); + } else { + saw_lib_modules = 0; + return 0; + } +} + +uid_t getuid32(void) { + static uid_t (*real_getuid32)(void) = NULL; + CHECKIT + if (! real_getuid32) { + real_getuid32 = (uid_t (*)(void)) dlsym(RTLD_NEXT, "getuid32"); + } + if (root) { + return(real_getuid32()); + } + if (debug) fprintf(stderr, "GETUID32: 0\n"); + return 0; +} +uid_t geteuid32(void) { + static uid_t (*real_geteuid32)(void) = NULL; + CHECKIT + if (! real_geteuid32) { + real_geteuid32 = (uid_t (*)(void)) dlsym(RTLD_NEXT, "geteuid32"); + } + if (root) { + return(real_geteuid32()); + } + if (debug) fprintf(stderr, "GETEUID32: 0\n"); + return 0; +} + +gid_t getgid(void) { + static gid_t (*real_getgid)(void) = NULL; + CHECKIT + if (! real_getgid) { + real_getgid = (gid_t (*)(void)) dlsym(RTLD_NEXT, "getgid"); + } + if (root) { + return(real_getgid()); + } + if (debug) fprintf(stderr, "GETGID: 0\n"); + return 0; +} +gid_t getegid(void) { + static gid_t (*real_getegid)(void) = NULL; + CHECKIT + if (! real_getegid) { + real_getegid = (gid_t (*)(void)) dlsym(RTLD_NEXT, "getegid"); + } + if (root) { + return(real_getegid()); + } + if (debug) fprintf(stderr, "GETEGID: 0\n"); + return 0; +} +gid_t getgid32(void) { + static gid_t (*real_getgid32)(void) = NULL; + CHECKIT + if (! real_getgid32) { + real_getgid32 = (gid_t (*)(void)) dlsym(RTLD_NEXT, "getgid32"); + } + if (root) { + return(real_getgid32()); + } + if (debug) fprintf(stderr, "GETGID32: 0\n"); + return 0; +} +gid_t getegid32(void) { + static gid_t (*real_getegid32)(void) = NULL; + CHECKIT + if (! real_getegid32) { + real_getegid32 = (gid_t (*)(void)) dlsym(RTLD_NEXT, "getegid32"); + } + if (root) { + return(real_getegid32()); + } + if (debug) fprintf(stderr, "GETEGID32: 0\n"); + return 0; +} +#endif + +#if 0 +/* maybe we need to interpose on strcmp someday... here is the template */ +int strcmp(const char *s1, const char *s2) { + static int (*real_strcmp)(const char *, const char *) = NULL; + CHECKIT + if (! real_strcmp) { + real_strcmp = (int (*)(const char *, const char *)) dlsym(RTLD_NEXT, "strcmp"); + } + if (debug) fprintf(stderr, "STRCMP: '%s' '%s'\n", s1, s2); + return(real_strcmp(s1, s2)); +} +#endif + +#code_end +} diff --git a/vendor/Xdummy-entrypoint b/vendor/Xdummy-entrypoint new file mode 100755 index 00000000..2ac63383 --- /dev/null +++ b/vendor/Xdummy-entrypoint @@ -0,0 +1,20 @@ +#!/usr/bin/python +import argparse +import os +import sys +import subprocess + +parser = argparse.ArgumentParser() +args, extra_args = parser.parse_known_args() +subprocess.Popen(["nohup", "Xdummy"], stdout=open('/dev/null', 'w'), stderr=open('/dev/null', 'w')) +os.environ['DISPLAY'] = ':0' +if not extra_args: + sys.argv = ['/bin/bash'] +else: + sys.argv = extra_args +# Explicitly flush right before the exec since otherwise things might get +# lost in Python's buffers around stdout/stderr (!). +sys.stdout.flush() +sys.stderr.flush() +os.execvpe(sys.argv[0], sys.argv, os.environ) + diff --git a/vendor/pymj_shim/Makefile b/vendor/pymj_shim/Makefile new file mode 100644 index 00000000..c39b2ad8 --- /dev/null +++ b/vendor/pymj_shim/Makefile @@ -0,0 +1,6 @@ +.PHONY: upload + +upload: + rm -rf dist + python setup.py sdist + twine upload dist/* diff --git a/vendor/pymj_shim/README.md b/vendor/pymj_shim/README.md new file mode 100644 index 00000000..624314c4 --- /dev/null +++ b/vendor/pymj_shim/README.md @@ -0,0 +1,2 @@ +# PyMj +`mujoco-py` 1.5.0 and up used to be called `pymj` internally. This stub package allows to retain backwards compatibility so `pip install pymj` and `import pymj` keep working, but use `mujoco-py` internally. diff --git a/vendor/pymj_shim/pymj/__init__.py b/vendor/pymj_shim/pymj/__init__.py new file mode 100644 index 00000000..49fb23e8 --- /dev/null +++ b/vendor/pymj_shim/pymj/__init__.py @@ -0,0 +1,9 @@ +import warnings +import sys + +warnings.warn("""\ +`pymj` is deprecated and will be removed soon. Please switch to mujoco-py version 1.50.0.0 or later. +To do this, replace your dependency on `pymj` with `mujoco-py<1.50.1,>=1.50.0`, +and replace `import pymj` with `import mujoco_py`.""", UserWarning, stacklevel=2) + +sys.modules[__name__] = __import__('mujoco_py') diff --git a/vendor/pymj_shim/setup.py b/vendor/pymj_shim/setup.py new file mode 100644 index 00000000..39544956 --- /dev/null +++ b/vendor/pymj_shim/setup.py @@ -0,0 +1,13 @@ +#!/usr/bin/env python3 +from setuptools import setup + +setup( + name='pymj', + version='2.0', + description='DEPRECATED -- use mujoco-py instead: https://github.com/openai/mujoco-py', + url='https://github.com/openai/mujoco-py', + author='OpenAI Robotics Team', + author_email='robotics@openai.com', + packages=['pymj'], + install_requires=['mujoco-py<1.50.1,>=1.50.0'], +) diff --git a/xmls/claw.xml b/xmls/claw.xml new file mode 100644 index 00000000..e2f33659 --- /dev/null +++ b/xmls/claw.xml @@ -0,0 +1,79 @@ + + + + + + + + + + + + + + + + + + + + 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