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orion kindel
2026-02-23 12:35:20 -06:00
parent 3029ea0e68
commit 88fcf9b4a3
11 changed files with 511 additions and 247 deletions
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1
spago.lock
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@@ -6,6 +6,7 @@
"core": {
"dependencies": [
"arrays",
"either",
"elmish",
"elmish-html",
"foldable-traversable",

1
spago.yaml
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@@ -21,6 +21,7 @@ package:
- spec-node
dependencies:
- arrays
- either
- elmish
- elmish-html
- foldable-traversable

134
src/Mujoco.MJCF.Actuator.purs Normal file
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@@ -0,0 +1,134 @@
module Mujoco.MJCF.Actuator where
import Mujoco.Prelude
import Mujoco.MJCF.Keyword as Kw
actuator = tag @() "actuator" :: Tag ()
type Interp = Kw.Zoh \/ Kw.Linear \/ Kw.Cubic
type DynType = Kw.None \/ Kw.Integrator \/ Kw.Filter \/ Kw.FilterExact \/ Kw.Muscle \/ Kw.User
type GainType = Kw.Fixed \/ Kw.Affine \/ Kw.Muscle \/ Kw.User
type BiasType = Kw.None \/ Kw.Affine \/ Kw.Muscle \/ Kw.User
type CommonMin r =
( class :: String
, group :: Int
, delay :: Real
, forcelimited :: Kw.Auto \/ Boolean
, ctrlrange :: Real /\ Real
, forcerange :: Real /\ Real
, user :: Array Real
, interp :: Interp
, nsample :: Int
| Named r
)
type Common r =
( ctrllimited :: Kw.Auto \/ Boolean
, lengthrange :: Real /\ Real
, gear :: Array Real
, cranklength :: Real
, joint :: String
, jointinparent :: String
, tendon :: String
, cranksite :: String
, slidersite :: String
, site :: String
, refsite :: String
| CommonMin r
)
type Props_general =
( actlimited :: Kw.Auto \/ Boolean
, actrange :: Real /\ Real
, actdim :: Int
, dyntype :: DynType
, gaintype :: GainType
, biastype :: BiasType
, dynprm :: Array Real
, gainprm :: Array Real
, biasprm :: Array Real
, actearly :: Boolean
, body :: String
| Common ()
)
general = tagNoContent @Props_general "general" :: TagNoContent Props_general
type Props_adhesion =
( body :: String
, gain :: Real
| CommonMin ()
)
adhesion = tagNoContent @Props_adhesion "adhesion" :: TagNoContent Props_adhesion
type Props_plugin =
( actlimited :: Kw.Auto \/ Boolean
, actdim :: Int
, dynprm :: Array Real
, actearly :: Boolean
, actrange :: Real /\ Real
, dyntype :: DynType
, instance :: String
, plugin :: String
| Common ()
)
plugin = tagNoContent @Props_plugin "plugin" :: TagNoContent Props_plugin
type Props_motor = Common ()
motor = tagNoContent @Props_motor "motor" :: TagNoContent Props_motor
type Props_position =
( kp :: Real
, kv :: Real
, dampratio :: Real
, timeconst :: Real
, inheritrange :: Real
| Common ()
)
position = tagNoContent @Props_position "position" :: TagNoContent Props_position
type Props_velocity =
( kv :: Real
| Common ()
)
velocity = tagNoContent @Props_velocity "velocity" :: TagNoContent Props_velocity
type Props_intvelocity =
( kp :: Real
, kv :: Real
, dampratio :: Real
, inheritrange :: Real
, actrange :: Real /\ Real
| Common ()
)
intvelocity = tagNoContent @Props_intvelocity "intvelocity" :: TagNoContent Props_intvelocity
type Props_damper =
( kv :: Real
| Common ()
)
damper = tagNoContent @Props_damper "damper" :: TagNoContent Props_damper
type Props_cylinder =
( timeconst :: Real
, area :: Real
, diameter :: Real
, bias :: Vec Real
| Common ()
)
cylinder = tagNoContent @Props_cylinder "cylinder" :: TagNoContent Props_cylinder
type Props_muscle =
( timeconst :: Real /\ Real
, tausmooth :: Real
, range :: Real /\ Real
, force :: Real
, scale :: Real
, lmin :: Real
, lmax :: Real
, vmax :: Real
, fpmax :: Real
, fvmax :: Real
| Common ()
)
muscle = tagNoContent @Props_muscle "muscle" :: TagNoContent Props_muscle

61
src/Mujoco.MJCF.Asset.purs
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@@ -2,14 +2,11 @@ module Mujoco.MJCF.Asset where
import Mujoco.Prelude
import Mujoco.MJCF.Keyword as Kw
asset = tag @() "asset" :: Tag ()
data MeshInertia = Convex | Exact | Legacy | Shell
instance Serialize MeshInertia where
serialize Convex = "convex"
serialize Exact = "exact"
serialize Legacy = "legacy"
serialize Shell = "shell"
type MeshInertia = Kw.Convex \/ Kw.Exact \/ Kw.Legacy \/ Kw.Shell
type Props_mesh =
( name :: String
@@ -43,31 +40,10 @@ type Props_hfield =
)
hfield = tagNoContent @Props_hfield "hfield" :: TagNoContent Props_hfield
data TextureType = Texture2d | TextureCube | TextureSkybox
instance Serialize TextureType where
serialize Texture2d = "2d"
serialize TextureCube = "cube"
serialize TextureSkybox = "skybox"
data TextureColorspace = ColorspaceAuto | ColorspaceLinear | ColorspaceSRGB
instance Serialize TextureColorspace where
serialize ColorspaceAuto = "auto"
serialize ColorspaceLinear = "linear"
serialize ColorspaceSRGB = "sRGB"
data TextureBuiltin = BuiltinNone | BuiltinGradient | BuiltinChecker | BuiltinFlat
instance Serialize TextureBuiltin where
serialize BuiltinNone = "none"
serialize BuiltinGradient = "gradient"
serialize BuiltinChecker = "checker"
serialize BuiltinFlat = "flat"
data TextureMark = MarkNone | MarkEdge | MarkCross | MarkRandom
instance Serialize TextureMark where
serialize MarkNone = "none"
serialize MarkEdge = "edge"
serialize MarkCross = "cross"
serialize MarkRandom = "random"
type TextureType = Kw.TwoD \/ Kw.Cube \/ Kw.Skybox
type TextureColorspace = Kw.Auto \/ Kw.Linear \/ Kw.SRGB
type TextureBuiltin = Kw.None \/ Kw.Gradient \/ Kw.Checker \/ Kw.Flat
type TextureMark = Kw.None \/ Kw.Edge \/ Kw.Cross \/ Kw.Random
type Props_texture =
( name :: String
@@ -113,27 +89,7 @@ type Props_material =
)
material = tag @Props_material "material" :: Tag Props_material
data LayerRole
= RoleRgb
| RoleNormal
| RoleOcclusion
| RoleRoughness
| RoleMetallic
| RoleOpacity
| RoleEmissive
| RoleOrm
| RoleRgba
instance Serialize LayerRole where
serialize RoleRgb = "rgb"
serialize RoleNormal = "normal"
serialize RoleOcclusion = "occlusion"
serialize RoleRoughness = "roughness"
serialize RoleMetallic = "metallic"
serialize RoleOpacity = "opacity"
serialize RoleEmissive = "emissive"
serialize RoleOrm = "orm"
serialize RoleRgba = "rgba"
type LayerRole = Kw.Rgb \/ Kw.Normal \/ Kw.Occlusion \/ Kw.Roughness \/ Kw.Metallic \/ Kw.Opacity \/ Kw.Emissive \/ Kw.Orm \/ Kw.Rgba
type Props_layer =
( texture :: String
@@ -147,4 +103,3 @@ type Props_model =
, content_type :: String
)
model = tagNoContent @Props_model "model" :: TagNoContent Props_model

73
src/Mujoco.MJCF.Body.purs
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@@ -1,9 +1,9 @@
module Mujoco.MJCF.Body
( CameraMode(..)
, CameraOutput(..)
, JointType(..)
, LightType(..)
, Projection(..)
( CameraMode
, CameraOutput
, JointType
, LightType
, Projection
, Props_attach
, Props_body
, Props_camera
@@ -13,8 +13,8 @@ module Mujoco.MJCF.Body
, Props_joint
, Props_light
, Props_site
, SiteType(..)
, SleepPolicy(..)
, SiteType
, SleepPolicy
, attach
, body
, camera
@@ -32,13 +32,9 @@ module Mujoco.MJCF.Body
import Mujoco.Prelude
import Mujoco.MJCF.Geom (Props_geom, geom) as X
import Mujoco.MJCF.Keyword as Kw
data SleepPolicy = SleepAuto | SleepNever | SleepAllowed | SleepInit
instance Serialize SleepPolicy where
serialize SleepAuto = "auto"
serialize SleepNever = "never"
serialize SleepAllowed = "allowed"
serialize SleepInit = "init"
type SleepPolicy = Kw.Auto \/ Kw.Never \/ Kw.Allowed \/ Kw.Init
type Props_body =
( name :: String
@@ -70,12 +66,7 @@ type Props_inertial =
)
inertial = tagNoContent @Props_inertial "inertial" :: TagNoContent Props_inertial
data JointType = Free | Ball | Slide | Hinge
instance Serialize JointType where
serialize Free = "free"
serialize Ball = "ball"
serialize Slide = "slide"
serialize Hinge = "hinge"
type JointType = Kw.Free \/ Kw.Ball \/ Kw.Slide \/ Kw.Hinge
type Props_joint =
( name :: String
@@ -91,9 +82,9 @@ type Props_joint =
, solimpfriction :: Vec5 Real
, stiffness :: Real
, range :: Real /\ Real
, limited :: Auto \/ Boolean
, limited :: Kw.Auto \/ Boolean
, actuatorfrcrange :: Real /\ Real
, actuatorfrclimited :: Auto \/ Boolean
, actuatorfrclimited :: Kw.Auto \/ Boolean
, actuatorgravcomp :: Boolean
, margin :: Real
, ref :: Real
@@ -108,17 +99,11 @@ joint = tagNoContent @Props_joint "joint" :: TagNoContent Props_joint
type Props_freejoint =
( name :: String
, group :: Int
, align :: Auto \/ Boolean
, align :: Kw.Auto \/ Boolean
)
freejoint = tagNoContent @Props_freejoint "freejoint" :: TagNoContent Props_freejoint
data SiteType = SiteSphere | SiteCapsule | SiteEllipsoid | SiteCylinder | SiteBox
instance Serialize SiteType where
serialize SiteSphere = "sphere"
serialize SiteCapsule = "capsule"
serialize SiteEllipsoid = "ellipsoid"
serialize SiteCylinder = "cylinder"
serialize SiteBox = "box"
type SiteType = Kw.Sphere \/ Kw.Capsule \/ Kw.Ellipsoid \/ Kw.Cylinder \/ Kw.Box
type Props_site =
( name :: String
@@ -139,26 +124,9 @@ type Props_site =
)
site = tagNoContent @Props_site "site" :: TagNoContent Props_site
data CameraMode = CamFixed | CamTrack | CamTrackcom | CamTargetbody | CamTargetbodycom
instance Serialize CameraMode where
serialize CamFixed = "fixed"
serialize CamTrack = "track"
serialize CamTrackcom = "trackcom"
serialize CamTargetbody = "targetbody"
serialize CamTargetbodycom = "targetbodycom"
data Projection = Perspective | Orthographic
instance Serialize Projection where
serialize Perspective = "perspective"
serialize Orthographic = "orthographic"
data CameraOutput = OutputRgb | OutputDepth | OutputDistance | OutputNormal | OutputSegmentation
instance Serialize CameraOutput where
serialize OutputRgb = "rgb"
serialize OutputDepth = "depth"
serialize OutputDistance = "distance"
serialize OutputNormal = "normal"
serialize OutputSegmentation = "segmentation"
type CameraMode = Kw.Fixed \/ Kw.Track \/ Kw.Trackcom \/ Kw.Targetbody \/ Kw.Targetbodycom
type Projection = Kw.Perspective \/ Kw.Orthographic
type CameraOutput = Kw.Rgb \/ Kw.Depth \/ Kw.Distance \/ Kw.Normal \/ Kw.Segmentation
type Props_camera =
( name :: String
@@ -185,12 +153,7 @@ type Props_camera =
)
camera = tagNoContent @Props_camera "camera" :: TagNoContent Props_camera
data LightType = LightSpot | LightDirectional | LightPoint | LightImage
instance Serialize LightType where
serialize LightSpot = "spot"
serialize LightDirectional = "directional"
serialize LightPoint = "point"
serialize LightImage = "image"
type LightType = Kw.Spot \/ Kw.Directional \/ Kw.Point \/ Kw.Image
type Props_light =
( name :: String

16
src/Mujoco.MJCF.Common.purs
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@@ -1,7 +1,15 @@
module Mujoco.MJCF.Common where
module Mujoco.MJCF.Common
( Named
, Oriented
, Pos
, Real
, Vec
, Vec4
, Vec5
)
where
import Data.Tuple.Nested (type (/\))
import Mujoco.XML.Node.Prop (class Serialize)
type Named r = (name :: String | r)
type Pos r = (pos :: Vec Real | r)
@@ -14,10 +22,6 @@ type Oriented r =
| r
)
data Auto = Auto
instance Serialize Auto where
serialize Auto = "auto"
type Real = Number
type Vec a = a /\ a /\ a
type Vec4 a = a /\ a /\ a /\ a

23
src/Mujoco.MJCF.Geom.purs
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@@ -1,24 +1,7 @@
module Mujoco.MJCF.Geom where
import Mujoco.Prelude
import Prim hiding (Type)
data FluidShape = FluidNone | FluidEllipsoid
instance Serialize FluidShape where
serialize FluidNone = "none"
serialize FluidEllipsoid = "ellipsoid"
data Type = Plane | Hfield | Sphere | Capsule | Ellipsoid | Cylinder | Box | Mesh | Sdf
instance Serialize Type where
serialize Plane = "plane"
serialize Hfield = "hfield"
serialize Sphere = "sphere"
serialize Capsule = "capsule"
serialize Ellipsoid = "ellipsoid"
serialize Cylinder = "cylinder"
serialize Box = "box"
serialize Mesh = "mesh"
serialize Sdf = "sdf"
import Mujoco.MJCF.Keyword as Kw
type Contact r =
( contype :: Int
@@ -43,7 +26,7 @@ type Solver r =
type Props_geom =
( class :: String
, type :: Type
, type :: Kw.Plane \/ Kw.Hfield \/ Kw.Sphere \/ Kw.Capsule \/ Kw.Ellipsoid \/ Kw.Cylinder \/ Kw.Box \/ Kw.Mesh \/ Kw.Sdf
, group :: Int
, size :: Array Real
, material :: String
@@ -56,7 +39,7 @@ type Props_geom =
, hfield :: String
, mesh :: String
, fitscale :: Real
, fluidshape :: FluidShape
, fluidshape :: Kw.None \/ Kw.Ellipsoid
, fluidcoef :: Vec5 Real
, user :: Array Real
| Named

256
src/Mujoco.MJCF.Keyword.purs Normal file
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@@ -0,0 +1,256 @@
module Mujoco.MJCF.Keyword where
import Data.Either.Inject (class Inject, inj)
import Mujoco.XML.Node.Prop (class Serialize)
kw :: forall kw sum. Inject kw sum => kw -> sum
kw = inj
true_ :: forall sum. Inject Boolean sum => sum
true_ = inj true
false_ :: forall sum. Inject Boolean sum => sum
false_ = inj false
data None = None
instance Serialize None where serialize None = "none"
data Integrator = Integrator
instance Serialize Integrator where serialize Integrator = "integrator"
data Filter = Filter
instance Serialize Filter where serialize Filter = "filter"
data FilterExact = FilterExact
instance Serialize FilterExact where serialize FilterExact = "filterexact"
data Muscle = Muscle
instance Serialize Muscle where serialize Muscle = "muscle"
data User = User
instance Serialize User where serialize User = "user"
data Fixed = Fixed
instance Serialize Fixed where serialize Fixed = "fixed"
data Affine = Affine
instance Serialize Affine where serialize Affine = "affine"
data Zoh = Zoh
instance Serialize Zoh where serialize Zoh = "zoh"
data Linear = Linear
instance Serialize Linear where serialize Linear = "linear"
data Cubic = Cubic
instance Serialize Cubic where serialize Cubic = "cubic"
data Convex = Convex
instance Serialize Convex where serialize Convex = "convex"
data Exact = Exact
instance Serialize Exact where serialize Exact = "exact"
data Legacy = Legacy
instance Serialize Legacy where serialize Legacy = "legacy"
data Shell = Shell
instance Serialize Shell where serialize Shell = "shell"
data TwoD = TwoD
instance Serialize TwoD where serialize TwoD = "2d"
data Cube = Cube
instance Serialize Cube where serialize Cube = "cube"
data Skybox = Skybox
instance Serialize Skybox where serialize Skybox = "skybox"
data SRGB = SRGB
instance Serialize SRGB where serialize SRGB = "sRGB"
data Gradient = Gradient
instance Serialize Gradient where serialize Gradient = "gradient"
data Checker = Checker
instance Serialize Checker where serialize Checker = "checker"
data Flat = Flat
instance Serialize Flat where serialize Flat = "flat"
data Edge = Edge
instance Serialize Edge where serialize Edge = "edge"
data Cross = Cross
instance Serialize Cross where serialize Cross = "cross"
data Random = Random
instance Serialize Random where serialize Random = "random"
data Rgb = Rgb
instance Serialize Rgb where serialize Rgb = "rgb"
data Normal = Normal
instance Serialize Normal where serialize Normal = "normal"
data Occlusion = Occlusion
instance Serialize Occlusion where serialize Occlusion = "occlusion"
data Roughness = Roughness
instance Serialize Roughness where serialize Roughness = "roughness"
data Metallic = Metallic
instance Serialize Metallic where serialize Metallic = "metallic"
data Opacity = Opacity
instance Serialize Opacity where serialize Opacity = "opacity"
data Emissive = Emissive
instance Serialize Emissive where serialize Emissive = "emissive"
data Orm = Orm
instance Serialize Orm where serialize Orm = "orm"
data Rgba = Rgba
instance Serialize Rgba where serialize Rgba = "rgba"
data Auto = Auto
instance Serialize Auto where serialize Auto = "auto"
data Never = Never
instance Serialize Never where serialize Never = "never"
data Allowed = Allowed
instance Serialize Allowed where serialize Allowed = "allowed"
data Init = Init
instance Serialize Init where serialize Init = "init"
data Free = Free
instance Serialize Free where serialize Free = "free"
data Ball = Ball
instance Serialize Ball where serialize Ball = "ball"
data Slide = Slide
instance Serialize Slide where serialize Slide = "slide"
data Hinge = Hinge
instance Serialize Hinge where serialize Hinge = "hinge"
data Sphere = Sphere
instance Serialize Sphere where serialize Sphere = "sphere"
data Capsule = Capsule
instance Serialize Capsule where serialize Capsule = "capsule"
data Ellipsoid = Ellipsoid
instance Serialize Ellipsoid where serialize Ellipsoid = "ellipsoid"
data Cylinder = Cylinder
instance Serialize Cylinder where serialize Cylinder = "cylinder"
data Box = Box
instance Serialize Box where serialize Box = "box"
data Track = Track
instance Serialize Track where serialize Track = "track"
data Trackcom = Trackcom
instance Serialize Trackcom where serialize Trackcom = "trackcom"
data Targetbody = Targetbody
instance Serialize Targetbody where serialize Targetbody = "targetbody"
data Targetbodycom = Targetbodycom
instance Serialize Targetbodycom where serialize Targetbodycom = "targetbodycom"
data Perspective = Perspective
instance Serialize Perspective where serialize Perspective = "perspective"
data Orthographic = Orthographic
instance Serialize Orthographic where serialize Orthographic = "orthographic"
data Depth = Depth
instance Serialize Depth where serialize Depth = "depth"
data Distance = Distance
instance Serialize Distance where serialize Distance = "distance"
data Segmentation = Segmentation
instance Serialize Segmentation where serialize Segmentation = "segmentation"
data Spot = Spot
instance Serialize Spot where serialize Spot = "spot"
data Directional = Directional
instance Serialize Directional where serialize Directional = "directional"
data Point = Point
instance Serialize Point where serialize Point = "point"
data Image = Image
instance Serialize Image where serialize Image = "image"
data Plane = Plane
instance Serialize Plane where serialize Plane = "plane"
data Hfield = Hfield
instance Serialize Hfield where serialize Hfield = "hfield"
data Mesh = Mesh
instance Serialize Mesh where serialize Mesh = "mesh"
data Sdf = Sdf
instance Serialize Sdf where serialize Sdf = "sdf"
data Euler = Euler
instance Serialize Euler where serialize Euler = "Euler"
data RK4 = RK4
instance Serialize RK4 where serialize RK4 = "RK4"
data Implicit = Implicit
instance Serialize Implicit where serialize Implicit = "implicit"
data ImplicitFast = ImplicitFast
instance Serialize ImplicitFast where serialize ImplicitFast = "implicitfast"
data Pyramidal = Pyramidal
instance Serialize Pyramidal where serialize Pyramidal = "pyramidal"
data Elliptic = Elliptic
instance Serialize Elliptic where serialize Elliptic = "elliptic"
data Dense = Dense
instance Serialize Dense where serialize Dense = "dense"
data Sparse = Sparse
instance Serialize Sparse where serialize Sparse = "sparse"
data PGS = PGS
instance Serialize PGS where serialize PGS = "PGS"
data CG = CG
instance Serialize CG where serialize CG = "CG"
data Newton = Newton
instance Serialize Newton where serialize Newton = "Newton"
data Enable = Enable
instance Serialize Enable where serialize Enable = "enable"
data Disable = Disable
instance Serialize Disable where serialize Disable = "disable"
data Local = Local
instance Serialize Local where serialize Local = "local"
data Global = Global
instance Serialize Global where serialize Global = "global"
data Radian = Radian
instance Serialize Radian where serialize Radian = "radian"
data Degree = Degree
instance Serialize Degree where serialize Degree = "degree"

6
src/Mujoco.MJCF.Tendon.purs
View File

@@ -2,10 +2,12 @@ module Mujoco.MJCF.Tendon where
import Mujoco.Prelude
import Mujoco.MJCF.Keyword as Kw
type Common r =
( class :: String
, group :: Int
, limited :: Auto \/ Boolean
, limited :: Kw.Auto \/ Boolean
, range :: Real /\ Real
, solimplimit :: Vec5 Real
, solimpfriction :: Vec5 Real
@@ -22,7 +24,7 @@ type Common r =
type Props_spatial =
( actuatorfrcrange :: Real /\ Real
, actuatorfrclimited :: Auto \/ Boolean
, actuatorfrclimited :: Kw.Auto \/ Boolean
, width :: Real
, material :: String
, rgba :: Vec4 Real

121
src/Mujoco.MJCF.purs
View File

@@ -1,11 +1,10 @@
module Mujoco.MJCF
( Angle(..)
, Cone(..)
, Coordinate(..)
, Enable(..)
, InertiaFromGeom(..)
, Integrator(..)
, Jacobian(..)
( Angle
, Cone
, Coordinate
, EnableDisable
, InertiaFromGeom
, Jacobian
, Props_compiler
, Props_flag
, Props_option
@@ -13,7 +12,7 @@ module Mujoco.MJCF
, Props_mujoco
, Props_statistic
, Props_plugin
, Solver(..)
, Solver
, plugin
, compiler
, flag
@@ -27,58 +26,24 @@ module Mujoco.MJCF
import Mujoco.Prelude
import Mujoco.MJCF.Keyword as Kw
import Mujoco.MJCF.Keyword as X
import Mujoco.MJCF.Asset as X
import Mujoco.MJCF.Body as X
import Mujoco.MJCF.Common (Auto(..)) as X
import Mujoco.MJCF.Common as X
import Mujoco.MJCF.Contact as X
import Mujoco.XML.Node (empty, text, fragment) as X
type Props_mujoco = (model :: String)
mujoco = tag @Props_mujoco "mujoco" :: Tag Props_mujoco
data Integrator = Euler | RK4 | Implicit | ImplicitFast
instance Serialize Integrator where
serialize Euler = "Euler"
serialize RK4 = "RK4"
serialize Implicit = "implicit"
serialize ImplicitFast = "implicitfast"
data Cone = Pyramidal | Elliptic
instance Serialize Cone where
serialize Pyramidal = "pyramidal"
serialize Elliptic = "elliptic"
data Jacobian = Dense | Sparse
instance Serialize Jacobian where
serialize Dense = "dense"
serialize Sparse = "sparse"
data Solver = PGS | CG | Newton
instance Serialize Solver where
serialize PGS = "PGS"
serialize CG = "CG"
serialize Newton = "Newton"
data Enable = Disable | Enable
instance Serialize Enable where
serialize Enable = "enable"
serialize Disable = "disable"
data Coordinate = Local | Global
instance Serialize Coordinate where
serialize Local = "local"
serialize Global = "global"
data Angle = Radian | Degree
instance Serialize Angle where
serialize Radian = "radian"
serialize Degree = "degree"
data InertiaFromGeom = InertiaFromGeomFalse | InertiaFromGeomTrue | InertiaFromGeomAuto
instance Serialize InertiaFromGeom where
serialize InertiaFromGeomFalse = "false"
serialize InertiaFromGeomTrue = "true"
serialize InertiaFromGeomAuto = "auto"
type Cone = Kw.Pyramidal \/ Kw.Elliptic
type Jacobian = Kw.Dense \/ Kw.Sparse
type Solver = Kw.PGS \/ Kw.CG \/ Kw.Newton
type EnableDisable = Kw.Enable \/ Kw.Disable
type Coordinate = Kw.Local \/ Kw.Global
type Angle = Kw.Radian \/ Kw.Degree
type InertiaFromGeom = Kw.Auto \/ Boolean
type Props_option =
( timestep :: Real
@@ -91,7 +56,7 @@ type Props_option =
, o_margin :: Real
, o_solref :: Real /\ Real
, o_solimp :: Vec5 Real
, integrator :: Integrator
, integrator :: Kw.Euler \/ Kw.RK4 \/ Kw.Implicit \/ Kw.ImplicitFast
, cone :: Cone
, jacobian :: Jacobian
, iterations :: Int
@@ -110,31 +75,31 @@ type Props_option =
option = tag @Props_option "mjcf:option" :: Tag Props_option
type Props_flag =
( constraint :: Enable
, equality :: Enable
, frictionloss :: Enable
, limit :: Enable
, contact :: Enable
, spring :: Enable
, damper :: Enable
, gravity :: Enable
, clampctrl :: Enable
, warmstart :: Enable
, filterparent :: Enable
, actuation :: Enable
, refsafe :: Enable
, sensor :: Enable
, midphase :: Enable
, nativeccd :: Enable
, island :: Enable
, eulerdamp :: Enable
, autoreset :: Enable
, override :: Enable
, energy :: Enable
, fwdinv :: Enable
, invdiscrete :: Enable
, multiccd :: Enable
, sleep :: Enable
( constraint :: EnableDisable
, equality :: EnableDisable
, frictionloss :: EnableDisable
, limit :: EnableDisable
, contact :: EnableDisable
, spring :: EnableDisable
, damper :: EnableDisable
, gravity :: EnableDisable
, clampctrl :: EnableDisable
, warmstart :: EnableDisable
, filterparent :: EnableDisable
, actuation :: EnableDisable
, refsafe :: EnableDisable
, sensor :: EnableDisable
, midphase :: EnableDisable
, nativeccd :: EnableDisable
, island :: EnableDisable
, eulerdamp :: EnableDisable
, autoreset :: EnableDisable
, override :: EnableDisable
, energy :: EnableDisable
, fwdinv :: EnableDisable
, invdiscrete :: EnableDisable
, multiccd :: EnableDisable
, sleep :: EnableDisable
)
flag = tagNoContent @Props_flag "flag" :: TagNoContent Props_flag

66
test/Mujoco.MJCF.purs
View File

@@ -38,17 +38,17 @@ spec =
]
it "angle=radian" $ ok $ X.mujoco {}
[ X.compiler { angle: X.Radian }
[ X.compiler { angle: X.kw X.Radian }
, X.worldbody {} unit
]
it "autolimits + coordinate" $ ok $ X.mujoco {}
[ X.compiler { autolimits: true, coordinate: X.Local }
[ X.compiler { autolimits: true, coordinate: X.kw X.Local }
, X.worldbody {} unit
]
it "inertiafromgeom=auto" $ ok $ X.mujoco {}
[ X.compiler { inertiafromgeom: X.InertiaFromGeomAuto }
[ X.compiler { inertiafromgeom: X.kw X.Auto }
, X.worldbody {} unit
]
@@ -75,12 +75,12 @@ spec =
describe "option" do
it "timestep + integrator" $ ok $ X.mujoco {}
[ X.option { timestep: 0.001, integrator: X.RK4 } unit
[ X.option { timestep: 0.001, integrator: X.kw X.RK4 } unit
, X.worldbody {} unit
]
it "gravity + solver" $ ok $ X.mujoco {}
[ X.option { gravity: 0.0 /\ 0.0 /\ (-9.81), solver: X.Newton } unit
[ X.option { gravity: 0.0 /\ 0.0 /\ (-9.81), solver: X.kw X.Newton } unit
, X.worldbody {} unit
]
@@ -110,8 +110,8 @@ spec =
[ X.asset {}
[ X.texture
{ name: "grid"
, type: X.Texture2d
, builtin: X.BuiltinChecker
, type: X.kw X.TwoD
, builtin: X.kw X.Checker
, width: 512
, height: 512
, rgb1: 0.9 /\ 0.9 /\ 0.9
@@ -132,53 +132,53 @@ spec =
describe "joint" do
it "hinge" $ ok $ w $
X.body { name: "b1", pos: 0.0 /\ 0.0 /\ 0.5 }
[ X.joint { type: X.Hinge, axis: 1.0 /\ 0.0 /\ 0.0 }
, X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0] } unit
[ X.joint { type: X.kw X.Hinge, axis: 1.0 /\ 0.0 /\ 0.0 }
, X.geom { type: X.kw X.Sphere, size: [0.1, 0.0, 0.0] } unit
]
it "slide with range" $ ok $ w $
X.body { name: "slider", pos: 0.0 /\ 0.0 /\ 1.0 }
[ X.joint { type: X.Slide, axis: 0.0 /\ 0.0 /\ 1.0, range: (-1.0) /\ 1.0, limited: X.AutoBoolTrue }
, X.geom { type: X.G.Box, size: [0.1, 0.1, 0.1] } unit
[ X.joint { type: X.kw X.Slide, axis: 0.0 /\ 0.0 /\ 1.0, range: (-1.0) /\ 1.0, limited: X.true_ }
, X.geom { type: X.kw X.Box, size: [0.1, 0.1, 0.1] } unit
]
it "stiffness + damping" $ ok $ w $
X.body { pos: 0.0 /\ 0.0 /\ 0.0 }
[ X.joint { type: X.Hinge, stiffness: 100.0, damping: 10.0, armature: 0.1 }
, X.geom { type: X.G.Sphere, size: [0.05, 0.0, 0.0] } unit
[ X.joint { type: X.kw X.Hinge, stiffness: 100.0, damping: 10.0, armature: 0.1 }
, X.geom { type: X.kw X.Sphere, size: [0.05, 0.0, 0.0] } unit
]
describe "freejoint" do
it "basic" $ ok $ w $
X.body { name: "free_body", pos: 0.0 /\ 0.0 /\ 1.0 }
[ X.freejoint { name: "fj" }
, X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0] } unit
, X.geom { type: X.kw X.Sphere, size: [0.1, 0.0, 0.0] } unit
]
describe "geom" do
it "sphere" $ ok $ w $
X.geom { type: X.G.Sphere, size: [1.0, 0.0, 0.0] } unit
X.geom { type: X.kw X.Sphere, size: [1.0, 0.0, 0.0] } unit
it "capsule fromto" $ ok $ w $
X.geom { type: X.G.Capsule, fromto: [0.0, 0.0, 0.0, 0.0, 0.0, 1.0], size: [0.05, 0.0, 0.0] } unit
X.geom { type: X.kw X.Capsule, fromto: [0.0, 0.0, 0.0, 0.0, 0.0, 1.0], size: [0.05, 0.0, 0.0] } unit
it "box with material" $ ok $ X.mujoco {}
[ X.asset {}
[ X.material { name: "red", rgba: 1.0 /\ 0.0 /\ 0.0 /\ 1.0 } unit ]
, X.worldbody {} $
X.geom { type: X.G.Box, size: [0.5, 0.5, 0.5], material: "red" } unit
X.geom { type: X.kw X.Box, size: [0.5, 0.5, 0.5], material: "red" } unit
]
it "plane" $ ok $ w $
X.geom { type: X.G.Plane, size: [5.0, 5.0, 0.1] } unit
X.geom { type: X.kw X.Plane, size: [5.0, 5.0, 0.1] } unit
it "friction + density" $ ok $ w $
X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0], friction: 0.5 /\ 0.005 /\ 0.0001, density: 500.0 } unit
X.geom { type: X.kw X.Sphere, size: [0.1, 0.0, 0.0], friction: 0.5 /\ 0.005 /\ 0.0001, density: 500.0 } unit
describe "site" do
it "basic" $ ok $ w $
X.body { pos: 0.0 /\ 0.0 /\ 0.0 }
[ X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0] } unit
[ X.geom { type: X.kw X.Sphere, size: [0.1, 0.0, 0.0] } unit
, X.site { name: "s1", pos: 0.0 /\ 0.0 /\ 0.1, size: 0.01 /\ 0.01 /\ 0.01 }
]
@@ -188,8 +188,8 @@ spec =
it "tracking" $ ok $ w $
X.body { name: "target_body", pos: 0.0 /\ 0.0 /\ 0.5 }
[ X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0] } unit
, X.camera { name: "tracker", mode: X.CamTargetbody, target: "target_body", pos: 1.0 /\ 0.0 /\ 0.5 }
[ X.geom { type: X.kw X.Sphere, size: [0.1, 0.0, 0.0] } unit
, X.camera { name: "tracker", mode: X.kw X.Targetbody, target: "target_body", pos: 1.0 /\ 0.0 /\ 0.5 }
]
describe "light" do
@@ -197,32 +197,32 @@ spec =
X.light { name: "spot1", pos: 0.0 /\ 0.0 /\ 3.0, dir: 0.0 /\ 0.0 /\ (-1.0), diffuse: 1.0 /\ 1.0 /\ 1.0 }
it "directional" $ ok $ w $
X.light { name: "sun", type: X.LightDirectional, dir: 0.0 /\ (-1.0) /\ (-1.0), castshadow: true }
X.light { name: "sun", type: X.kw X.Directional, dir: 0.0 /\ (-1.0) /\ (-1.0), castshadow: true }
describe "inertial" do
it "explicit mass + diaginertia" $ ok $ w $
X.body { pos: 0.0 /\ 0.0 /\ 0.0 }
[ X.inertial { pos: 0.0 /\ 0.0 /\ 0.0, mass: 1.0, diaginertia: 0.01 /\ 0.01 /\ 0.01 }
, X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0] } unit
, X.geom { type: X.kw X.Sphere, size: [0.1, 0.0, 0.0] } unit
]
describe "composite" do
it "full model"
$ ok
$ X.mujoco { model: "test" }
[ X.compiler { angle: X.Radian, inertiafromgeom: X.InertiaFromGeomTrue }
[ X.compiler { angle: X.kw X.Radian, inertiafromgeom: X.true_ }
, X.option { timestep: 0.002, gravity: 0.0 /\ 0.0 /\ (-9.81) }
[ X.flag { contact: X.Enable } ]
[ X.flag { contact: X.kw X.Enable } ]
, X.asset {}
[ X.texture { name: "grid", type: X.Texture2d, builtin: X.BuiltinChecker, width: 256, height: 256, rgb1: 0.9 /\ 0.9 /\ 0.9, rgb2: 0.1 /\ 0.1 /\ 0.1 }
[ X.texture { name: "grid", type: X.kw X.TwoD, builtin: X.kw X.Checker, width: 256, height: 256, rgb1: 0.9 /\ 0.9 /\ 0.9, rgb2: 0.1 /\ 0.1 /\ 0.1 }
, X.material { name: "floor_mat", texture: "grid", texrepeat: 5.0 /\ 5.0 } unit
]
, X.worldbody {}
[ X.geom { type: X.G.Plane, size: [5.0, 5.0, 0.1], material: "floor_mat" } unit
[ X.geom { type: X.kw X.Plane, size: [5.0, 5.0, 0.1], material: "floor_mat" } unit
, X.light { name: "top", pos: 0.0 /\ 0.0 /\ 3.0, dir: 0.0 /\ 0.0 /\ (-1.0) }
, X.body { name: "ball", pos: 0.0 /\ 0.0 /\ 1.0 }
[ X.freejoint {}
, X.geom { type: X.G.Sphere, size: [0.1, 0.0, 0.0], rgba: 1.0 /\ 0.0 /\ 0.0 /\ 1.0 } unit
, X.geom { type: X.kw X.Sphere, size: [0.1, 0.0, 0.0], rgba: 1.0 /\ 0.0 /\ 0.0 /\ 1.0 } unit
]
]
]
@@ -232,19 +232,19 @@ spec =
, X.body {}
[ X.joint { name: "v0_rx", damping: 1.0, stiffness: 10.0, axis: 1.0 /\ 0.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
, X.joint { name: "v0_ry", damping: 1.0, stiffness: 10.0, axis: 0.0 /\ 1.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
, X.geom { type: X.G.Cylinder, size: [1.0, 0.05] } unit
, X.geom { type: X.kw X.Cylinder, size: [1.0, 0.05] } unit
, X.body { pos: zero /\ zero /\ 0.51 }
[ X.joint { name: "b0a_rx", damping: 1.0, stiffness: 10.0, axis: 1.0 /\ 0.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
, X.joint { name: "b0a_ry", damping: 1.0, stiffness: 10.0, axis: 0.0 /\ 1.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
, X.geom { type: X.G.Cylinder, size: [0.05, 0.5] } unit
, X.geom { type: X.kw X.Cylinder, size: [0.05, 0.5] } unit
, X.body { pos: zero /\ zero /\ one }
[ X.joint { name: "b0b_rx", damping: 1.0, stiffness: 10.0, axis: 1.0 /\ 0.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
, X.joint { name: "b0b_ry", damping: 1.0, stiffness: 10.0, axis: 0.0 /\ 1.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
, X.geom { type: X.G.Cylinder, size: [0.05, 0.5] } unit
, X.geom { type: X.kw X.Cylinder, size: [0.05, 0.5] } unit
, X.body { pos: zero /\ zero /\ 0.5 }
[ X.joint { name: "v1_rx", damping: 1.0, stiffness: 10.0, axis: 1.0 /\ 0.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
, X.joint { name: "v1_ry", damping: 1.0, stiffness: 10.0, axis: 0.0 /\ 1.0 /\ 0.0, pos: 0.0 /\ 0.0 /\ (-0.5) }
, X.geom { type: X.G.Cylinder, size: [1.0, 0.05] } unit
, X.geom { type: X.kw X.Cylinder, size: [1.0, 0.05] } unit
]
]
]