# Copyright 2018 The dm_control Authors.

#

# Licensed under the Apache License, Version 2.0 (the "License");

# you may not use this file except in compliance with the License.

# You may obtain a copy of the License at

#

# http://www.apache.org/licenses/LICENSE-2.0

#

# Unless required by applicable law or agreed to in writing, software

# distributed under the License is distributed on an "AS IS" BASIS,

# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

# See the License for the specific language governing permissions and

# limitations under the License.

# ============================================================================

"""Magic constants used within `dm_control.mjcf`."""

PREFIX_SEPARATOR = '/'

PREFIX_SEPARATOR_ESCAPE = '\\'

# Used to disambiguate namespaces between attachment frames.

NAMESPACE_SEPARATOR = '@'

# Magic attribute names

BASEPATH = 'basepath'

CHILDCLASS = 'childclass'

CLASS = 'class'

DEFAULT = 'default'

DCLASS = 'dclass'

# Magic tags

ACTUATOR = 'actuator'

BODY = 'body'

DEFAULT = 'default'

MESH = 'mesh'

SITE = 'site'

SKIN = 'skin'

TENDON = 'tendon'

WORLDBODY = 'worldbody'

# Path namespaces.

MESHDIR_NAMESPACE = 'mesh'

TEXTUREDIR_NAMESPACE = 'texture'

ASSETDIR_NAMESPACE = 'asset'

MJDATA_TRIGGERS_DIRTY = [

'qpos', 'qvel', 'act', 'ctrl', 'qfrc_applied', 'xfrc_applied']

MJMODEL_DOESNT_TRIGGER_DIRTY = [

'rgba', 'matid', 'emission', 'specular', 'shininess', 'reflectance',

'needstage',

]

# When writing into `model.{body,geom,site}_{pos,quat}` we must ensure that the

# corresponding rows in `model.{body,geom,site}_sameframe` are set to zero,

# otherwise MuJoCo will use the body or inertial frame instead of our modified

# pos/quat values. We must do the same for `body_{ipos,iquat}` and

# `body_simple`.

MJMODEL_DISABLE_ON_WRITE = {

# Field name in MjModel: (attribute names of Binding instance to be zeroed)

'body_pos': ('sameframe',),

'body_quat': ('sameframe',),

'geom_pos': ('sameframe',),

'geom_quat': ('sameframe',),

'site_pos': ('sameframe',),

'site_quat': ('sameframe',),

'body_ipos': ('simple', 'sameframe'),

'body_iquat': ('simple', 'sameframe'),

}

MAX_VFS_FILENAME_LENGTH = 998

# The prefix used in the schema to denote reference_namespace that are defined

# via another attribute.

INDIRECT_REFERENCE_NAMESPACE_PREFIX = 'attrib:'

INDIRECT_REFERENCE_ATTRIB = {

'xbody': 'body',

}

# 17 decimal digits is sufficient to represent a double float without loss

# of precision.

# https://en.wikipedia.org/wiki/IEEE_754#Character_representation

XML_DEFAULT_PRECISION = 17