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Upstream: https://github.com/michaelgillett/mjlab Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047 Upstream-Branch: main
3925 lines
163 KiB
Python
3925 lines
163 KiB
Python
from __future__ import annotations
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import collections.abc
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import mujoco._enums
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import mujoco._structs
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import numpy
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import numpy.typing
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import typing
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__all__: list[str] = ['MjByteVec', 'MjCharVec', 'MjDoubleVec', 'MjFloatVec', 'MjIntVec', 'MjOption', 'MjSpec', 'MjStatistic', 'MjStringVec', 'MjVfs', 'MjVisual', 'MjVisualHeadlight', 'MjVisualRgba', 'MjsActuator', 'MjsAuthored', 'MjsBody', 'MjsCamera', 'MjsCompiler', 'MjsDefault', 'MjsElement', 'MjsEquality', 'MjsExclude', 'MjsFlex', 'MjsFrame', 'MjsGeom', 'MjsHField', 'MjsJoint', 'MjsKey', 'MjsLight', 'MjsMaterial', 'MjsMesh', 'MjsNumeric', 'MjsOrientation', 'MjsPair', 'MjsPlugin', 'MjsSensor', 'MjsSite', 'MjsSkin', 'MjsTendon', 'MjsTendonPath', 'MjsText', 'MjsTexture', 'MjsTuple', 'MjsWrap']
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class MjByteVec:
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def __getitem__(self, arg0: typing.SupportsInt | typing.SupportsIndex) -> ...:
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...
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def __init__(self, arg0: ..., arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
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...
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def __iter__(self) -> collections.abc.Iterator[...]:
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...
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def __len__(self) -> int:
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...
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def __setitem__(self, arg0: typing.SupportsInt | typing.SupportsIndex, arg1: ...) -> None:
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...
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class MjCharVec:
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def __getitem__(self, arg0: typing.SupportsInt | typing.SupportsIndex) -> str:
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...
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def __init__(self, arg0: str, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
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...
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def __iter__(self) -> collections.abc.Iterator[str]:
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...
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def __len__(self) -> int:
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...
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def __setitem__(self, arg0: typing.SupportsInt | typing.SupportsIndex, arg1: str) -> None:
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...
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class MjDoubleVec:
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def __getitem__(self, arg0: typing.SupportsInt | typing.SupportsIndex) -> float:
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...
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def __init__(self, arg0: typing.SupportsFloat | typing.SupportsIndex, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
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...
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def __iter__(self) -> collections.abc.Iterator[float]:
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...
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def __len__(self) -> int:
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...
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def __setitem__(self, arg0: typing.SupportsInt | typing.SupportsIndex, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
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...
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class MjFloatVec:
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def __getitem__(self, arg0: typing.SupportsInt | typing.SupportsIndex) -> float:
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...
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def __init__(self, arg0: typing.SupportsFloat | typing.SupportsIndex, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
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...
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def __iter__(self) -> collections.abc.Iterator[float]:
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...
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def __len__(self) -> int:
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...
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def __setitem__(self, arg0: typing.SupportsInt | typing.SupportsIndex, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
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...
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class MjIntVec:
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def __getitem__(self, arg0: typing.SupportsInt | typing.SupportsIndex) -> int:
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...
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def __init__(self, arg0: typing.SupportsInt | typing.SupportsIndex, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
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...
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def __iter__(self) -> collections.abc.Iterator[int]:
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...
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def __len__(self) -> int:
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...
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def __setitem__(self, arg0: typing.SupportsInt | typing.SupportsIndex, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
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...
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class MjOption:
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@property
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def ccd_iterations(self) -> int:
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...
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@ccd_iterations.setter
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def ccd_iterations(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
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...
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@property
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def ccd_tolerance(self) -> float:
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...
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@ccd_tolerance.setter
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def ccd_tolerance(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
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...
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@property
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def cone(self) -> int:
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...
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@cone.setter
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def cone(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
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...
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@property
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def density(self) -> float:
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...
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@density.setter
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def density(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
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...
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@property
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def disableactuator(self) -> int:
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...
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@disableactuator.setter
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def disableactuator(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
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...
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@property
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def disableflags(self) -> int:
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...
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@disableflags.setter
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def disableflags(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
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...
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@property
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def enableflags(self) -> int:
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...
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@enableflags.setter
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def enableflags(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
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...
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@property
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def gravity(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
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...
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@gravity.setter
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def gravity(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
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...
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@property
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def impratio(self) -> float:
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...
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@impratio.setter
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def impratio(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
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...
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@property
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def integrator(self) -> int:
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...
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@integrator.setter
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def integrator(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
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...
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@property
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def iterations(self) -> int:
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...
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@iterations.setter
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def iterations(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
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...
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@property
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def jacobian(self) -> int:
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...
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@jacobian.setter
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def jacobian(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
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...
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@property
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def ls_iterations(self) -> int:
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...
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@ls_iterations.setter
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def ls_iterations(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
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...
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@property
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def ls_tolerance(self) -> float:
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...
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@ls_tolerance.setter
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def ls_tolerance(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
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...
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@property
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def magnetic(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
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...
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@magnetic.setter
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def magnetic(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
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...
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@property
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def noslip_iterations(self) -> int:
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...
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@noslip_iterations.setter
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def noslip_iterations(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
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...
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@property
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def noslip_tolerance(self) -> float:
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...
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@noslip_tolerance.setter
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def noslip_tolerance(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
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...
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@property
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def o_friction(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]", "flags.writeable"]:
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...
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@o_friction.setter
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def o_friction(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]"]) -> None:
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...
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@property
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def o_margin(self) -> float:
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...
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@o_margin.setter
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def o_margin(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
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...
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@property
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def o_solimp(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]", "flags.writeable"]:
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...
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@o_solimp.setter
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def o_solimp(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]"]) -> None:
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...
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@property
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def o_solref(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
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...
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@o_solref.setter
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def o_solref(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
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...
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@property
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def sdf_initpoints(self) -> int:
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...
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@sdf_initpoints.setter
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def sdf_initpoints(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
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...
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@property
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def sdf_iterations(self) -> int:
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...
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@sdf_iterations.setter
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def sdf_iterations(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
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...
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@property
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def sleep_tolerance(self) -> float:
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...
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@sleep_tolerance.setter
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def sleep_tolerance(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
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...
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@property
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def solver(self) -> int:
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...
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@solver.setter
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def solver(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
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...
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@property
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def timestep(self) -> float:
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...
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@timestep.setter
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def timestep(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
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...
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@property
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def tolerance(self) -> float:
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...
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@tolerance.setter
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def tolerance(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
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...
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@property
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def viscosity(self) -> float:
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...
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@viscosity.setter
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def viscosity(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
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...
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@property
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def wind(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
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...
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@wind.setter
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def wind(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
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...
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class MjSpec:
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assets: dict
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authored: MjsAuthored
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comment: str
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compiler: MjsCompiler
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hasImplicitPluginElem: bool
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meshdir: str
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modelfiledir: str
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modelname: str
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option: MjOption
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override_assets: bool
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stat: MjStatistic
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strippath: bool
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texturedir: str
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visual: MjVisual
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@staticmethod
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def from_file(filename: str, include: collections.abc.Mapping[str, bytes] | None = None, assets: dict | None = None, vfs: MjVfs = None) -> MjSpec:
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"""
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Creates a spec from an XML file.
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Parameters
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----------
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filename : str
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Path to the XML file.
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include : dict, optional
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A dictionary of xml files included by the model. The keys are file names
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and the values are file contents.
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assets : dict, optional
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A dictionary of assets to be used by the spec. The keys are asset names
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and the values are asset contents.
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vfs : MjVfs, optional
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A VFS to use for resolving includes and assets. Cannot be used with
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include or assets.
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"""
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@staticmethod
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def from_string(xml: str, include: collections.abc.Mapping[str, bytes] | None = None, assets: dict | None = None, vfs: MjVfs = None) -> MjSpec:
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"""
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Creates a spec from an XML string.
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Parameters
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----------
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xml : str
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XML string.
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include : dict, optional
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A dictionary of xml files included by the model. The keys are file names
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and the values are file contents.
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assets : dict, optional
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A dictionary of assets to be used by the spec. The keys are asset names
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and the values are asset contents.
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vfs : MjVfs, optional
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A VFS to use for resolving includes and assets. Cannot be used with
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include or assets.
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"""
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@staticmethod
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def from_zip(file: typing.Union[str, typing.IO[bytes]]) -> MjSpec:
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"""
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Reads a zip file and returns an MjSpec.
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Args:
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file: The path to the file to read from or the file object to read from.
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Returns:
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An MjSpec object.
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"""
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@staticmethod
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def resolve_orientation(degree: bool, sequence: MjCharVec = None, orientation: MjsOrientation) -> typing.Annotated[list[float], "FixedSize(4)"]:
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...
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@staticmethod
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def to_zip(spec: MjSpec, file: typing.Union[str, typing.IO[bytes]]) -> None:
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"""
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Converts an MjSpec to a zip file.
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Args:
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spec: The mjSpec to save to a file.
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file: The path to the file to save to or the file object to write to.
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"""
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def __init__(self) -> None:
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...
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def activate_plugin(self, name: str) -> None:
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...
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def actuator(self, arg0: str) -> MjsActuator:
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...
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def add_actuator(self, default: MjsDefault = None, name: str | None = None, gaintype: typing.SupportsInt | typing.SupportsIndex | None = None, gainprm: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, biastype: typing.SupportsInt | typing.SupportsIndex | None = None, biasprm: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, dyntype: typing.SupportsInt | typing.SupportsIndex | None = None, dynprm: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, actdim: typing.SupportsInt | typing.SupportsIndex | None = None, ctrlspec: typing.SupportsInt | typing.SupportsIndex | None = None, actearly: typing.SupportsInt | typing.SupportsIndex | None = None, trntype: typing.SupportsInt | typing.SupportsIndex | None = None, gear: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, target: str | None = None, refsite: str | None = None, slidersite: str | None = None, cranklength: typing.SupportsFloat | typing.SupportsIndex | None = None, lengthrange: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, inheritrange: typing.SupportsFloat | typing.SupportsIndex | None = None, damping: typing.Any | None = None, armature: typing.SupportsFloat | typing.SupportsIndex | None = None, ctrllimited: typing.SupportsInt | typing.SupportsIndex | None = None, ctrlrange: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, forcelimited: typing.SupportsInt | typing.SupportsIndex | None = None, forcerange: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, actlimited: typing.SupportsInt | typing.SupportsIndex | None = None, actrange: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, group: typing.SupportsInt | typing.SupportsIndex | None = None, nsample: typing.SupportsInt | typing.SupportsIndex | None = None, interp: typing.SupportsInt | typing.SupportsIndex | None = None, delay: typing.SupportsFloat | typing.SupportsIndex | None = None, userdata: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, plugin: mujoco._specs.MjsPlugin | None = None, info: str | None = None) -> MjsActuator:
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"""
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Add actuator to spec.
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Args:
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name: str
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gaintype: int
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gainprm: list[float]
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biastype: int
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biasprm: list[float]
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dyntype: int
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dynprm: list[float]
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actdim: int
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ctrlspec: int
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actearly: int
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trntype: int
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gear: list[float]
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target: str
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refsite: str
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slidersite: str
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cranklength: float
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lengthrange: list[float]
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inheritrange: float
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damping: Optional[list[float]]
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armature: float
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ctrllimited: int
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ctrlrange: list[float]
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forcelimited: int
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forcerange: list[float]
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actlimited: int
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actrange: list[float]
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group: int
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nsample: int
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interp: int
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delay: float
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userdata: list[float]
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plugin: MjsPlugin
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info: str
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"""
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def add_default(self, arg0: str, arg1: MjsDefault) -> MjsDefault:
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...
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def add_equality(self, default: MjsDefault = None, name: str | None = None, type: typing.SupportsInt | typing.SupportsIndex | None = None, data: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, active: typing.SupportsInt | typing.SupportsIndex | None = None, name1: str | None = None, name2: str | None = None, objtype: typing.SupportsInt | typing.SupportsIndex | None = None, solref: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, solimp: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, info: str | None = None) -> MjsEquality:
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"""
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Add equality to spec.
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Args:
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name: str
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type: int
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data: list[float]
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active: int
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name1: str
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name2: str
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objtype: int
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solref: list[float]
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solimp: list[float]
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info: str
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"""
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def add_exclude(self, name: str | None = None, bodyname1: str | None = None, bodyname2: str | None = None, info: str | None = None) -> MjsExclude:
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"""
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Add exclude to spec.
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Args:
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name: str
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bodyname1: str
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bodyname2: str
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info: str
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"""
|
|
def add_flex(self, name: str | None = None, contype: typing.SupportsInt | typing.SupportsIndex | None = None, conaffinity: typing.SupportsInt | typing.SupportsIndex | None = None, condim: typing.SupportsInt | typing.SupportsIndex | None = None, priority: typing.SupportsInt | typing.SupportsIndex | None = None, friction: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, solmix: typing.SupportsFloat | typing.SupportsIndex | None = None, solref: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, solimp: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, margin: typing.SupportsFloat | typing.SupportsIndex | None = None, gap: typing.SupportsFloat | typing.SupportsIndex | None = None, dim: typing.SupportsInt | typing.SupportsIndex | None = None, radius: typing.SupportsFloat | typing.SupportsIndex | None = None, size: typing.Any | None = None, internal: typing.SupportsInt | typing.SupportsIndex | None = None, flatskin: typing.SupportsInt | typing.SupportsIndex | None = None, selfcollide: typing.SupportsInt | typing.SupportsIndex | None = None, passive: typing.SupportsInt | typing.SupportsIndex | None = None, activelayers: typing.SupportsInt | typing.SupportsIndex | None = None, group: typing.SupportsInt | typing.SupportsIndex | None = None, edgestiffness: typing.SupportsFloat | typing.SupportsIndex | None = None, edgedamping: typing.SupportsFloat | typing.SupportsIndex | None = None, rgba: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, material: str | None = None, young: typing.SupportsFloat | typing.SupportsIndex | None = None, poisson: typing.SupportsFloat | typing.SupportsIndex | None = None, damping: typing.SupportsFloat | typing.SupportsIndex | None = None, thickness: typing.SupportsFloat | typing.SupportsIndex | None = None, elastic2d: typing.SupportsInt | typing.SupportsIndex | None = None, cellcount: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, order: typing.SupportsInt | typing.SupportsIndex | None = None, nodebody: collections.abc.Sequence[str] | None = None, vertbody: collections.abc.Sequence[str] | None = None, node: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, vert: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, elem: collections.abc.Sequence[typing.SupportsInt | typing.SupportsIndex] | None = None, texcoord: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, elemtexcoord: collections.abc.Sequence[typing.SupportsInt | typing.SupportsIndex] | None = None, info: str | None = None) -> MjsFlex:
|
|
"""
|
|
Add flex to spec.
|
|
|
|
Args:
|
|
name: str
|
|
contype: int
|
|
conaffinity: int
|
|
condim: int
|
|
priority: int
|
|
friction: list[float]
|
|
solmix: float
|
|
solref: list[float]
|
|
solimp: list[float]
|
|
margin: float
|
|
gap: float
|
|
dim: int
|
|
radius: float
|
|
size: Optional[list[float]]
|
|
internal: int
|
|
flatskin: int
|
|
selfcollide: int
|
|
passive: int
|
|
activelayers: int
|
|
group: int
|
|
edgestiffness: float
|
|
edgedamping: float
|
|
rgba: list[float]
|
|
material: str
|
|
young: float
|
|
poisson: float
|
|
damping: float
|
|
thickness: float
|
|
elastic2d: int
|
|
cellcount: list[float]
|
|
order: int
|
|
nodebody: list[str]
|
|
vertbody: list[str]
|
|
node: list[float]
|
|
vert: list[float]
|
|
elem: list[int]
|
|
texcoord: list[float]
|
|
elemtexcoord: list[int]
|
|
info: str
|
|
"""
|
|
def add_hfield(self, name: str | None = None, content_type: str | None = None, file: str | None = None, size: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, nrow: typing.SupportsInt | typing.SupportsIndex | None = None, ncol: typing.SupportsInt | typing.SupportsIndex | None = None, userdata: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, info: str | None = None) -> MjsHField:
|
|
"""
|
|
Add hfield to spec.
|
|
|
|
Args:
|
|
name: str
|
|
content_type: str
|
|
file: str
|
|
size: list[float]
|
|
nrow: int
|
|
ncol: int
|
|
userdata: list[float]
|
|
info: str
|
|
"""
|
|
def add_key(self, name: str | None = None, time: typing.SupportsFloat | typing.SupportsIndex | None = None, qpos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, qvel: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, act: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, mpos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, mquat: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, ctrl: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, info: str | None = None) -> MjsKey:
|
|
"""
|
|
Add key to spec.
|
|
|
|
Args:
|
|
name: str
|
|
time: float
|
|
qpos: list[float]
|
|
qvel: list[float]
|
|
act: list[float]
|
|
mpos: list[float]
|
|
mquat: list[float]
|
|
ctrl: list[float]
|
|
info: str
|
|
"""
|
|
def add_material(self, default: MjsDefault = None, name: str | None = None, textures: collections.abc.Sequence[str] | None = None, texuniform: typing.SupportsInt | typing.SupportsIndex | None = None, texrepeat: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, emission: typing.SupportsFloat | typing.SupportsIndex | None = None, specular: typing.SupportsFloat | typing.SupportsIndex | None = None, shininess: typing.SupportsFloat | typing.SupportsIndex | None = None, reflectance: typing.SupportsFloat | typing.SupportsIndex | None = None, metallic: typing.SupportsFloat | typing.SupportsIndex | None = None, roughness: typing.SupportsFloat | typing.SupportsIndex | None = None, rgba: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, info: str | None = None) -> MjsMaterial:
|
|
"""
|
|
Add material to spec.
|
|
|
|
Args:
|
|
name: str
|
|
textures: list[str]
|
|
texuniform: int
|
|
texrepeat: list[float]
|
|
emission: float
|
|
specular: float
|
|
shininess: float
|
|
reflectance: float
|
|
metallic: float
|
|
roughness: float
|
|
rgba: list[float]
|
|
info: str
|
|
"""
|
|
def add_mesh(self, default: MjsDefault = None, name: str | None = None, content_type: str | None = None, file: str | None = None, refpos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, refquat: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, scale: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, inertia: typing.SupportsInt | typing.SupportsIndex | None = None, smoothnormal: typing.SupportsInt | typing.SupportsIndex | None = None, needsdf: typing.SupportsInt | typing.SupportsIndex | None = None, maxhullvert: typing.SupportsInt | typing.SupportsIndex | None = None, uservert: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, usernormal: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, usertexcoord: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, userface: collections.abc.Sequence[typing.SupportsInt | typing.SupportsIndex] | None = None, userfacenormal: collections.abc.Sequence[typing.SupportsInt | typing.SupportsIndex] | None = None, userfacetexcoord: collections.abc.Sequence[typing.SupportsInt | typing.SupportsIndex] | None = None, plugin: mujoco._specs.MjsPlugin | None = None, material: str | None = None, octree_maxdepth: typing.SupportsInt | typing.SupportsIndex | None = None, info: str | None = None) -> MjsMesh:
|
|
"""
|
|
Add mesh to spec.
|
|
|
|
Args:
|
|
name: str
|
|
content_type: str
|
|
file: str
|
|
refpos: list[float]
|
|
refquat: list[float]
|
|
scale: list[float]
|
|
inertia: int
|
|
smoothnormal: int
|
|
needsdf: int
|
|
maxhullvert: int
|
|
uservert: list[float]
|
|
usernormal: list[float]
|
|
usertexcoord: list[float]
|
|
userface: list[int]
|
|
userfacenormal: list[int]
|
|
userfacetexcoord: list[int]
|
|
plugin: MjsPlugin
|
|
material: str
|
|
octree_maxdepth: int
|
|
info: str
|
|
"""
|
|
def add_numeric(self, name: str | None = None, data: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, size: typing.SupportsInt | typing.SupportsIndex | None = None, info: str | None = None) -> MjsNumeric:
|
|
"""
|
|
Add numeric to spec.
|
|
|
|
Args:
|
|
name: str
|
|
data: list[float]
|
|
size: int
|
|
info: str
|
|
"""
|
|
def add_pair(self, default: MjsDefault = None, name: str | None = None, geomname1: str | None = None, geomname2: str | None = None, condim: typing.SupportsInt | typing.SupportsIndex | None = None, solref: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, solreffriction: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, solimp: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, margin: typing.SupportsFloat | typing.SupportsIndex | None = None, gap: typing.SupportsFloat | typing.SupportsIndex | None = None, adhesion: typing.SupportsFloat | typing.SupportsIndex | None = None, friction: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, info: str | None = None) -> MjsPair:
|
|
"""
|
|
Add pair to spec.
|
|
|
|
Args:
|
|
name: str
|
|
geomname1: str
|
|
geomname2: str
|
|
condim: int
|
|
solref: list[float]
|
|
solreffriction: list[float]
|
|
solimp: list[float]
|
|
margin: float
|
|
gap: float
|
|
adhesion: float
|
|
friction: list[float]
|
|
info: str
|
|
"""
|
|
def add_plugin(self, name: str | None = None, plugin_name: str | None = None, active: typing.SupportsInt | typing.SupportsIndex | None = None, info: str | None = None) -> MjsPlugin:
|
|
"""
|
|
Add plugin to spec.
|
|
|
|
Args:
|
|
name: str
|
|
plugin_name: str
|
|
active: int
|
|
info: str
|
|
"""
|
|
def add_sensor(self, name: str | None = None, type: typing.SupportsInt | typing.SupportsIndex | None = None, objtype: typing.SupportsInt | typing.SupportsIndex | None = None, objname: str | None = None, reftype: typing.SupportsInt | typing.SupportsIndex | None = None, refname: str | None = None, intprm: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, datatype: typing.SupportsInt | typing.SupportsIndex | None = None, needstage: typing.SupportsInt | typing.SupportsIndex | None = None, dim: typing.SupportsInt | typing.SupportsIndex | None = None, cutoff: typing.SupportsFloat | typing.SupportsIndex | None = None, noise: typing.SupportsFloat | typing.SupportsIndex | None = None, nsample: typing.SupportsInt | typing.SupportsIndex | None = None, interp: typing.SupportsInt | typing.SupportsIndex | None = None, delay: typing.SupportsFloat | typing.SupportsIndex | None = None, interval: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, userdata: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, plugin: mujoco._specs.MjsPlugin | None = None, info: str | None = None) -> MjsSensor:
|
|
"""
|
|
Add sensor to spec.
|
|
|
|
Args:
|
|
name: str
|
|
type: int
|
|
objtype: int
|
|
objname: str
|
|
reftype: int
|
|
refname: str
|
|
intprm: list[float]
|
|
datatype: int
|
|
needstage: int
|
|
dim: int
|
|
cutoff: float
|
|
noise: float
|
|
nsample: int
|
|
interp: int
|
|
delay: float
|
|
interval: list[float]
|
|
userdata: list[float]
|
|
plugin: MjsPlugin
|
|
info: str
|
|
"""
|
|
def add_skin(self, name: str | None = None, file: str | None = None, material: str | None = None, rgba: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, inflate: typing.SupportsFloat | typing.SupportsIndex | None = None, group: typing.SupportsInt | typing.SupportsIndex | None = None, vert: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, texcoord: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, face: collections.abc.Sequence[typing.SupportsInt | typing.SupportsIndex] | None = None, bodyname: collections.abc.Sequence[str] | None = None, bindpos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, bindquat: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, vertid: collections.abc.Sequence[collections.abc.Sequence[typing.SupportsInt | typing.SupportsIndex]] | None = None, vertweight: collections.abc.Sequence[collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex]] | None = None, info: str | None = None) -> MjsSkin:
|
|
"""
|
|
Add skin to spec.
|
|
|
|
Args:
|
|
name: str
|
|
file: str
|
|
material: str
|
|
rgba: list[float]
|
|
inflate: float
|
|
group: int
|
|
vert: list[float]
|
|
texcoord: list[float]
|
|
face: list[int]
|
|
bodyname: list[str]
|
|
bindpos: list[float]
|
|
bindquat: list[float]
|
|
vertid: list[list[int]]
|
|
vertweight: list[list[float]]
|
|
info: str
|
|
"""
|
|
def add_tendon(self, default: MjsDefault = None, name: str | None = None, stiffness: typing.Any | None = None, springlength: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, damping: typing.Any | None = None, frictionloss: typing.SupportsFloat | typing.SupportsIndex | None = None, solref_friction: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, solimp_friction: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, armature: typing.SupportsFloat | typing.SupportsIndex | None = None, limited: typing.SupportsInt | typing.SupportsIndex | None = None, actfrclimited: typing.SupportsInt | typing.SupportsIndex | None = None, range: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, actfrcrange: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, margin: typing.SupportsFloat | typing.SupportsIndex | None = None, solref_limit: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, solimp_limit: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, material: str | None = None, width: typing.SupportsFloat | typing.SupportsIndex | None = None, rgba: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, group: typing.SupportsInt | typing.SupportsIndex | None = None, userdata: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, info: str | None = None) -> MjsTendon:
|
|
"""
|
|
Add tendon to spec.
|
|
|
|
Args:
|
|
name: str
|
|
stiffness: Optional[list[float]]
|
|
springlength: list[float]
|
|
damping: Optional[list[float]]
|
|
frictionloss: float
|
|
solref_friction: list[float]
|
|
solimp_friction: list[float]
|
|
armature: float
|
|
limited: int
|
|
actfrclimited: int
|
|
range: list[float]
|
|
actfrcrange: list[float]
|
|
margin: float
|
|
solref_limit: list[float]
|
|
solimp_limit: list[float]
|
|
material: str
|
|
width: float
|
|
rgba: list[float]
|
|
group: int
|
|
userdata: list[float]
|
|
info: str
|
|
"""
|
|
def add_text(self, name: str | None = None, data: str | None = None, info: str | None = None) -> MjsText:
|
|
"""
|
|
Add text to spec.
|
|
|
|
Args:
|
|
name: str
|
|
data: str
|
|
info: str
|
|
"""
|
|
def add_texture(self, name: str | None = None, type: typing.SupportsInt | typing.SupportsIndex | None = None, colorspace: typing.SupportsInt | typing.SupportsIndex | None = None, builtin: typing.SupportsInt | typing.SupportsIndex | None = None, mark: typing.SupportsInt | typing.SupportsIndex | None = None, rgb1: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, rgb2: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, markrgb: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, random: typing.SupportsFloat | typing.SupportsIndex | None = None, height: typing.SupportsInt | typing.SupportsIndex | None = None, width: typing.SupportsInt | typing.SupportsIndex | None = None, nchannel: typing.SupportsInt | typing.SupportsIndex | None = None, content_type: str | None = None, file: str | None = None, gridsize: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, gridlayout: typing.Any = None, cubefiles: collections.abc.Sequence[str] | None = None, data: collections.abc.Sequence[typing.SupportsInt | typing.SupportsIndex] | None = None, hflip: typing.SupportsInt | typing.SupportsIndex | None = None, vflip: typing.SupportsInt | typing.SupportsIndex | None = None, info: str | None = None) -> MjsTexture:
|
|
"""
|
|
Add texture to spec.
|
|
|
|
Args:
|
|
name: str
|
|
type: int
|
|
colorspace: int
|
|
builtin: int
|
|
mark: int
|
|
rgb1: list[float]
|
|
rgb2: list[float]
|
|
markrgb: list[float]
|
|
random: float
|
|
height: int
|
|
width: int
|
|
nchannel: int
|
|
content_type: str
|
|
file: str
|
|
gridsize: list[float]
|
|
gridlayout: str | list[str]
|
|
cubefiles: list[str]
|
|
data: list[int]
|
|
hflip: int
|
|
vflip: int
|
|
info: str
|
|
"""
|
|
def add_tuple(self, name: str | None = None, objtype: collections.abc.Sequence[typing.SupportsInt | typing.SupportsIndex] | None = None, objname: collections.abc.Sequence[str] | None = None, objprm: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, info: str | None = None) -> MjsTuple:
|
|
"""
|
|
Add tuple to spec.
|
|
|
|
Args:
|
|
name: str
|
|
objtype: list[int]
|
|
objname: list[str]
|
|
objprm: list[float]
|
|
info: str
|
|
"""
|
|
def attach(self, child: MjSpec, prefix: str | None = None, suffix: str | None = None, site: typing.Any | None = None, frame: typing.Any | None = None) -> MjsFrame:
|
|
...
|
|
def body(self, arg0: str) -> MjsBody:
|
|
...
|
|
def camera(self, arg0: str) -> MjsCamera:
|
|
...
|
|
def compile(self, vfs: mujoco._specs.MjVfs | None = None) -> typing.Any:
|
|
...
|
|
def copy(self) -> MjSpec:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsDefault) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsBody) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsFrame) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsGeom) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsJoint) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsSite) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsCamera) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsLight) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsMaterial) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsMesh) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsPair) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsEquality) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsActuator) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsTendon) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsSensor) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsFlex) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsHField) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsSkin) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsTexture) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsKey) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsText) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsNumeric) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsExclude) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsTuple) -> None:
|
|
...
|
|
@typing.overload
|
|
def delete(self, arg0: MjsPlugin) -> None:
|
|
...
|
|
def encode(self, filename: str, model: typing.Any | None = None, content_type: str | None = None) -> int:
|
|
...
|
|
def equality(self, arg0: str) -> MjsEquality:
|
|
...
|
|
def exclude(self, arg0: str) -> MjsExclude:
|
|
...
|
|
def find_default(self, arg0: str) -> MjsDefault:
|
|
...
|
|
def flex(self, arg0: str) -> MjsFlex:
|
|
...
|
|
def frame(self, arg0: str) -> MjsFrame:
|
|
...
|
|
def geom(self, arg0: str) -> MjsGeom:
|
|
...
|
|
def hfield(self, arg0: str) -> MjsHField:
|
|
...
|
|
def joint(self, arg0: str) -> MjsJoint:
|
|
...
|
|
def key(self, arg0: str) -> MjsKey:
|
|
...
|
|
def light(self, arg0: str) -> MjsLight:
|
|
...
|
|
def material(self, arg0: str) -> MjsMaterial:
|
|
...
|
|
def mesh(self, arg0: str) -> MjsMesh:
|
|
...
|
|
def numeric(self, arg0: str) -> MjsNumeric:
|
|
...
|
|
def pair(self, arg0: str) -> MjsPair:
|
|
...
|
|
def plugin(self, arg0: str) -> MjsPlugin:
|
|
...
|
|
def recompile(self, arg0: typing.Any, arg1: typing.Any) -> typing.Any:
|
|
...
|
|
def sensor(self, arg0: str) -> MjsSensor:
|
|
...
|
|
def site(self, arg0: str) -> MjsSite:
|
|
...
|
|
def skin(self, arg0: str) -> MjsSkin:
|
|
...
|
|
def tendon(self, arg0: str) -> MjsTendon:
|
|
...
|
|
def text(self, arg0: str) -> MjsText:
|
|
...
|
|
def texture(self, arg0: str) -> MjsTexture:
|
|
...
|
|
def to_file(self, arg0: str) -> None:
|
|
...
|
|
def to_xml(self) -> str:
|
|
...
|
|
def tuple(self, arg0: str) -> MjsTuple:
|
|
...
|
|
@property
|
|
def _address(self) -> int:
|
|
...
|
|
@property
|
|
def actuators(self) -> list:
|
|
...
|
|
@property
|
|
def bodies(self) -> list:
|
|
...
|
|
@property
|
|
def cameras(self) -> list:
|
|
...
|
|
@property
|
|
def copy_during_attach(self) -> None:
|
|
...
|
|
@copy_during_attach.setter
|
|
def copy_during_attach(self, arg1: bool) -> int:
|
|
...
|
|
@property
|
|
def default(self) -> MjsDefault:
|
|
...
|
|
@property
|
|
def equalities(self) -> list:
|
|
...
|
|
@property
|
|
def excludes(self) -> list:
|
|
...
|
|
@property
|
|
def flexes(self) -> list:
|
|
...
|
|
@property
|
|
def frames(self) -> list:
|
|
...
|
|
@property
|
|
def geoms(self) -> list:
|
|
...
|
|
@property
|
|
def hfields(self) -> list:
|
|
...
|
|
@property
|
|
def joints(self) -> list:
|
|
...
|
|
@property
|
|
def keys(self) -> list:
|
|
...
|
|
@property
|
|
def lights(self) -> list:
|
|
...
|
|
@property
|
|
def materials(self) -> list:
|
|
...
|
|
@property
|
|
def memory(self) -> int:
|
|
...
|
|
@memory.setter
|
|
def memory(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def meshes(self) -> list:
|
|
...
|
|
@property
|
|
def nconmax(self) -> int:
|
|
...
|
|
@nconmax.setter
|
|
def nconmax(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def nemax(self) -> int:
|
|
...
|
|
@nemax.setter
|
|
def nemax(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def njmax(self) -> int:
|
|
...
|
|
@njmax.setter
|
|
def njmax(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def nkey(self) -> int:
|
|
...
|
|
@nkey.setter
|
|
def nkey(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def nstack(self) -> int:
|
|
...
|
|
@nstack.setter
|
|
def nstack(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def numerics(self) -> list:
|
|
...
|
|
@property
|
|
def nuser_actuator(self) -> int:
|
|
...
|
|
@nuser_actuator.setter
|
|
def nuser_actuator(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def nuser_body(self) -> int:
|
|
...
|
|
@nuser_body.setter
|
|
def nuser_body(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def nuser_cam(self) -> int:
|
|
...
|
|
@nuser_cam.setter
|
|
def nuser_cam(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def nuser_geom(self) -> int:
|
|
...
|
|
@nuser_geom.setter
|
|
def nuser_geom(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def nuser_jnt(self) -> int:
|
|
...
|
|
@nuser_jnt.setter
|
|
def nuser_jnt(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def nuser_sensor(self) -> int:
|
|
...
|
|
@nuser_sensor.setter
|
|
def nuser_sensor(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def nuser_site(self) -> int:
|
|
...
|
|
@nuser_site.setter
|
|
def nuser_site(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def nuser_tendon(self) -> int:
|
|
...
|
|
@nuser_tendon.setter
|
|
def nuser_tendon(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def nuserdata(self) -> int:
|
|
...
|
|
@nuserdata.setter
|
|
def nuserdata(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def pairs(self) -> list:
|
|
...
|
|
@property
|
|
def parent(self) -> MjSpec:
|
|
...
|
|
@property
|
|
def plugins(self) -> list:
|
|
...
|
|
@property
|
|
def sensors(self) -> list:
|
|
...
|
|
@property
|
|
def sites(self) -> list:
|
|
...
|
|
@property
|
|
def skins(self) -> list:
|
|
...
|
|
@property
|
|
def tendons(self) -> list:
|
|
...
|
|
@property
|
|
def texts(self) -> list:
|
|
...
|
|
@property
|
|
def textures(self) -> list:
|
|
...
|
|
@property
|
|
def timer(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[9, 1]", "flags.writeable"]:
|
|
...
|
|
@property
|
|
def tuples(self) -> list:
|
|
...
|
|
@property
|
|
def worldbody(self) -> MjsBody:
|
|
...
|
|
class MjStatistic:
|
|
@property
|
|
def center(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@center.setter
|
|
def center(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def extent(self) -> float:
|
|
...
|
|
@extent.setter
|
|
def extent(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def meaninertia(self) -> float:
|
|
...
|
|
@meaninertia.setter
|
|
def meaninertia(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def meanmass(self) -> float:
|
|
...
|
|
@meanmass.setter
|
|
def meanmass(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def meansize(self) -> float:
|
|
...
|
|
@meansize.setter
|
|
def meansize(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
class MjStringVec:
|
|
def __getitem__(self, arg0: typing.SupportsInt | typing.SupportsIndex) -> str:
|
|
...
|
|
def __init__(self, arg0: str, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
def __iter__(self) -> collections.abc.Iterator[str]:
|
|
...
|
|
def __len__(self) -> int:
|
|
...
|
|
def __setitem__(self, arg0: typing.SupportsInt | typing.SupportsIndex, arg1: str) -> None:
|
|
...
|
|
class MjVfs:
|
|
def __contains__(self, arg0: str) -> bool:
|
|
...
|
|
def __delitem__(self, arg0: str) -> None:
|
|
...
|
|
def __enter__(self) -> MjVfs:
|
|
...
|
|
def __exit__(self, arg0: typing.Any, arg1: typing.Any, arg2: typing.Any) -> None:
|
|
...
|
|
def __init__(self) -> None:
|
|
...
|
|
def __setitem__(self, arg0: str, arg1: bytes) -> None:
|
|
...
|
|
def close(self) -> None:
|
|
...
|
|
class MjVisual:
|
|
global: mujoco._structs.MjVisual.Global
|
|
global_: mujoco._structs.MjVisual.Global
|
|
headlight: MjVisualHeadlight
|
|
map: mujoco._structs.MjVisual.Map
|
|
quality: mujoco._structs.MjVisual.Quality
|
|
rgba: MjVisualRgba
|
|
scale: mujoco._structs.MjVisual.Scale
|
|
class MjVisualHeadlight:
|
|
@property
|
|
def active(self) -> int:
|
|
...
|
|
@active.setter
|
|
def active(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def ambient(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@ambient.setter
|
|
def ambient(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def diffuse(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@diffuse.setter
|
|
def diffuse(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def specular(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@specular.setter
|
|
def specular(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[3, 1]"]) -> None:
|
|
...
|
|
class MjVisualRgba:
|
|
@property
|
|
def actuator(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@actuator.setter
|
|
def actuator(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def actuatornegative(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@actuatornegative.setter
|
|
def actuatornegative(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def actuatorpositive(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@actuatorpositive.setter
|
|
def actuatorpositive(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def bv(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@bv.setter
|
|
def bv(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def bvactive(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@bvactive.setter
|
|
def bvactive(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def camera(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@camera.setter
|
|
def camera(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def com(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@com.setter
|
|
def com(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def connect(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@connect.setter
|
|
def connect(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def constraint(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@constraint.setter
|
|
def constraint(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def contactforce(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@contactforce.setter
|
|
def contactforce(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def contactfriction(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@contactfriction.setter
|
|
def contactfriction(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def contactgap(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@contactgap.setter
|
|
def contactgap(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def contactpoint(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@contactpoint.setter
|
|
def contactpoint(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def contacttorque(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@contacttorque.setter
|
|
def contacttorque(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def crankbroken(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@crankbroken.setter
|
|
def crankbroken(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def fog(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@fog.setter
|
|
def fog(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def force(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@force.setter
|
|
def force(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def frustum(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@frustum.setter
|
|
def frustum(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def haze(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@haze.setter
|
|
def haze(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def inertia(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@inertia.setter
|
|
def inertia(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def joint(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@joint.setter
|
|
def joint(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def light(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@light.setter
|
|
def light(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def rangefinder(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@rangefinder.setter
|
|
def rangefinder(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def selectpoint(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@selectpoint.setter
|
|
def selectpoint(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def slidercrank(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@slidercrank.setter
|
|
def slidercrank(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
class MjsActuator:
|
|
actearly: bool
|
|
classname: MjsDefault
|
|
info: str
|
|
name: str
|
|
plugin: MjsPlugin
|
|
refsite: str
|
|
slidersite: str
|
|
target: str
|
|
def set_to_adhesion(self, gain: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
def set_to_cylinder(self, timeconst: typing.SupportsFloat | typing.SupportsIndex, bias: typing.SupportsFloat | typing.SupportsIndex, area: typing.SupportsFloat | typing.SupportsIndex, diameter: typing.SupportsFloat | typing.SupportsIndex = -1) -> None:
|
|
...
|
|
def set_to_damper(self, kv: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
def set_to_dcmotor(self, motorconst: typing.Annotated[collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex], "FixedSize(2)"], resistance: typing.SupportsFloat | typing.SupportsIndex, nominal: typing.Annotated[collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex], "FixedSize(3)"] = [0.0, 0.0, 0.0], saturation: typing.Annotated[collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex], "FixedSize(3)"] = [0.0, 0.0, 0.0], inductance: typing.Annotated[collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex], "FixedSize(2)"] = [0.0, 0.0], cogging: typing.Annotated[collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex], "FixedSize(3)"] = [0.0, 0.0, 0.0], controller: typing.Annotated[collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex], "FixedSize(6)"] = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], thermal: typing.Annotated[collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex], "FixedSize(6)"] = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], lugre: typing.Annotated[collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex], "FixedSize(5)"] = [0.0, 0.0, 0.0, 0.0, 0.0], input_mode: typing.SupportsInt | typing.SupportsIndex = 0) -> None:
|
|
...
|
|
def set_to_intvelocity(self, kp: typing.SupportsFloat | typing.SupportsIndex, kv: typing.SupportsFloat | typing.SupportsIndex = -1, dampratio: typing.SupportsFloat | typing.SupportsIndex = -1, timeconst: typing.SupportsFloat | typing.SupportsIndex = -1, inheritrange: bool = False) -> None:
|
|
...
|
|
def set_to_motor(self) -> None:
|
|
...
|
|
def set_to_muscle(self, timeconst: typing.Annotated[collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex], "FixedSize(2)"] = [-1.0, -1.0], tausmooth: typing.SupportsFloat | typing.SupportsIndex, range: typing.Annotated[collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex], "FixedSize(2)"] = [-1.0, -1.0], force: typing.SupportsFloat | typing.SupportsIndex = -1, scale: typing.SupportsFloat | typing.SupportsIndex = -1, lmin: typing.SupportsFloat | typing.SupportsIndex = -1, lmax: typing.SupportsFloat | typing.SupportsIndex = -1, vmax: typing.SupportsFloat | typing.SupportsIndex = -1, fpmax: typing.SupportsFloat | typing.SupportsIndex = -1, fvmax: typing.SupportsFloat | typing.SupportsIndex = -1) -> None:
|
|
...
|
|
def set_to_orientation(self, kp: typing.SupportsFloat | typing.SupportsIndex, kv: typing.SupportsFloat | typing.SupportsIndex = -1, dampratio: typing.SupportsFloat | typing.SupportsIndex = -1, ctrlspec: typing.SupportsInt | typing.SupportsIndex = 0) -> None:
|
|
...
|
|
def set_to_position(self, kp: typing.SupportsFloat | typing.SupportsIndex, kv: typing.SupportsFloat | typing.SupportsIndex = -1, dampratio: typing.SupportsFloat | typing.SupportsIndex = -1, timeconst: typing.SupportsFloat | typing.SupportsIndex = -1, inheritrange: bool = False) -> None:
|
|
...
|
|
def set_to_velocity(self, kv: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def actdim(self) -> int:
|
|
...
|
|
@actdim.setter
|
|
def actdim(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def actlimited(self) -> mujoco._enums.mjtLimited:
|
|
...
|
|
@actlimited.setter
|
|
def actlimited(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def actrange(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@actrange.setter
|
|
def actrange(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def armature(self) -> float:
|
|
...
|
|
@armature.setter
|
|
def armature(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def biasprm(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[10, 1]", "flags.writeable"]:
|
|
...
|
|
@biasprm.setter
|
|
def biasprm(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[10, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def biastype(self) -> mujoco._enums.mjtBias:
|
|
...
|
|
@biastype.setter
|
|
def biastype(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def cranklength(self) -> float:
|
|
...
|
|
@cranklength.setter
|
|
def cranklength(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def ctrllimited(self) -> mujoco._enums.mjtLimited:
|
|
...
|
|
@ctrllimited.setter
|
|
def ctrllimited(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def ctrlrange(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@ctrlrange.setter
|
|
def ctrlrange(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def ctrlspec(self) -> int:
|
|
...
|
|
@ctrlspec.setter
|
|
def ctrlspec(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def damping(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@damping.setter
|
|
def damping(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def delay(self) -> float:
|
|
...
|
|
@delay.setter
|
|
def delay(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def dynprm(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[10, 1]", "flags.writeable"]:
|
|
...
|
|
@dynprm.setter
|
|
def dynprm(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[10, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def dyntype(self) -> mujoco._enums.mjtDyn:
|
|
...
|
|
@dyntype.setter
|
|
def dyntype(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def forcelimited(self) -> mujoco._enums.mjtLimited:
|
|
...
|
|
@forcelimited.setter
|
|
def forcelimited(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def forcerange(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@forcerange.setter
|
|
def forcerange(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def gainprm(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[10, 1]", "flags.writeable"]:
|
|
...
|
|
@gainprm.setter
|
|
def gainprm(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[10, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def gaintype(self) -> mujoco._enums.mjtGain:
|
|
...
|
|
@gaintype.setter
|
|
def gaintype(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def gear(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[6, 1]", "flags.writeable"]:
|
|
...
|
|
@gear.setter
|
|
def gear(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[6, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def group(self) -> int:
|
|
...
|
|
@group.setter
|
|
def group(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def inheritrange(self) -> float:
|
|
...
|
|
@inheritrange.setter
|
|
def inheritrange(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def interp(self) -> int:
|
|
...
|
|
@interp.setter
|
|
def interp(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def lengthrange(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@lengthrange.setter
|
|
def lengthrange(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def nsample(self) -> int:
|
|
...
|
|
@nsample.setter
|
|
def nsample(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
@property
|
|
def trntype(self) -> mujoco._enums.mjtTrn:
|
|
...
|
|
@trntype.setter
|
|
def trntype(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def userdata(self) -> MjDoubleVec:
|
|
...
|
|
@userdata.setter
|
|
def userdata(self, arg1: typing.Any) -> None:
|
|
...
|
|
class MjsAuthored:
|
|
@property
|
|
def disableactuator(self) -> int:
|
|
...
|
|
@disableactuator.setter
|
|
def disableactuator(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def disableflags(self) -> int:
|
|
...
|
|
@disableflags.setter
|
|
def disableflags(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def enableflags(self) -> int:
|
|
...
|
|
@enableflags.setter
|
|
def enableflags(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def option(self) -> int:
|
|
...
|
|
@option.setter
|
|
def option(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def visual_global(self) -> int:
|
|
...
|
|
@visual_global.setter
|
|
def visual_global(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def visual_headlight(self) -> int:
|
|
...
|
|
@visual_headlight.setter
|
|
def visual_headlight(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def visual_map(self) -> int:
|
|
...
|
|
@visual_map.setter
|
|
def visual_map(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def visual_quality(self) -> int:
|
|
...
|
|
@visual_quality.setter
|
|
def visual_quality(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def visual_rgba(self) -> int:
|
|
...
|
|
@visual_rgba.setter
|
|
def visual_rgba(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def visual_scale(self) -> int:
|
|
...
|
|
@visual_scale.setter
|
|
def visual_scale(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
class MjsBody:
|
|
alt: MjsOrientation
|
|
childclass: str
|
|
classname: MjsDefault
|
|
explicitinertial: bool
|
|
ialt: MjsOrientation
|
|
info: str
|
|
mocap: bool
|
|
name: str
|
|
plugin: MjsPlugin
|
|
def add_body(self, default: MjsDefault = None, name: str | None = None, childclass: str | None = None, pos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, quat: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, axisangle: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, xyaxes: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, zaxis: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, euler: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, mass: typing.SupportsFloat | typing.SupportsIndex | None = None, ipos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, iquat: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, inertia: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, iaxisangle: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, ixyaxes: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, izaxis: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, ieuler: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, fullinertia: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, mocap: typing.SupportsInt | typing.SupportsIndex | None = None, gravcomp: typing.SupportsFloat | typing.SupportsIndex | None = None, sleep: typing.SupportsInt | typing.SupportsIndex | None = None, simple: typing.SupportsInt | typing.SupportsIndex | None = None, userdata: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, explicitinertial: typing.SupportsInt | typing.SupportsIndex | None = None, plugin: mujoco._specs.MjsPlugin | None = None, info: str | None = None) -> MjsBody:
|
|
"""
|
|
Add body to spec.
|
|
|
|
Args:
|
|
name: str
|
|
childclass: str
|
|
pos: list[float]
|
|
quat: list[float]
|
|
axisangle: list[float]
|
|
xyaxes: list[float]
|
|
zaxis: list[float]
|
|
euler: list[float]
|
|
mass: float
|
|
ipos: list[float]
|
|
iquat: list[float]
|
|
inertia: list[float]
|
|
iaxisangle: list[float]
|
|
ixyaxes: list[float]
|
|
izaxis: list[float]
|
|
ieuler: list[float]
|
|
fullinertia: list[float]
|
|
mocap: int
|
|
gravcomp: float
|
|
sleep: int
|
|
simple: int
|
|
userdata: list[float]
|
|
explicitinertial: int
|
|
plugin: MjsPlugin
|
|
info: str
|
|
"""
|
|
def add_camera(self, default: MjsDefault = None, name: str | None = None, pos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, quat: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, axisangle: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, xyaxes: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, zaxis: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, euler: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, mode: typing.SupportsInt | typing.SupportsIndex | None = None, targetbody: str | None = None, proj: typing.SupportsInt | typing.SupportsIndex | None = None, resolution: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, output: typing.SupportsInt | typing.SupportsIndex | None = None, fovy: typing.SupportsFloat | typing.SupportsIndex | None = None, ipd: typing.SupportsFloat | typing.SupportsIndex | None = None, intrinsic: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, sensor_size: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, focal_length: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, focal_pixel: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, principal_length: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, principal_pixel: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, userdata: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, info: str | None = None) -> MjsCamera:
|
|
"""
|
|
Add camera to spec.
|
|
|
|
Args:
|
|
name: str
|
|
pos: list[float]
|
|
quat: list[float]
|
|
axisangle: list[float]
|
|
xyaxes: list[float]
|
|
zaxis: list[float]
|
|
euler: list[float]
|
|
mode: int
|
|
targetbody: str
|
|
proj: int
|
|
resolution: list[float]
|
|
output: int
|
|
fovy: float
|
|
ipd: float
|
|
intrinsic: list[float]
|
|
sensor_size: list[float]
|
|
focal_length: list[float]
|
|
focal_pixel: list[float]
|
|
principal_length: list[float]
|
|
principal_pixel: list[float]
|
|
userdata: list[float]
|
|
info: str
|
|
"""
|
|
def add_frame(self, default: MjsFrame = None, name: str | None = None, childclass: str | None = None, pos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, quat: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, axisangle: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, xyaxes: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, zaxis: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, euler: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, info: str | None = None) -> MjsFrame:
|
|
"""
|
|
Add frame to spec.
|
|
|
|
Args:
|
|
name: str
|
|
childclass: str
|
|
pos: list[float]
|
|
quat: list[float]
|
|
axisangle: list[float]
|
|
xyaxes: list[float]
|
|
zaxis: list[float]
|
|
euler: list[float]
|
|
info: str
|
|
"""
|
|
def add_freejoint(self, **kwargs) -> MjsJoint:
|
|
...
|
|
def add_geom(self, default: MjsDefault = None, name: str | None = None, type: typing.SupportsInt | typing.SupportsIndex | None = None, pos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, quat: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, axisangle: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, xyaxes: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, zaxis: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, euler: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, fromto: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, size: typing.Any | None = None, contype: typing.SupportsInt | typing.SupportsIndex | None = None, conaffinity: typing.SupportsInt | typing.SupportsIndex | None = None, condim: typing.SupportsInt | typing.SupportsIndex | None = None, priority: typing.SupportsInt | typing.SupportsIndex | None = None, friction: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, solmix: typing.SupportsFloat | typing.SupportsIndex | None = None, solref: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, solimp: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, margin: typing.SupportsFloat | typing.SupportsIndex | None = None, gap: typing.SupportsFloat | typing.SupportsIndex | None = None, surfacevel: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, adhesion: typing.SupportsFloat | typing.SupportsIndex | None = None, mass: typing.SupportsFloat | typing.SupportsIndex | None = None, density: typing.SupportsFloat | typing.SupportsIndex | None = None, typeinertia: typing.SupportsInt | typing.SupportsIndex | None = None, fluid_ellipsoid: typing.SupportsInt | typing.SupportsIndex | None = None, fluid_coefs: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, material: str | None = None, rgba: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, group: typing.SupportsInt | typing.SupportsIndex | None = None, hfieldname: str | None = None, meshname: str | None = None, fitscale: typing.SupportsFloat | typing.SupportsIndex | None = None, userdata: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, plugin: mujoco._specs.MjsPlugin | None = None, info: str | None = None) -> MjsGeom:
|
|
"""
|
|
Add geom to spec.
|
|
|
|
Args:
|
|
name: str
|
|
type: int
|
|
pos: list[float]
|
|
quat: list[float]
|
|
axisangle: list[float]
|
|
xyaxes: list[float]
|
|
zaxis: list[float]
|
|
euler: list[float]
|
|
fromto: list[float]
|
|
size: Optional[list[float]]
|
|
contype: int
|
|
conaffinity: int
|
|
condim: int
|
|
priority: int
|
|
friction: list[float]
|
|
solmix: float
|
|
solref: list[float]
|
|
solimp: list[float]
|
|
margin: float
|
|
gap: float
|
|
surfacevel: list[float]
|
|
adhesion: float
|
|
mass: float
|
|
density: float
|
|
typeinertia: int
|
|
fluid_ellipsoid: int
|
|
fluid_coefs: list[float]
|
|
material: str
|
|
rgba: list[float]
|
|
group: int
|
|
hfieldname: str
|
|
meshname: str
|
|
fitscale: float
|
|
userdata: list[float]
|
|
plugin: MjsPlugin
|
|
info: str
|
|
"""
|
|
def add_joint(self, default: MjsDefault = None, name: str | None = None, type: typing.SupportsInt | typing.SupportsIndex | None = None, pos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, axis: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, ref: typing.SupportsFloat | typing.SupportsIndex | None = None, align: typing.SupportsInt | typing.SupportsIndex | None = None, stiffness: typing.Any | None = None, springref: typing.SupportsFloat | typing.SupportsIndex | None = None, springdamper: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, limited: typing.SupportsInt | typing.SupportsIndex | None = None, range: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, margin: typing.SupportsFloat | typing.SupportsIndex | None = None, solref_limit: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, solimp_limit: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, actfrclimited: typing.SupportsInt | typing.SupportsIndex | None = None, actfrcrange: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, armature: typing.SupportsFloat | typing.SupportsIndex | None = None, damping: typing.Any | None = None, frictionloss: typing.SupportsFloat | typing.SupportsIndex | None = None, solref_friction: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, solimp_friction: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, group: typing.SupportsInt | typing.SupportsIndex | None = None, actgravcomp: typing.SupportsInt | typing.SupportsIndex | None = None, userdata: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, info: str | None = None) -> MjsJoint:
|
|
"""
|
|
Add joint to spec.
|
|
|
|
Args:
|
|
name: str
|
|
type: int
|
|
pos: list[float]
|
|
axis: list[float]
|
|
ref: float
|
|
align: int
|
|
stiffness: Optional[list[float]]
|
|
springref: float
|
|
springdamper: list[float]
|
|
limited: int
|
|
range: list[float]
|
|
margin: float
|
|
solref_limit: list[float]
|
|
solimp_limit: list[float]
|
|
actfrclimited: int
|
|
actfrcrange: list[float]
|
|
armature: float
|
|
damping: Optional[list[float]]
|
|
frictionloss: float
|
|
solref_friction: list[float]
|
|
solimp_friction: list[float]
|
|
group: int
|
|
actgravcomp: int
|
|
userdata: list[float]
|
|
info: str
|
|
"""
|
|
def add_light(self, default: MjsDefault = None, name: str | None = None, pos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, dir: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, mode: typing.SupportsInt | typing.SupportsIndex | None = None, targetbody: str | None = None, active: typing.SupportsInt | typing.SupportsIndex | None = None, type: typing.SupportsInt | typing.SupportsIndex | None = None, texture: str | None = None, castshadow: typing.SupportsInt | typing.SupportsIndex | None = None, bulbradius: typing.SupportsFloat | typing.SupportsIndex | None = None, intensity: typing.SupportsFloat | typing.SupportsIndex | None = None, range: typing.SupportsFloat | typing.SupportsIndex | None = None, attenuation: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, cutoff: typing.SupportsFloat | typing.SupportsIndex | None = None, exponent: typing.SupportsFloat | typing.SupportsIndex | None = None, ambient: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, diffuse: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, specular: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, info: str | None = None) -> MjsLight:
|
|
"""
|
|
Add light to spec.
|
|
|
|
Args:
|
|
name: str
|
|
pos: list[float]
|
|
dir: list[float]
|
|
mode: int
|
|
targetbody: str
|
|
active: int
|
|
type: int
|
|
texture: str
|
|
castshadow: int
|
|
bulbradius: float
|
|
intensity: float
|
|
range: float
|
|
attenuation: list[float]
|
|
cutoff: float
|
|
exponent: float
|
|
ambient: list[float]
|
|
diffuse: list[float]
|
|
specular: list[float]
|
|
info: str
|
|
"""
|
|
def add_site(self, default: MjsDefault = None, name: str | None = None, pos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, quat: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, axisangle: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, xyaxes: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, zaxis: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, euler: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, fromto: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, size: typing.Any | None = None, type: typing.SupportsInt | typing.SupportsIndex | None = None, material: str | None = None, group: typing.SupportsInt | typing.SupportsIndex | None = None, rgba: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, userdata: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, info: str | None = None) -> MjsSite:
|
|
"""
|
|
Add site to spec.
|
|
|
|
Args:
|
|
name: str
|
|
pos: list[float]
|
|
quat: list[float]
|
|
axisangle: list[float]
|
|
xyaxes: list[float]
|
|
zaxis: list[float]
|
|
euler: list[float]
|
|
fromto: list[float]
|
|
size: Optional[list[float]]
|
|
type: int
|
|
material: str
|
|
group: int
|
|
rgba: list[float]
|
|
userdata: list[float]
|
|
info: str
|
|
"""
|
|
def attach_frame(self, frame: MjsFrame, prefix: str | None = None, suffix: str | None = None) -> MjsFrame:
|
|
...
|
|
@typing.overload
|
|
def find_all(self, arg0: mujoco._enums.mjtObj) -> list:
|
|
...
|
|
@typing.overload
|
|
def find_all(self, arg0: str) -> list:
|
|
...
|
|
def find_child(self, arg0: str) -> MjsBody:
|
|
...
|
|
def first_body(self) -> MjsBody:
|
|
...
|
|
def first_camera(self) -> MjsCamera:
|
|
...
|
|
def first_frame(self) -> MjsFrame:
|
|
...
|
|
def first_geom(self) -> MjsGeom:
|
|
...
|
|
def first_joint(self) -> MjsJoint:
|
|
...
|
|
def first_light(self) -> MjsLight:
|
|
...
|
|
def first_site(self) -> MjsSite:
|
|
...
|
|
def make_flex(self, name: str, type: str | None = None, dim: typing.SupportsInt | typing.SupportsIndex = 3, dof: str | None = None, count: collections.abc.Sequence[typing.SupportsInt | typing.SupportsIndex] | None = None, cellcount: collections.abc.Sequence[typing.SupportsInt | typing.SupportsIndex] | None = None, spacing: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, scale: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, radius: typing.SupportsFloat | typing.SupportsIndex = 0.0, mass: typing.SupportsFloat | typing.SupportsIndex = 1.0, inertiabox: typing.SupportsFloat | typing.SupportsIndex = 0.005, equality: typing.SupportsInt | typing.SupportsIndex = 0, rigid: typing.SupportsInt | typing.SupportsIndex = 0, flatskin: typing.SupportsInt | typing.SupportsIndex = 0, elastic2d: typing.SupportsInt | typing.SupportsIndex = 0, pos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, quat: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, origin: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, file: str | None = None, vfs: MjVfs = None) -> MjsFlex:
|
|
...
|
|
def next_body(self, arg0: MjsBody) -> MjsBody:
|
|
...
|
|
def next_camera(self, arg0: MjsCamera) -> MjsCamera:
|
|
...
|
|
def next_frame(self, arg0: MjsFrame) -> MjsFrame:
|
|
...
|
|
def next_geom(self, arg0: MjsGeom) -> MjsGeom:
|
|
...
|
|
def next_joint(self, arg0: MjsJoint) -> MjsJoint:
|
|
...
|
|
def next_light(self, arg0: MjsLight) -> MjsLight:
|
|
...
|
|
def next_site(self, arg0: MjsSite) -> MjsSite:
|
|
...
|
|
def set_frame(self, arg0: MjsFrame) -> None:
|
|
...
|
|
def to_frame(self) -> MjsFrame:
|
|
...
|
|
@property
|
|
def bodies(self) -> list:
|
|
...
|
|
@property
|
|
def cameras(self) -> list:
|
|
...
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def frame(self) -> MjsFrame:
|
|
...
|
|
@property
|
|
def frames(self) -> list:
|
|
...
|
|
@property
|
|
def fullinertia(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[6, 1]", "flags.writeable"]:
|
|
...
|
|
@fullinertia.setter
|
|
def fullinertia(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[6, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def geoms(self) -> list:
|
|
...
|
|
@property
|
|
def gravcomp(self) -> float:
|
|
...
|
|
@gravcomp.setter
|
|
def gravcomp(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def inertia(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@inertia.setter
|
|
def inertia(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def ipos(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@ipos.setter
|
|
def ipos(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def iquat(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@iquat.setter
|
|
def iquat(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def joints(self) -> list:
|
|
...
|
|
@property
|
|
def lights(self) -> list:
|
|
...
|
|
@property
|
|
def mass(self) -> float:
|
|
...
|
|
@mass.setter
|
|
def mass(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def parent(self) -> MjsBody:
|
|
...
|
|
@property
|
|
def pos(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@pos.setter
|
|
def pos(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def quat(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@quat.setter
|
|
def quat(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
@property
|
|
def simple(self) -> int:
|
|
...
|
|
@simple.setter
|
|
def simple(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def sites(self) -> list:
|
|
...
|
|
@property
|
|
def sleep(self) -> mujoco._enums.mjtSleepPolicy:
|
|
...
|
|
@sleep.setter
|
|
def sleep(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def userdata(self) -> MjDoubleVec:
|
|
...
|
|
@userdata.setter
|
|
def userdata(self, arg1: typing.Any) -> None:
|
|
...
|
|
class MjsCamera:
|
|
alt: MjsOrientation
|
|
classname: MjsDefault
|
|
info: str
|
|
name: str
|
|
targetbody: str
|
|
def set_frame(self, arg0: MjsFrame) -> None:
|
|
...
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def focal_length(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@focal_length.setter
|
|
def focal_length(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def focal_pixel(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@focal_pixel.setter
|
|
def focal_pixel(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def fovy(self) -> float:
|
|
...
|
|
@fovy.setter
|
|
def fovy(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def frame(self) -> MjsFrame:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def intrinsic(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@intrinsic.setter
|
|
def intrinsic(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def ipd(self) -> float:
|
|
...
|
|
@ipd.setter
|
|
def ipd(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def mode(self) -> mujoco._enums.mjtCamLight:
|
|
...
|
|
@mode.setter
|
|
def mode(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def output(self) -> int:
|
|
...
|
|
@output.setter
|
|
def output(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def parent(self) -> MjsBody:
|
|
...
|
|
@property
|
|
def pos(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@pos.setter
|
|
def pos(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def principal_length(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@principal_length.setter
|
|
def principal_length(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def principal_pixel(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@principal_pixel.setter
|
|
def principal_pixel(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def proj(self) -> mujoco._enums.mjtProjection:
|
|
...
|
|
@proj.setter
|
|
def proj(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def quat(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@quat.setter
|
|
def quat(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def resolution(self) -> typing.Annotated[numpy.typing.NDArray[numpy.int32], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@resolution.setter
|
|
def resolution(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.int32], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def sensor_size(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@sensor_size.setter
|
|
def sensor_size(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
@property
|
|
def userdata(self) -> MjDoubleVec:
|
|
...
|
|
@userdata.setter
|
|
def userdata(self, arg1: typing.Any) -> None:
|
|
...
|
|
class MjsCompiler:
|
|
LRopt: mujoco._structs.MjLROpt
|
|
alignfree: bool
|
|
autolimits: bool
|
|
balanceinertia: bool
|
|
degree: bool
|
|
discardvisual: bool
|
|
fitaabb: bool
|
|
fusestatic: bool
|
|
meshdir: str
|
|
saveinertial: bool
|
|
texturedir: str
|
|
usethread: bool
|
|
@property
|
|
def authored(self) -> int:
|
|
...
|
|
@authored.setter
|
|
def authored(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def boundinertia(self) -> float:
|
|
...
|
|
@boundinertia.setter
|
|
def boundinertia(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def boundmass(self) -> float:
|
|
...
|
|
@boundmass.setter
|
|
def boundmass(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def conflict(self) -> mujoco._enums.mjtConflict:
|
|
...
|
|
@conflict.setter
|
|
def conflict(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def eulerseq(self) -> MjCharVec:
|
|
...
|
|
@eulerseq.setter
|
|
def eulerseq(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def inertiafromgeom(self) -> mujoco._enums.mjtInertiaFromGeom:
|
|
...
|
|
@inertiafromgeom.setter
|
|
def inertiafromgeom(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def inertiagrouprange(self) -> typing.Annotated[numpy.typing.NDArray[numpy.int32], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@inertiagrouprange.setter
|
|
def inertiagrouprange(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.int32], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def settotalmass(self) -> float:
|
|
...
|
|
@settotalmass.setter
|
|
def settotalmass(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
class MjsDefault:
|
|
actuator: MjsActuator
|
|
camera: MjsCamera
|
|
equality: MjsEquality
|
|
flex: MjsFlex
|
|
geom: MjsGeom
|
|
joint: MjsJoint
|
|
light: MjsLight
|
|
material: MjsMaterial
|
|
mesh: MjsMesh
|
|
name: str
|
|
pair: MjsPair
|
|
site: MjsSite
|
|
tendon: MjsTendon
|
|
class MjsElement:
|
|
pass
|
|
class MjsEquality:
|
|
active: bool
|
|
classname: MjsDefault
|
|
info: str
|
|
name: str
|
|
name1: str
|
|
name2: str
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def data(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[11, 1]", "flags.writeable"]:
|
|
...
|
|
@data.setter
|
|
def data(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[11, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def objtype(self) -> mujoco._enums.mjtObj:
|
|
...
|
|
@objtype.setter
|
|
def objtype(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
@property
|
|
def solimp(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]", "flags.writeable"]:
|
|
...
|
|
@solimp.setter
|
|
def solimp(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def solref(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@solref.setter
|
|
def solref(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def type(self) -> mujoco._enums.mjtEq:
|
|
...
|
|
@type.setter
|
|
def type(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
class MjsExclude:
|
|
bodyname1: str
|
|
bodyname2: str
|
|
info: str
|
|
name: str
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
class MjsFlex:
|
|
flatskin: bool
|
|
info: str
|
|
internal: bool
|
|
material: str
|
|
name: str
|
|
@property
|
|
def activelayers(self) -> int:
|
|
...
|
|
@activelayers.setter
|
|
def activelayers(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def cellcount(self) -> typing.Annotated[numpy.typing.NDArray[numpy.int32], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@cellcount.setter
|
|
def cellcount(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.int32], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def conaffinity(self) -> int:
|
|
...
|
|
@conaffinity.setter
|
|
def conaffinity(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def condim(self) -> int:
|
|
...
|
|
@condim.setter
|
|
def condim(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def contype(self) -> int:
|
|
...
|
|
@contype.setter
|
|
def contype(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def damping(self) -> float:
|
|
...
|
|
@damping.setter
|
|
def damping(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def dim(self) -> int:
|
|
...
|
|
@dim.setter
|
|
def dim(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def edgedamping(self) -> float:
|
|
...
|
|
@edgedamping.setter
|
|
def edgedamping(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def edgestiffness(self) -> float:
|
|
...
|
|
@edgestiffness.setter
|
|
def edgestiffness(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def elastic2d(self) -> int:
|
|
...
|
|
@elastic2d.setter
|
|
def elastic2d(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def elem(self) -> MjIntVec:
|
|
...
|
|
@elem.setter
|
|
def elem(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def elemtexcoord(self) -> MjIntVec:
|
|
...
|
|
@elemtexcoord.setter
|
|
def elemtexcoord(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def friction(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@friction.setter
|
|
def friction(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def gap(self) -> float:
|
|
...
|
|
@gap.setter
|
|
def gap(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def group(self) -> int:
|
|
...
|
|
@group.setter
|
|
def group(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def margin(self) -> float:
|
|
...
|
|
@margin.setter
|
|
def margin(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def node(self) -> MjDoubleVec:
|
|
...
|
|
@node.setter
|
|
def node(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def nodebody(self) -> MjStringVec:
|
|
...
|
|
@nodebody.setter
|
|
def nodebody(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def order(self) -> int:
|
|
...
|
|
@order.setter
|
|
def order(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def passive(self) -> int:
|
|
...
|
|
@passive.setter
|
|
def passive(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def poisson(self) -> float:
|
|
...
|
|
@poisson.setter
|
|
def poisson(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def priority(self) -> int:
|
|
...
|
|
@priority.setter
|
|
def priority(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def radius(self) -> float:
|
|
...
|
|
@radius.setter
|
|
def radius(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def rgba(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@rgba.setter
|
|
def rgba(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def selfcollide(self) -> mujoco._enums.mjtFlexSelf:
|
|
...
|
|
@selfcollide.setter
|
|
def selfcollide(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
@property
|
|
def size(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@size.setter
|
|
def size(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def solimp(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]", "flags.writeable"]:
|
|
...
|
|
@solimp.setter
|
|
def solimp(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def solmix(self) -> float:
|
|
...
|
|
@solmix.setter
|
|
def solmix(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def solref(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@solref.setter
|
|
def solref(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def texcoord(self) -> MjFloatVec:
|
|
...
|
|
@texcoord.setter
|
|
def texcoord(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def thickness(self) -> float:
|
|
...
|
|
@thickness.setter
|
|
def thickness(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def vert(self) -> MjDoubleVec:
|
|
...
|
|
@vert.setter
|
|
def vert(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def vertbody(self) -> MjStringVec:
|
|
...
|
|
@vertbody.setter
|
|
def vertbody(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def young(self) -> float:
|
|
...
|
|
@young.setter
|
|
def young(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
class MjsFrame:
|
|
alt: MjsOrientation
|
|
childclass: str
|
|
info: str
|
|
name: str
|
|
def add_body(self, default: MjsDefault = None, name: str | None = None, childclass: str | None = None, pos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, quat: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, axisangle: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, xyaxes: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, zaxis: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, euler: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, mass: typing.SupportsFloat | typing.SupportsIndex | None = None, ipos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, iquat: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, inertia: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, iaxisangle: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, ixyaxes: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, izaxis: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, ieuler: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, fullinertia: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, mocap: typing.SupportsInt | typing.SupportsIndex | None = None, gravcomp: typing.SupportsFloat | typing.SupportsIndex | None = None, sleep: typing.SupportsInt | typing.SupportsIndex | None = None, simple: typing.SupportsInt | typing.SupportsIndex | None = None, userdata: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, explicitinertial: typing.SupportsInt | typing.SupportsIndex | None = None, plugin: mujoco._specs.MjsPlugin | None = None, info: str | None = None) -> MjsBody:
|
|
"""
|
|
Add body to spec.
|
|
|
|
Args:
|
|
name: str
|
|
childclass: str
|
|
pos: list[float]
|
|
quat: list[float]
|
|
axisangle: list[float]
|
|
xyaxes: list[float]
|
|
zaxis: list[float]
|
|
euler: list[float]
|
|
mass: float
|
|
ipos: list[float]
|
|
iquat: list[float]
|
|
inertia: list[float]
|
|
iaxisangle: list[float]
|
|
ixyaxes: list[float]
|
|
izaxis: list[float]
|
|
ieuler: list[float]
|
|
fullinertia: list[float]
|
|
mocap: int
|
|
gravcomp: float
|
|
sleep: int
|
|
simple: int
|
|
userdata: list[float]
|
|
explicitinertial: int
|
|
plugin: MjsPlugin
|
|
info: str
|
|
"""
|
|
def add_camera(self, default: MjsDefault = None, name: str | None = None, pos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, quat: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, axisangle: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, xyaxes: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, zaxis: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, euler: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, mode: typing.SupportsInt | typing.SupportsIndex | None = None, targetbody: str | None = None, proj: typing.SupportsInt | typing.SupportsIndex | None = None, resolution: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, output: typing.SupportsInt | typing.SupportsIndex | None = None, fovy: typing.SupportsFloat | typing.SupportsIndex | None = None, ipd: typing.SupportsFloat | typing.SupportsIndex | None = None, intrinsic: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, sensor_size: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, focal_length: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, focal_pixel: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, principal_length: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, principal_pixel: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, userdata: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, info: str | None = None) -> MjsCamera:
|
|
"""
|
|
Add camera to spec.
|
|
|
|
Args:
|
|
name: str
|
|
pos: list[float]
|
|
quat: list[float]
|
|
axisangle: list[float]
|
|
xyaxes: list[float]
|
|
zaxis: list[float]
|
|
euler: list[float]
|
|
mode: int
|
|
targetbody: str
|
|
proj: int
|
|
resolution: list[float]
|
|
output: int
|
|
fovy: float
|
|
ipd: float
|
|
intrinsic: list[float]
|
|
sensor_size: list[float]
|
|
focal_length: list[float]
|
|
focal_pixel: list[float]
|
|
principal_length: list[float]
|
|
principal_pixel: list[float]
|
|
userdata: list[float]
|
|
info: str
|
|
"""
|
|
def add_frame(self, default: MjsFrame = None, name: str | None = None, childclass: str | None = None, pos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, quat: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, axisangle: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, xyaxes: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, zaxis: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, euler: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, info: str | None = None) -> MjsFrame:
|
|
"""
|
|
Add frame to spec.
|
|
|
|
Args:
|
|
name: str
|
|
childclass: str
|
|
pos: list[float]
|
|
quat: list[float]
|
|
axisangle: list[float]
|
|
xyaxes: list[float]
|
|
zaxis: list[float]
|
|
euler: list[float]
|
|
info: str
|
|
"""
|
|
def add_geom(self, default: MjsDefault = None, name: str | None = None, type: typing.SupportsInt | typing.SupportsIndex | None = None, pos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, quat: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, axisangle: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, xyaxes: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, zaxis: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, euler: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, fromto: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, size: typing.Any | None = None, contype: typing.SupportsInt | typing.SupportsIndex | None = None, conaffinity: typing.SupportsInt | typing.SupportsIndex | None = None, condim: typing.SupportsInt | typing.SupportsIndex | None = None, priority: typing.SupportsInt | typing.SupportsIndex | None = None, friction: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, solmix: typing.SupportsFloat | typing.SupportsIndex | None = None, solref: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, solimp: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, margin: typing.SupportsFloat | typing.SupportsIndex | None = None, gap: typing.SupportsFloat | typing.SupportsIndex | None = None, surfacevel: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, adhesion: typing.SupportsFloat | typing.SupportsIndex | None = None, mass: typing.SupportsFloat | typing.SupportsIndex | None = None, density: typing.SupportsFloat | typing.SupportsIndex | None = None, typeinertia: typing.SupportsInt | typing.SupportsIndex | None = None, fluid_ellipsoid: typing.SupportsInt | typing.SupportsIndex | None = None, fluid_coefs: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, material: str | None = None, rgba: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, group: typing.SupportsInt | typing.SupportsIndex | None = None, hfieldname: str | None = None, meshname: str | None = None, fitscale: typing.SupportsFloat | typing.SupportsIndex | None = None, userdata: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, plugin: mujoco._specs.MjsPlugin | None = None, info: str | None = None) -> MjsGeom:
|
|
"""
|
|
Add geom to spec.
|
|
|
|
Args:
|
|
name: str
|
|
type: int
|
|
pos: list[float]
|
|
quat: list[float]
|
|
axisangle: list[float]
|
|
xyaxes: list[float]
|
|
zaxis: list[float]
|
|
euler: list[float]
|
|
fromto: list[float]
|
|
size: Optional[list[float]]
|
|
contype: int
|
|
conaffinity: int
|
|
condim: int
|
|
priority: int
|
|
friction: list[float]
|
|
solmix: float
|
|
solref: list[float]
|
|
solimp: list[float]
|
|
margin: float
|
|
gap: float
|
|
surfacevel: list[float]
|
|
adhesion: float
|
|
mass: float
|
|
density: float
|
|
typeinertia: int
|
|
fluid_ellipsoid: int
|
|
fluid_coefs: list[float]
|
|
material: str
|
|
rgba: list[float]
|
|
group: int
|
|
hfieldname: str
|
|
meshname: str
|
|
fitscale: float
|
|
userdata: list[float]
|
|
plugin: MjsPlugin
|
|
info: str
|
|
"""
|
|
def add_joint(self, default: MjsDefault = None, name: str | None = None, type: typing.SupportsInt | typing.SupportsIndex | None = None, pos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, axis: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, ref: typing.SupportsFloat | typing.SupportsIndex | None = None, align: typing.SupportsInt | typing.SupportsIndex | None = None, stiffness: typing.Any | None = None, springref: typing.SupportsFloat | typing.SupportsIndex | None = None, springdamper: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, limited: typing.SupportsInt | typing.SupportsIndex | None = None, range: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, margin: typing.SupportsFloat | typing.SupportsIndex | None = None, solref_limit: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, solimp_limit: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, actfrclimited: typing.SupportsInt | typing.SupportsIndex | None = None, actfrcrange: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, armature: typing.SupportsFloat | typing.SupportsIndex | None = None, damping: typing.Any | None = None, frictionloss: typing.SupportsFloat | typing.SupportsIndex | None = None, solref_friction: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, solimp_friction: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, group: typing.SupportsInt | typing.SupportsIndex | None = None, actgravcomp: typing.SupportsInt | typing.SupportsIndex | None = None, userdata: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, info: str | None = None) -> MjsJoint:
|
|
"""
|
|
Add joint to spec.
|
|
|
|
Args:
|
|
name: str
|
|
type: int
|
|
pos: list[float]
|
|
axis: list[float]
|
|
ref: float
|
|
align: int
|
|
stiffness: Optional[list[float]]
|
|
springref: float
|
|
springdamper: list[float]
|
|
limited: int
|
|
range: list[float]
|
|
margin: float
|
|
solref_limit: list[float]
|
|
solimp_limit: list[float]
|
|
actfrclimited: int
|
|
actfrcrange: list[float]
|
|
armature: float
|
|
damping: Optional[list[float]]
|
|
frictionloss: float
|
|
solref_friction: list[float]
|
|
solimp_friction: list[float]
|
|
group: int
|
|
actgravcomp: int
|
|
userdata: list[float]
|
|
info: str
|
|
"""
|
|
def add_light(self, default: MjsDefault = None, name: str | None = None, pos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, dir: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, mode: typing.SupportsInt | typing.SupportsIndex | None = None, targetbody: str | None = None, active: typing.SupportsInt | typing.SupportsIndex | None = None, type: typing.SupportsInt | typing.SupportsIndex | None = None, texture: str | None = None, castshadow: typing.SupportsInt | typing.SupportsIndex | None = None, bulbradius: typing.SupportsFloat | typing.SupportsIndex | None = None, intensity: typing.SupportsFloat | typing.SupportsIndex | None = None, range: typing.SupportsFloat | typing.SupportsIndex | None = None, attenuation: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, cutoff: typing.SupportsFloat | typing.SupportsIndex | None = None, exponent: typing.SupportsFloat | typing.SupportsIndex | None = None, ambient: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, diffuse: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, specular: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, info: str | None = None) -> MjsLight:
|
|
"""
|
|
Add light to spec.
|
|
|
|
Args:
|
|
name: str
|
|
pos: list[float]
|
|
dir: list[float]
|
|
mode: int
|
|
targetbody: str
|
|
active: int
|
|
type: int
|
|
texture: str
|
|
castshadow: int
|
|
bulbradius: float
|
|
intensity: float
|
|
range: float
|
|
attenuation: list[float]
|
|
cutoff: float
|
|
exponent: float
|
|
ambient: list[float]
|
|
diffuse: list[float]
|
|
specular: list[float]
|
|
info: str
|
|
"""
|
|
def add_site(self, default: MjsDefault = None, name: str | None = None, pos: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, quat: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, axisangle: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, xyaxes: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, zaxis: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, euler: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, fromto: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, size: typing.Any | None = None, type: typing.SupportsInt | typing.SupportsIndex | None = None, material: str | None = None, group: typing.SupportsInt | typing.SupportsIndex | None = None, rgba: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, userdata: collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex] | None = None, info: str | None = None) -> MjsSite:
|
|
"""
|
|
Add site to spec.
|
|
|
|
Args:
|
|
name: str
|
|
pos: list[float]
|
|
quat: list[float]
|
|
axisangle: list[float]
|
|
xyaxes: list[float]
|
|
zaxis: list[float]
|
|
euler: list[float]
|
|
fromto: list[float]
|
|
size: Optional[list[float]]
|
|
type: int
|
|
material: str
|
|
group: int
|
|
rgba: list[float]
|
|
userdata: list[float]
|
|
info: str
|
|
"""
|
|
def attach_body(self, body: MjsBody, prefix: str | None = None, suffix: str | None = None) -> MjsBody:
|
|
...
|
|
def set_frame(self, arg0: MjsFrame) -> None:
|
|
...
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def frame(self) -> MjsFrame:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def parent(self) -> MjsBody:
|
|
...
|
|
@property
|
|
def pos(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@pos.setter
|
|
def pos(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def quat(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@quat.setter
|
|
def quat(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
class MjsGeom:
|
|
alt: MjsOrientation
|
|
classname: MjsDefault
|
|
hfieldname: str
|
|
info: str
|
|
material: str
|
|
meshname: str
|
|
name: str
|
|
plugin: MjsPlugin
|
|
def set_frame(self, arg0: MjsFrame) -> None:
|
|
...
|
|
@property
|
|
def adhesion(self) -> float:
|
|
...
|
|
@adhesion.setter
|
|
def adhesion(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def conaffinity(self) -> int:
|
|
...
|
|
@conaffinity.setter
|
|
def conaffinity(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def condim(self) -> int:
|
|
...
|
|
@condim.setter
|
|
def condim(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def contype(self) -> int:
|
|
...
|
|
@contype.setter
|
|
def contype(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def density(self) -> float:
|
|
...
|
|
@density.setter
|
|
def density(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def fitscale(self) -> float:
|
|
...
|
|
@fitscale.setter
|
|
def fitscale(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def fluid_coefs(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]", "flags.writeable"]:
|
|
...
|
|
@fluid_coefs.setter
|
|
def fluid_coefs(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def fluid_ellipsoid(self) -> float:
|
|
...
|
|
@fluid_ellipsoid.setter
|
|
def fluid_ellipsoid(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def frame(self) -> MjsFrame:
|
|
...
|
|
@property
|
|
def friction(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@friction.setter
|
|
def friction(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def fromto(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[6, 1]", "flags.writeable"]:
|
|
...
|
|
@fromto.setter
|
|
def fromto(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[6, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def gap(self) -> float:
|
|
...
|
|
@gap.setter
|
|
def gap(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def group(self) -> int:
|
|
...
|
|
@group.setter
|
|
def group(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def margin(self) -> float:
|
|
...
|
|
@margin.setter
|
|
def margin(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def mass(self) -> float:
|
|
...
|
|
@mass.setter
|
|
def mass(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def parent(self) -> MjsBody:
|
|
...
|
|
@property
|
|
def pos(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@pos.setter
|
|
def pos(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def priority(self) -> int:
|
|
...
|
|
@priority.setter
|
|
def priority(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def quat(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@quat.setter
|
|
def quat(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def rgba(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@rgba.setter
|
|
def rgba(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
@property
|
|
def size(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@size.setter
|
|
def size(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def solimp(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]", "flags.writeable"]:
|
|
...
|
|
@solimp.setter
|
|
def solimp(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def solmix(self) -> float:
|
|
...
|
|
@solmix.setter
|
|
def solmix(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def solref(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@solref.setter
|
|
def solref(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def surfacevel(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[6, 1]", "flags.writeable"]:
|
|
...
|
|
@surfacevel.setter
|
|
def surfacevel(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[6, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def type(self) -> mujoco._enums.mjtGeom:
|
|
...
|
|
@type.setter
|
|
def type(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def typeinertia(self) -> mujoco._enums.mjtGeomInertia:
|
|
...
|
|
@typeinertia.setter
|
|
def typeinertia(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def userdata(self) -> MjDoubleVec:
|
|
...
|
|
@userdata.setter
|
|
def userdata(self, arg1: typing.Any) -> None:
|
|
...
|
|
class MjsHField:
|
|
content_type: str
|
|
file: str
|
|
info: str
|
|
name: str
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def ncol(self) -> int:
|
|
...
|
|
@ncol.setter
|
|
def ncol(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def nrow(self) -> int:
|
|
...
|
|
@nrow.setter
|
|
def nrow(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
@property
|
|
def size(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@size.setter
|
|
def size(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def userdata(self) -> MjFloatVec:
|
|
...
|
|
@userdata.setter
|
|
def userdata(self, arg1: typing.Any) -> None:
|
|
...
|
|
class MjsJoint:
|
|
actgravcomp: bool
|
|
classname: MjsDefault
|
|
info: str
|
|
name: str
|
|
def set_frame(self, arg0: MjsFrame) -> None:
|
|
...
|
|
@property
|
|
def actfrclimited(self) -> mujoco._enums.mjtLimited:
|
|
...
|
|
@actfrclimited.setter
|
|
def actfrclimited(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def actfrcrange(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@actfrcrange.setter
|
|
def actfrcrange(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def align(self) -> mujoco._enums.mjtAlignFree:
|
|
...
|
|
@align.setter
|
|
def align(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def armature(self) -> float:
|
|
...
|
|
@armature.setter
|
|
def armature(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def axis(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@axis.setter
|
|
def axis(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def damping(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@damping.setter
|
|
def damping(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def frame(self) -> MjsFrame:
|
|
...
|
|
@property
|
|
def frictionloss(self) -> float:
|
|
...
|
|
@frictionloss.setter
|
|
def frictionloss(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def group(self) -> int:
|
|
...
|
|
@group.setter
|
|
def group(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def limited(self) -> mujoco._enums.mjtLimited:
|
|
...
|
|
@limited.setter
|
|
def limited(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def margin(self) -> float:
|
|
...
|
|
@margin.setter
|
|
def margin(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def parent(self) -> MjsBody:
|
|
...
|
|
@property
|
|
def pos(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@pos.setter
|
|
def pos(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def range(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@range.setter
|
|
def range(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def ref(self) -> float:
|
|
...
|
|
@ref.setter
|
|
def ref(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
@property
|
|
def solimp_friction(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]", "flags.writeable"]:
|
|
...
|
|
@solimp_friction.setter
|
|
def solimp_friction(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def solimp_limit(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]", "flags.writeable"]:
|
|
...
|
|
@solimp_limit.setter
|
|
def solimp_limit(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def solref_friction(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@solref_friction.setter
|
|
def solref_friction(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def solref_limit(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@solref_limit.setter
|
|
def solref_limit(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def springdamper(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@springdamper.setter
|
|
def springdamper(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def springref(self) -> float:
|
|
...
|
|
@springref.setter
|
|
def springref(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def stiffness(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@stiffness.setter
|
|
def stiffness(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def type(self) -> mujoco._enums.mjtJoint:
|
|
...
|
|
@type.setter
|
|
def type(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def userdata(self) -> MjDoubleVec:
|
|
...
|
|
@userdata.setter
|
|
def userdata(self, arg1: typing.Any) -> None:
|
|
...
|
|
class MjsKey:
|
|
info: str
|
|
name: str
|
|
@property
|
|
def act(self) -> MjDoubleVec:
|
|
...
|
|
@act.setter
|
|
def act(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def ctrl(self) -> MjDoubleVec:
|
|
...
|
|
@ctrl.setter
|
|
def ctrl(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def mpos(self) -> MjDoubleVec:
|
|
...
|
|
@mpos.setter
|
|
def mpos(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def mquat(self) -> MjDoubleVec:
|
|
...
|
|
@mquat.setter
|
|
def mquat(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def qpos(self) -> MjDoubleVec:
|
|
...
|
|
@qpos.setter
|
|
def qpos(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def qvel(self) -> MjDoubleVec:
|
|
...
|
|
@qvel.setter
|
|
def qvel(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
@property
|
|
def time(self) -> float:
|
|
...
|
|
@time.setter
|
|
def time(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
class MjsLight:
|
|
active: bool
|
|
castshadow: bool
|
|
classname: MjsDefault
|
|
info: str
|
|
name: str
|
|
targetbody: str
|
|
texture: str
|
|
def set_frame(self, arg0: MjsFrame) -> None:
|
|
...
|
|
@property
|
|
def ambient(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@ambient.setter
|
|
def ambient(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def attenuation(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@attenuation.setter
|
|
def attenuation(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def bulbradius(self) -> float:
|
|
...
|
|
@bulbradius.setter
|
|
def bulbradius(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def cutoff(self) -> float:
|
|
...
|
|
@cutoff.setter
|
|
def cutoff(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def diffuse(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@diffuse.setter
|
|
def diffuse(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def dir(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@dir.setter
|
|
def dir(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def exponent(self) -> float:
|
|
...
|
|
@exponent.setter
|
|
def exponent(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def frame(self) -> MjsFrame:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def intensity(self) -> float:
|
|
...
|
|
@intensity.setter
|
|
def intensity(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def mode(self) -> mujoco._enums.mjtCamLight:
|
|
...
|
|
@mode.setter
|
|
def mode(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def parent(self) -> MjsBody:
|
|
...
|
|
@property
|
|
def pos(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@pos.setter
|
|
def pos(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def range(self) -> float:
|
|
...
|
|
@range.setter
|
|
def range(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
@property
|
|
def specular(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@specular.setter
|
|
def specular(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def type(self) -> mujoco._enums.mjtLightType:
|
|
...
|
|
@type.setter
|
|
def type(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
class MjsMaterial:
|
|
classname: MjsDefault
|
|
info: str
|
|
name: str
|
|
texuniform: bool
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def emission(self) -> float:
|
|
...
|
|
@emission.setter
|
|
def emission(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def metallic(self) -> float:
|
|
...
|
|
@metallic.setter
|
|
def metallic(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def reflectance(self) -> float:
|
|
...
|
|
@reflectance.setter
|
|
def reflectance(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def rgba(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@rgba.setter
|
|
def rgba(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def roughness(self) -> float:
|
|
...
|
|
@roughness.setter
|
|
def roughness(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def shininess(self) -> float:
|
|
...
|
|
@shininess.setter
|
|
def shininess(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
@property
|
|
def specular(self) -> float:
|
|
...
|
|
@specular.setter
|
|
def specular(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def texrepeat(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@texrepeat.setter
|
|
def texrepeat(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def textures(self) -> MjStringVec:
|
|
...
|
|
@textures.setter
|
|
def textures(self, arg1: typing.Any) -> None:
|
|
...
|
|
class MjsMesh:
|
|
classname: MjsDefault
|
|
content_type: str
|
|
file: str
|
|
info: str
|
|
material: str
|
|
name: str
|
|
needsdf: bool
|
|
plugin: MjsPlugin
|
|
smoothnormal: bool
|
|
def make_cone(self, nedge: typing.SupportsInt | typing.SupportsIndex, radius: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
def make_hemisphere(self, resolution: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
def make_plate(self, resolution: typing.Annotated[collections.abc.Sequence[typing.SupportsInt | typing.SupportsIndex], "FixedSize(2)"] = [0, 0]) -> None:
|
|
...
|
|
def make_sphere(self, subdivision: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
def make_supersphere(self, resolution: typing.SupportsInt | typing.SupportsIndex, e: typing.SupportsFloat | typing.SupportsIndex, n: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
def make_supertorus(self, resolution: typing.SupportsInt | typing.SupportsIndex, radius: typing.SupportsFloat | typing.SupportsIndex, s: typing.SupportsFloat | typing.SupportsIndex, t: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
def make_wedge(self, resolution: typing.Annotated[collections.abc.Sequence[typing.SupportsInt | typing.SupportsIndex], "FixedSize(2)"] = [0, 0], fov: typing.Annotated[collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex], "FixedSize(2)"] = [0.0, 0.0], gamma: typing.SupportsFloat | typing.SupportsIndex = 0) -> None:
|
|
...
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def inertia(self) -> mujoco._enums.mjtMeshInertia:
|
|
...
|
|
@inertia.setter
|
|
def inertia(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def maxhullvert(self) -> int:
|
|
...
|
|
@maxhullvert.setter
|
|
def maxhullvert(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def octree_maxdepth(self) -> int:
|
|
...
|
|
@octree_maxdepth.setter
|
|
def octree_maxdepth(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def refpos(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@refpos.setter
|
|
def refpos(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def refquat(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@refquat.setter
|
|
def refquat(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def scale(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@scale.setter
|
|
def scale(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
@property
|
|
def userface(self) -> MjIntVec:
|
|
...
|
|
@userface.setter
|
|
def userface(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def userfacenormal(self) -> MjIntVec:
|
|
...
|
|
@userfacenormal.setter
|
|
def userfacenormal(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def userfacetexcoord(self) -> MjIntVec:
|
|
...
|
|
@userfacetexcoord.setter
|
|
def userfacetexcoord(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def usernormal(self) -> MjFloatVec:
|
|
...
|
|
@usernormal.setter
|
|
def usernormal(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def usertexcoord(self) -> MjFloatVec:
|
|
...
|
|
@usertexcoord.setter
|
|
def usertexcoord(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def uservert(self) -> MjFloatVec:
|
|
...
|
|
@uservert.setter
|
|
def uservert(self, arg1: typing.Any) -> None:
|
|
...
|
|
class MjsNumeric:
|
|
info: str
|
|
name: str
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def data(self) -> MjDoubleVec:
|
|
...
|
|
@data.setter
|
|
def data(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
@property
|
|
def size(self) -> int:
|
|
...
|
|
@size.setter
|
|
def size(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
class MjsOrientation:
|
|
@property
|
|
def axisangle(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@axisangle.setter
|
|
def axisangle(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def euler(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@euler.setter
|
|
def euler(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def type(self) -> mujoco._enums.mjtOrientation:
|
|
...
|
|
@type.setter
|
|
def type(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def xyaxes(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[6, 1]", "flags.writeable"]:
|
|
...
|
|
@xyaxes.setter
|
|
def xyaxes(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[6, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def zaxis(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@zaxis.setter
|
|
def zaxis(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
class MjsPair:
|
|
classname: MjsDefault
|
|
geomname1: str
|
|
geomname2: str
|
|
info: str
|
|
name: str
|
|
@property
|
|
def adhesion(self) -> float:
|
|
...
|
|
@adhesion.setter
|
|
def adhesion(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def condim(self) -> int:
|
|
...
|
|
@condim.setter
|
|
def condim(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def friction(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]", "flags.writeable"]:
|
|
...
|
|
@friction.setter
|
|
def friction(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def gap(self) -> float:
|
|
...
|
|
@gap.setter
|
|
def gap(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def margin(self) -> float:
|
|
...
|
|
@margin.setter
|
|
def margin(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
@property
|
|
def solimp(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]", "flags.writeable"]:
|
|
...
|
|
@solimp.setter
|
|
def solimp(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def solref(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@solref.setter
|
|
def solref(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def solreffriction(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@solreffriction.setter
|
|
def solreffriction(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
class MjsPlugin:
|
|
active: bool
|
|
config: dict
|
|
info: str
|
|
name: str
|
|
plugin_name: str
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@id.setter
|
|
def id(self, arg1: MjsPlugin) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
class MjsSensor:
|
|
info: str
|
|
name: str
|
|
objname: str
|
|
plugin: MjsPlugin
|
|
refname: str
|
|
def get_data_size(self) -> int:
|
|
...
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def cutoff(self) -> float:
|
|
...
|
|
@cutoff.setter
|
|
def cutoff(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def datatype(self) -> mujoco._enums.mjtDataType:
|
|
...
|
|
@datatype.setter
|
|
def datatype(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def delay(self) -> float:
|
|
...
|
|
@delay.setter
|
|
def delay(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def dim(self) -> int:
|
|
...
|
|
@dim.setter
|
|
def dim(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def interp(self) -> int:
|
|
...
|
|
@interp.setter
|
|
def interp(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def interval(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@interval.setter
|
|
def interval(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def intprm(self) -> typing.Annotated[numpy.typing.NDArray[numpy.int32], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@intprm.setter
|
|
def intprm(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.int32], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def needstage(self) -> mujoco._enums.mjtStage:
|
|
...
|
|
@needstage.setter
|
|
def needstage(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def noise(self) -> float:
|
|
...
|
|
@noise.setter
|
|
def noise(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def nsample(self) -> int:
|
|
...
|
|
@nsample.setter
|
|
def nsample(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def objtype(self) -> mujoco._enums.mjtObj:
|
|
...
|
|
@objtype.setter
|
|
def objtype(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def reftype(self) -> mujoco._enums.mjtObj:
|
|
...
|
|
@reftype.setter
|
|
def reftype(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
@property
|
|
def type(self) -> mujoco._enums.mjtSensor:
|
|
...
|
|
@type.setter
|
|
def type(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def userdata(self) -> MjDoubleVec:
|
|
...
|
|
@userdata.setter
|
|
def userdata(self, arg1: typing.Any) -> None:
|
|
...
|
|
class MjsSite:
|
|
alt: MjsOrientation
|
|
classname: MjsDefault
|
|
info: str
|
|
material: str
|
|
name: str
|
|
def attach_body(self, body: MjsBody, prefix: str | None = None, suffix: str | None = None) -> MjsBody:
|
|
...
|
|
def set_frame(self, arg0: MjsFrame) -> None:
|
|
...
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def frame(self) -> MjsFrame:
|
|
...
|
|
@property
|
|
def fromto(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[6, 1]", "flags.writeable"]:
|
|
...
|
|
@fromto.setter
|
|
def fromto(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[6, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def group(self) -> int:
|
|
...
|
|
@group.setter
|
|
def group(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def parent(self) -> MjsBody:
|
|
...
|
|
@property
|
|
def pos(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@pos.setter
|
|
def pos(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def quat(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@quat.setter
|
|
def quat(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def rgba(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@rgba.setter
|
|
def rgba(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
@property
|
|
def size(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@size.setter
|
|
def size(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def type(self) -> mujoco._enums.mjtGeom:
|
|
...
|
|
@type.setter
|
|
def type(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def userdata(self) -> MjDoubleVec:
|
|
...
|
|
@userdata.setter
|
|
def userdata(self, arg1: typing.Any) -> None:
|
|
...
|
|
class MjsSkin:
|
|
file: str
|
|
info: str
|
|
material: str
|
|
name: str
|
|
@property
|
|
def bindpos(self) -> MjFloatVec:
|
|
...
|
|
@bindpos.setter
|
|
def bindpos(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def bindquat(self) -> MjFloatVec:
|
|
...
|
|
@bindquat.setter
|
|
def bindquat(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def bodyname(self) -> MjStringVec:
|
|
...
|
|
@bodyname.setter
|
|
def bodyname(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def face(self) -> MjIntVec:
|
|
...
|
|
@face.setter
|
|
def face(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def group(self) -> int:
|
|
...
|
|
@group.setter
|
|
def group(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def inflate(self) -> float:
|
|
...
|
|
@inflate.setter
|
|
def inflate(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def rgba(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@rgba.setter
|
|
def rgba(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
@property
|
|
def texcoord(self) -> MjFloatVec:
|
|
...
|
|
@texcoord.setter
|
|
def texcoord(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def vert(self) -> MjFloatVec:
|
|
...
|
|
@vert.setter
|
|
def vert(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def vertid(self) -> list:
|
|
...
|
|
@vertid.setter
|
|
def vertid(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def vertweight(self) -> list:
|
|
...
|
|
@vertweight.setter
|
|
def vertweight(self, arg1: typing.Any) -> None:
|
|
...
|
|
class MjsTendon:
|
|
info: str
|
|
material: str
|
|
name: str
|
|
def default(self) -> MjsDefault:
|
|
...
|
|
def wrap_geom(self, arg0: str, arg1: str) -> MjsWrap:
|
|
...
|
|
def wrap_joint(self, arg0: str, arg1: typing.SupportsFloat | typing.SupportsIndex) -> MjsWrap:
|
|
...
|
|
def wrap_pulley(self, arg0: typing.SupportsFloat | typing.SupportsIndex) -> MjsWrap:
|
|
...
|
|
def wrap_site(self, arg0: str) -> MjsWrap:
|
|
...
|
|
@property
|
|
def actfrclimited(self) -> mujoco._enums.mjtLimited:
|
|
...
|
|
@actfrclimited.setter
|
|
def actfrclimited(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def actfrcrange(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@actfrcrange.setter
|
|
def actfrcrange(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def armature(self) -> float:
|
|
...
|
|
@armature.setter
|
|
def armature(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def damping(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@damping.setter
|
|
def damping(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def frictionloss(self) -> float:
|
|
...
|
|
@frictionloss.setter
|
|
def frictionloss(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def group(self) -> int:
|
|
...
|
|
@group.setter
|
|
def group(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def limited(self) -> mujoco._enums.mjtLimited:
|
|
...
|
|
@limited.setter
|
|
def limited(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def margin(self) -> float:
|
|
...
|
|
@margin.setter
|
|
def margin(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def path(self) -> MjsTendonPath:
|
|
...
|
|
@property
|
|
def range(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@range.setter
|
|
def range(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def rgba(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]", "flags.writeable"]:
|
|
...
|
|
@rgba.setter
|
|
def rgba(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float32], "[4, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
@property
|
|
def solimp_friction(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]", "flags.writeable"]:
|
|
...
|
|
@solimp_friction.setter
|
|
def solimp_friction(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def solimp_limit(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]", "flags.writeable"]:
|
|
...
|
|
@solimp_limit.setter
|
|
def solimp_limit(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[5, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def solref_friction(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@solref_friction.setter
|
|
def solref_friction(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def solref_limit(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@solref_limit.setter
|
|
def solref_limit(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def springlength(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@springlength.setter
|
|
def springlength(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def stiffness(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@stiffness.setter
|
|
def stiffness(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def userdata(self) -> MjDoubleVec:
|
|
...
|
|
@userdata.setter
|
|
def userdata(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def width(self) -> float:
|
|
...
|
|
@width.setter
|
|
def width(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
class MjsTendonPath:
|
|
def __getitem__(self, arg0: typing.SupportsInt | typing.SupportsIndex) -> MjsWrap:
|
|
...
|
|
def __len__(self) -> int:
|
|
...
|
|
class MjsText:
|
|
data: str
|
|
info: str
|
|
name: str
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
class MjsTexture:
|
|
content_type: str
|
|
data: bytes
|
|
file: str
|
|
hflip: bool
|
|
info: str
|
|
name: str
|
|
vflip: bool
|
|
@property
|
|
def builtin(self) -> mujoco._enums.mjtBuiltin:
|
|
...
|
|
@builtin.setter
|
|
def builtin(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def colorspace(self) -> mujoco._enums.mjtColorSpace:
|
|
...
|
|
@colorspace.setter
|
|
def colorspace(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def cubefiles(self) -> MjStringVec:
|
|
...
|
|
@cubefiles.setter
|
|
def cubefiles(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def gridlayout(self) -> MjCharVec:
|
|
...
|
|
@gridlayout.setter
|
|
def gridlayout(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def gridsize(self) -> typing.Annotated[numpy.typing.NDArray[numpy.int32], "[2, 1]", "flags.writeable"]:
|
|
...
|
|
@gridsize.setter
|
|
def gridsize(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.int32], "[2, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def height(self) -> int:
|
|
...
|
|
@height.setter
|
|
def height(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def mark(self) -> mujoco._enums.mjtMark:
|
|
...
|
|
@mark.setter
|
|
def mark(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def markrgb(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@markrgb.setter
|
|
def markrgb(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def nchannel(self) -> int:
|
|
...
|
|
@nchannel.setter
|
|
def nchannel(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def random(self) -> float:
|
|
...
|
|
@random.setter
|
|
def random(self, arg1: typing.SupportsFloat | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def rgb1(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@rgb1.setter
|
|
def rgb1(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def rgb2(self) -> typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]", "flags.writeable"]:
|
|
...
|
|
@rgb2.setter
|
|
def rgb2(self, arg1: typing.Annotated[numpy.typing.NDArray[numpy.float64], "[3, 1]"]) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
@property
|
|
def type(self) -> mujoco._enums.mjtTexture:
|
|
...
|
|
@type.setter
|
|
def type(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
@property
|
|
def width(self) -> int:
|
|
...
|
|
@width.setter
|
|
def width(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|
|
class MjsTuple:
|
|
info: str
|
|
name: str
|
|
@property
|
|
def compiler(self) -> MjsCompiler:
|
|
...
|
|
@property
|
|
def id(self) -> int:
|
|
...
|
|
@property
|
|
def objname(self) -> MjStringVec:
|
|
...
|
|
@objname.setter
|
|
def objname(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def objprm(self) -> MjDoubleVec:
|
|
...
|
|
@objprm.setter
|
|
def objprm(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def objtype(self) -> MjIntVec:
|
|
...
|
|
@objtype.setter
|
|
def objtype(self, arg1: typing.Any) -> None:
|
|
...
|
|
@property
|
|
def signature(self) -> int:
|
|
...
|
|
class MjsWrap:
|
|
info: str
|
|
@property
|
|
def coef(self) -> typing.Any:
|
|
...
|
|
@property
|
|
def divisor(self) -> typing.Any:
|
|
...
|
|
@property
|
|
def sidesite(self) -> MjsSite:
|
|
...
|
|
@property
|
|
def target(self) -> typing.Any:
|
|
...
|
|
@property
|
|
def type(self) -> mujoco._enums.mjtWrap:
|
|
...
|
|
@type.setter
|
|
def type(self, arg1: typing.SupportsInt | typing.SupportsIndex) -> None:
|
|
...
|