actuator_acc0 — acceleration from unit force in qpos0 (nout x 1)

actuator_actadr — first activation address; -1: stateless (nactuator x 1)

actuator_actearly — step activation before force (nactuator x 1)

actuator_actlimited — is activation limited (nactuator x 1)

actuator_actnum — number of activation variables (nactuator x 1)

actuator_actrange — range of activations (nactuator x 2)

actuator_armature — armature added to target (joint, tendon) (nactuator x 1)

actuator_biasprm — bias parameters (nactuator x mjNBIAS)

actuator_biastype — bias type (mjtBias) (nactuator x 1)

actuator_cranklength — crank length for slider-crank (nactuator x 1)

actuator_ctrladr — address of first control (nactuator x 1)

actuator_ctrllimited — is control limited (nu x 1)

actuator_ctrlnum — number of controls (nactuator x 1)

actuator_ctrlrange — range of controls (nu x 2)

actuator_ctrlspec — input signature, scoped by gaintype (nactuator x 1)

actuator_damping — linear damping coefficient (nactuator x 1)

actuator_dampingpoly — high-order damping coefficients (nactuator x mjNPOLY)

actuator_delay — delay time; 0: no delay (nactuator x 1)

actuator_dynprm — dynamics parameters (nactuator x mjNDYN)

actuator_dyntype — dynamics type (mjtDyn) (nactuator x 1)

actuator_forcelimited — is force limited (nactuator x 1)

actuator_forcerange — range of forces (nactuator x 2)

actuator_gainprm — gain parameters (nactuator x mjNGAIN)

actuator_gaintype — gain type (mjtGain) (nactuator x 1)

actuator_gear — scale length and transmitted force (nout x 6)

actuator_group — group for visibility (nactuator x 1)

actuator_history — history buffer: [nsample, interp] (nactuator x 2)

actuator_historyadr — address in history buffer; -1: none (nactuator x 1)

actuator_length0 — actuator length in qpos0 (nout x 1)

actuator_lengthrange — feasible actuator length range (nout x 2)

actuator_outadr — address of first force output (nactuator x 1)

actuator_outnum — number of force outputs, from trntype (nactuator x 1)

actuator_plugin — plugin instance id; -1: not a plugin (nactuator x 1)

actuator_trnid — transmission id: joint, tendon, site (nactuator x 2)

actuator_trntype — transmission type (mjtTrn) (nactuator x 1)

actuator_user — user data (nactuator x nuser_actuator)

B_colind — body-dof: column indices (nB x 1)

B_rowadr — body-dof: row addresses (nbody x 1)

B_rownnz — body-dof: non-zeros in each row (nbody x 1)

body_bvhadr — address of bvh root (nbody x 1)

body_bvhnum — number of bounding volumes (nbody x 1)

body_conaffinity — OR over all geom conaffinities (nbody x 1)

body_contype — OR over all geom contypes (nbody x 1)

body_dofadr — start addr of dofs; -1: no dofs (nbody x 1)

body_dofnum — number of motion degrees of freedom (nbody x 1)

body_geomadr — start addr of geoms; -1: no geoms (nbody x 1)

body_geomnum — number of geoms (nbody x 1)

body_gravcomp — antigravity force, units of body weight (nbody x 1)

body_inertia — diagonal inertia in ipos/iquat frame (nbody x 3)

body_invweight0 — mean inv inert in qpos0 (trn, rot) (nbody x 2)

body_ipos — local position of center of mass (nbody x 3)

body_iquat — local orientation of inertia ellipsoid (nbody x 4)

body_jntadr — start addr of joints; -1: no joints (nbody x 1)

body_jntnum — number of joints for this body (nbody x 1)

body_margin — MAX over all geom margins+gaps (nbody x 1)

body_mass — mass (nbody x 1)

body_mocapid — id of mocap data; -1: none (nbody x 1)

body_parentid — id of body's parent (nbody x 1)

body_plugin — plugin instance id; -1: not in use (nbody x 1)

body_pos — position offset rel. to parent body (nbody x 3)

body_quat — orientation offset rel. to parent body (nbody x 4)

body_rootid — ancestor that is direct child of world (nbody x 1)

body_sameframe — same frame as inertia (mjtSameframe) (nbody x 1)

body_simple — 1: diag M; 2: diag M, sliders only (nbody x 1)

body_subtreemass — mass of subtree starting at this body (nbody x 1)

body_treeid — id of body's kinematic tree; -1: static (nbody x 1)

body_user — user data (nbody x nuser_body)

body_weldid — top dof-less ancestor; mocap: own root (nbody x 1)

bvh_aabb — local bounding box (center, size) (nbvhstatic x 6)

bvh_child — left and right children in tree (nbvh x 2)

bvh_depth — depth in the bounding volume hierarchy (nbvh x 1)

bvh_nodeid — geom or elem id of node; -1: non-leaf (nbvh x 1)

cam_bodyid — id of camera's body (ncam x 1)

cam_fovy — y field-of-view (ortho ? len : deg) (ncam x 1)

cam_intrinsic — [focal length; principal point] (ncam x 4)

cam_ipd — inter-pupilary distance (ncam x 1)

cam_mat0 — global orientation in qpos0 (ncam x 9)

cam_mode — camera tracking mode (mjtCamLight) (ncam x 1)

cam_output — output types (mjtCamOut bit flags) (ncam x 1)

cam_pos0 — global position rel. to body in qpos0 (ncam x 3)

cam_pos — position rel. to body frame (ncam x 3)

cam_poscom0 — global position rel. to sub-com in qpos0 (ncam x 3)

cam_projection — projection type (mjtProjection) (ncam x 1)

cam_quat — orientation rel. to body frame (ncam x 4)

cam_resolution — resolution: pixels [width, height] (ncam x 2)

cam_sensorsize — sensor size: length [width, height] (ncam x 2)

cam_targetbodyid — id of targeted body; -1: none (ncam x 1)

cam_user — user data (ncam x nuser_cam)

D_colind — full inertia: column indices (nD x 1)

D_diag — full inertia: index of diagonal element (nv x 1)

D_rowadr — full inertia: row addresses (nv x 1)

D_rownnz — full inertia: non-zeros in each row (nv x 1)

dof_armature — dof armature inertia/mass (nv x 1)

dof_bodyid — id of dof's body (nv x 1)

dof_damping — linear damping coefficient (nv x 1)

dof_dampingpoly — high-order damping coefficients (nv x mjNPOLY)

dof_frictionloss — dof friction loss (nv x 1)

dof_invweight0 — diag. inverse inertia in qpos0 (nv x 1)

dof_jntid — id of dof's joint (nv x 1)

dof_length — linear: 1; angular: approx. length scale (nv x 1)

dof_M0 — diag. inertia in qpos0 (nv x 1)

dof_Madr — dof address in M-diagonal (nv x 1)

dof_parentid — id of dof's parent; -1: none (nv x 1)

dof_simplenum — number of consecutive simple dofs (nv x 1)

dof_solimp — constraint solver impedance:frictionloss (nv x mjNIMP)

dof_solref — constraint solver reference:frictionloss (nv x mjNREF)

dof_treeid — id of dof's kinematic tree (nv x 1)

efm0_dofid — constant metric factor row->dof address (nefm0dof x 1)

efm0_L — factor of M + (dt^2+dtd)K_bend (nefm0L x 1)

efm0_L_colind — constant metric factor column indices (nefm0L x 1)

efm0_L_rowadr — constant metric factor row addresses (nefm0dof x 1)

efm0_L_rownnz — constant metric factor row nonzeros (nefm0dof x 1)

efmC_perm — sparse factor order: vertex dof or -1 (nefmCvert x 1)

eq_active0 — initial enable/disable constraint state (neq x 1)

eq_data — numeric data for constraint (neq x mjNEQDATA)

eq_obj1id — id of object 1 (neq x 1)

eq_obj2id — id of object 2 (neq x 1)

eq_objtype — type of both objects (mjtObj) (neq x 1)

eq_solimp — constraint solver impedance (neq x mjNIMP)

eq_solref — constraint solver reference (neq x mjNREF)

eq_type — constraint type (mjtEq) (neq x 1)

exclude_signature — body1 << 16 + body2 (nexclude x 1)

flex_activelayers — number of active element layers, 3D only (nflex x 1)

flex_bending — bending stiffness (nflexbending x 1)

flex_bendingadr — first bending data address (nflex x 1)

flex_bvhadr — address of bvh root; -1: no bvh (nflex x 1)

flex_bvhnum — number of bounding volumes (nflex x 1)

flex_cellnum — finite cell num per dimension (nflex x 3)

flex_centered — are all vertex coordinates (0,0,0) (nflex x 1)

flex_conaffinity — flex contact affinity (nflex x 1)

flex_condim — contact dimensionality (1, 3, 4, 6) (nflex x 1)

flex_contype — flex contact type (nflex x 1)

flex_damping — Rayleigh's damping coefficient (nflex x 1)

flex_dim — 1: lines, 2: triangles, 3: tetrahedra (nflex x 1)

flex_edge — edge vertex ids (2 per edge) (nflexedge x 2)

flex_edgeadr — first edge address (nflex x 1)

flex_edgedamping — edge damping (nflex x 1)

flex_edgeequality — 0:none, 1:edges, 3:strain (nflex x 1)

flex_edgeflap — adjacent vertex ids (dim=2 only) (nflexedge x 2)

flex_edgenum — number of edges (nflex x 1)

flex_edgestiffness — edge stiffness (nflex x 1)

flex_elem — element vertex ids (dim+1 per elem) (nflexelemdata x 1)

flex_elemadr — first element address (nflex x 1)

flex_elemdataadr — first element vertex id address (nflex x 1)

flex_elemedge — element edge ids (nflexelemedge x 1)

flex_elemedgeadr — first element edge id address (nflex x 1)

flex_elemlayer — element distance from surface, 3D only (nflexelem x 1)

flex_elemnum — number of elements (nflex x 1)

flex_elemtexcoord — element texture coordinates (dim+1) (nflexelemdata x 1)

flex_flatskin — render flex skin with flat shading (nflex x 1)

flex_friction — friction for (slide, spin, roll) (nflex x 3)

flex_gap — additional contact detection buffer (nflex x 1)

flex_group — group for visibility (nflex x 1)

flex_interp — interpolation (0: vertex, 1: nodes) (nflex x 1)

flex_margin — geometric inflation for contact (nflex x 1)

flex_matid — material id for rendering (nflexelem x 1)

flex_node0 — Cartesian node positions in qpos0 (nflexnode x 3)

flex_node — node positions in local body frames (nflexnode x 3)

flex_nodeadr — first node address (nflex x 1)

flex_nodebodyid — node body ids (nflexnode x 1)

flex_nodenum — number of nodes (nflex x 1)

flex_passive — passive collisions enabled (nflex x 1)

flex_plasticadr — plastic state address; -1: elastic (nflex x 1)

flex_plasticmode — plastic state bits; 1: bend, 2: stretch (nflex x 1)

flex_priority — flex contact priority (nflex x 1)

flex_radius — radius around primitive element (nflex x 1)

flex_rgba — rgba when material is omitted (nflex x 4)

flex_rigid — are all vertices in the same body (nflex x 1)

flex_selfcollide — self collision mode (mjtFlexSelf) (nflex x 1)

flex_shell — shell fragment vertex ids (dim per frag) (nflexshelldata x 1)

flex_shelldataadr — first shell data address (nflex x 1)

flex_shellnum — number of shells (nflex x 1)

flex_size — vertex bounding box half sizes in qpos0 (nflex x 3)

flex_solimp — constraint solver impedance: contact (nflex x mjNIMP)

flex_solmix — mix coef for solref/imp in contact pair (nflex x 1)

flex_solref — constraint solver reference: contact (nflex x mjNREF)

flex_stiffness — finite element stiffness matrix (nflexstiffness x 1)

flex_stiffnessadr — stiffness matrix address (nflex x 1)

flex_texcoord — vertex texture coordinates (nflextexcoord x 2)

flex_texcoordadr — address in flex_texcoord; -1: none (nflex x 1)

flex_vert0 — vertex positions in qpos0 on [0, 1]^d (nflexvert x 3)

flex_vert — vertex positions in local body frames (nflexvert x 3)

flex_vertadr — first vertex address (nflex x 1)

flex_vertbodyid — vertex body ids (nflexvert x 1)

flex_vertcell — finite cell index for vertex; -1: none (nflexvert x 1)

flex_vertnum — number of vertices (nflex x 1)

flex_yield — yield strain (stretch, bend); 0: elastic (nflex x 2)

flexedge_invweight0 — edge inv. weight in qpos0 (nflexedge x 1)

flexedge_J_colind — column indices in sparse Jacobian (nJfe x 1)

flexedge_J_rowadr — row start address in colind array (nflexedge x 1)

flexedge_J_rownnz — number of non-zeros in Jacobian row (nflexedge x 1)

flexedge_length0 — edge lengths in qpos0 (nflexedge x 1)

flexedge_rigid — are both edge vertices in same body (nflexedge x 1)

flg_adhesion — whether any geom or pair has nonzero adhesion

flg_gravcomp — whether any body has nonzero gravcomp

flg_surfacevel — whether any geom has nonzero surfacevel

geom_aabb — bounding box, (center, size) (ngeom x 6)

geom_adhesion — adhesive force of contacts (ngeom x 1)

geom_bodyid — id of geom's body (ngeom x 1)

geom_castshadow — does geom cast shadows (ngeom x 1)

geom_conaffinity — geom contact affinity (ngeom x 1)

geom_condim — contact dimensionality (1, 3, 4, 6) (ngeom x 1)

geom_contype — geom contact type (ngeom x 1)

geom_dataid — id of geom's mesh/hfield; -1: none (ngeom x 1)

geom_fluid — fluid interaction parameters (ngeom x mjNFLUID)

geom_friction — friction for (slide, spin, roll) (ngeom x 3)

geom_gap — additional contact detection buffer (ngeom x 1)

geom_group — group for visibility (ngeom x 1)

geom_margin — geometric inflation for contact (ngeom x 1)

geom_matid — material id for rendering; -1: none (ngeom x 1)

geom_plugin — plugin instance id; -1: not in use (ngeom x 1)

geom_pos — local position offset rel. to body (ngeom x 3)

geom_priority — geom contact priority (ngeom x 1)

geom_quat — local orientation offset rel. to body (ngeom x 4)

geom_rbound — radius of bounding sphere (ngeom x 1)

geom_rgba — rgba when material is omitted (ngeom x 4)

geom_sameframe — same frame as body (mjtSameframe) (ngeom x 1)

geom_size — geom-specific size parameters (ngeom x 3)

geom_solimp — constraint solver impedance: contact (ngeom x mjNIMP)

geom_solmix — mixing coef for solref/imp in geom pair (ngeom x 1)

geom_solref — constraint solver reference: contact (ngeom x mjNREF)

geom_surfacevel — surface velocity in local frame: lin,ang (ngeom x 6)

geom_type — geometric type (mjtGeom) (ngeom x 1)

geom_user — user data (ngeom x nuser_geom)

hfield_adr — address in hfield_data (nhfield x 1)

hfield_data — elevation data (nhfielddata x 1)

hfield_ncol — number of columns in grid (nhfield x 1)

hfield_nrow — number of rows in grid (nhfield x 1)

hfield_pathadr — address of hfield asset path; -1: none (nhfield x 1)

hfield_size — (x, y, z_top, z_bottom) (nhfield x 4)

jnt_actfrclimited — does joint have actuator force limits (njnt x 1)

jnt_actfrcrange — range of total actuator force (njnt x 2)

jnt_actgravcomp — is gravcomp force applied via actuators (njnt x 1)

jnt_actuatorid — actuator contributing damping / armature (njnt x 1)

jnt_axis — local joint axis (njnt x 3)

jnt_bodyid — id of joint's body (njnt x 1)

jnt_dofadr — start addr in 'qvel' for joint's data (njnt x 1)

jnt_group — group for visibility (njnt x 1)

jnt_limited — does joint have limits (njnt x 1)

jnt_margin — min distance for limit detection (njnt x 1)

jnt_plasticadr — start addr in plastic state (-1: none) (njnt x 1)

jnt_pos — local anchor position (njnt x 3)

jnt_qposadr — start addr in 'qpos' for joint's data (njnt x 1)

jnt_range — joint limits (njnt x 2)

jnt_solimp — constraint solver impedance: limit (njnt x mjNIMP)

jnt_solref — constraint solver reference: limit (njnt x mjNREF)

jnt_springyield — plastic yield threshold (njnt x 1)

jnt_stiffness — linear stiffness coefficient (njnt x 1)

jnt_stiffnesspoly — high-order stiffness coefficients (njnt x mjNPOLY)

jnt_type — type of joint (mjtJoint) (njnt x 1)

jnt_user — user data (njnt x nuser_jnt)

key_act — key activation (nkey x na)

key_ctrl — key control (nkey x nu)

key_mpos — key mocap position (nkey x nmocap*3)

key_mquat — key mocap quaternion (nkey x nmocap*4)

key_plastic — key plastic state (nkey x nplastic)

key_qpos — key position (nkey x nq)

key_qvel — key velocity (nkey x nv)

key_time — key time (nkey x 1)

light_active — is light on (nlight x 1)

light_ambient — ambient rgb (alpha=1) (nlight x 3)

light_attenuation — OpenGL attenuation (quadratic model) (nlight x 3)

light_bodyid — id of light's body (nlight x 1)

light_bulbradius — light radius for soft shadows (nlight x 1)

light_castshadow — does light cast shadows (nlight x 1)

light_cutoff — OpenGL cutoff (nlight x 1)

light_diffuse — diffuse rgb (alpha=1) (nlight x 3)

light_dir0 — global direction in qpos0 (nlight x 3)

light_dir — direction rel. to body frame (nlight x 3)

light_exponent — OpenGL exponent (nlight x 1)

light_intensity — intensity, in candela (nlight x 1)

light_mode — light tracking mode (mjtCamLight) (nlight x 1)

light_pos0 — global position rel. to body in qpos0 (nlight x 3)

light_pos — position rel. to body frame (nlight x 3)

light_poscom0 — global position rel. to sub-com in qpos0 (nlight x 3)

light_range — range of effectiveness (nlight x 1)

light_softness — spotlight edge softness (nlight x 1)

light_specular — specular rgb (alpha=1) (nlight x 3)

light_targetbodyid — id of targeted body; -1: none (nlight x 1)

light_texid — texture id for image lights (nlight x 1)

light_type — spot, directional, etc. (mjtLightType) (nlight x 1)

M_colind — reduced inertia: column indices (nC x 1)

M_rowadr — reduced inertia: row addresses (nv x 1)

M_rownnz — reduced inertia: non-zeros in each row (nv x 1)

mapD2M — index mapping from D to M (nC x 1)

mapM2D — index mapping from M to D (nD x 1)

mapM2M — index mapping from qM to M (nC x 1)

mat_emission — emission (x rgb) (nmat x 1)

mat_metallic — metallic coef (nmat x 1)

mat_reflectance — reflectance (0: disable) (nmat x 1)

mat_rgba — rgba (nmat x 4)

mat_roughness — roughness coef (nmat x 1)

mat_shininess — shininess coef (nmat x 1)

mat_specular — specular (x white) (nmat x 1)

mat_texid — indices of textures; -1: none (nmat x mjNTEXROLE)

mat_texrepeat — texture repetition for 2d mapping (nmat x 2)

mat_texuniform — make texture cube uniform (nmat x 1)

mesh_bvhadr — address of bvh root (nmesh x 1)

mesh_bvhnum — number of bvh (nmesh x 1)

mesh_extrema — extremum vertices in 3x3x3 directions (nmesh x 27)

mesh_face — vertex face data (nmeshface x 3)

mesh_faceadr — first face address (nmesh x 1)

mesh_facenormal — normal face data (nmeshface x 3)

mesh_facenum — number of faces (nmesh x 1)

mesh_facetexcoord — texture face data (nmeshface x 3)

mesh_graph — convex graph data (nmeshgraph x 1)

mesh_graphadr — graph data address; -1: no graph (nmesh x 1)

mesh_normal — normals for all meshes (nmeshnormal x 3)

mesh_normaladr — first normal address (nmesh x 1)

mesh_normalnum — number of normals (nmesh x 1)

mesh_octadr — address of octree root (nmesh x 1)

mesh_octnum — number of octree nodes (nmesh x 1)

mesh_pathadr — address of asset path for mesh; -1: none (nmesh x 1)

mesh_polyadr — first polygon address per mesh (nmesh x 1)

mesh_polymap — vertex to polygon map (nmeshpolymap x 1)

mesh_polymapadr — first polygon address per vertex (nmeshvert x 1)

mesh_polymapnum — number of polygons per vertex (nmeshvert x 1)

mesh_polynormal — all polygon normals (nmeshpoly x 3)

mesh_polynum — number of polygons per mesh (nmesh x 1)

mesh_polyvert — all polygon vertices (nmeshpolyvert x 1)

mesh_polyvertadr — polygon vertex start address (nmeshpoly x 1)

mesh_polyvertnum — number of vertices per polygon (nmeshpoly x 1)

mesh_pos — translation applied to asset vertices (nmesh x 3)

mesh_quat — rotation applied to asset vertices (nmesh x 4)

mesh_scale — scaling applied to asset vertices (nmesh x 3)

mesh_texcoord — vertex texcoords for all meshes (nmeshtexcoord x 2)

mesh_texcoordadr — texcoord data address; -1: no texcoord (nmesh x 1)

mesh_texcoordnum — number of texcoord (nmesh x 1)

mesh_vert — vertex positions for all meshes (nmeshvert x 3)

mesh_vertadr — first vertex address (nmesh x 1)

mesh_vertnum — number of vertices (nmesh x 1)

na — number of activation states = dim(act)

nactuator — number of actuators

name_actuatoradr — actuator name pointers (nactuator x 1)

name_bodyadr — body name pointers (nbody x 1)

name_camadr — camera name pointers (ncam x 1)

name_eqadr — equality constraint name pointers (neq x 1)

name_excludeadr — exclude name pointers (nexclude x 1)

name_flexadr — flex name pointers (nflex x 1)

name_geomadr — geom name pointers (ngeom x 1)

name_hfieldadr — hfield name pointers (nhfield x 1)

name_jntadr — joint name pointers (njnt x 1)

name_keyadr — keyframe name pointers (nkey x 1)

name_lightadr — light name pointers (nlight x 1)

name_matadr — material name pointers (nmat x 1)

name_meshadr — mesh name pointers (nmesh x 1)

name_numericadr — numeric name pointers (nnumeric x 1)

name_pairadr — geom pair name pointers (npair x 1)

name_pluginadr — plugin instance name pointers (nplugin x 1)

name_sensoradr — sensor name pointers (nsensor x 1)

name_siteadr — site name pointers (nsite x 1)

name_skinadr — skin name pointers (nskin x 1)

name_tendonadr — tendon name pointers (ntendon x 1)

name_texadr — texture name pointers (ntex x 1)

name_textadr — text name pointers (ntext x 1)

name_tupleadr — tuple name pointers (ntuple x 1)

names_map — internal hash map of names (nnames_map x 1)

narena — number of bytes in the mjData arena (inclusive of stack)

nB — number of non-zeros in sparse body-dof matrix

nbody — number of bodies

nbuffer — number of bytes in buffer

nbvh — number of total bounding volumes in all bodies

nbvhdynamic — number of dynamic bounding volumes (aabb stored in mjData)

nbvhstatic — number of static bounding volumes (aabb stored in mjModel)

nC — number of non-zeros in sparse reduced dof-dof matrix

ncam — number of cameras

nconmax — number of potential contacts in contact list (legacy)

nD — number of non-zeros in sparse dof-dof matrix

nefm0dof — number of dofs covered by the constant metric factor

nefm0L — number of non-zeros in the constant metric factor

nefmCvert — number of sparse metric factor ordering slots

nemax — number of potential equality-constraint rows

neq — number of equality constraints

nexclude — number of excluded geom pairs

nflex — number of flexes

nflexbending — number of bending parameters in all flexes

nflexedge — number of edges in all flexes

nflexelem — number of elements in all flexes

nflexelemdata — number of element vertex ids in all flexes

nflexelemedge — number of element edge ids in all flexes

nflexnode — number of dofs in all flexes

nflexshelldata — number of shell fragment vertex ids in all flexes

nflexstiffness — number of stiffness parameters in all flexes

nflextexcoord — number of vertices with texture coordinates

nflexvert — number of vertices in all flexes

ngeom — number of geoms

ngravcomp — number of bodies with nonzero gravcomp

nhfield — number of heightfields

nhfielddata — number of data points in all heightfields

nhistory — number of mjtNums in history buffer

nJfe — number of non-zeros in sparse flexedge Jacobian matrix

nJmom — number of non-zeros in sparse actuator_moment matrix

nJten — number of non-zeros in sparse ten_J matrix

njmax — number of available rows in constraint Jacobian (legacy)

njnt — number of joints

nkey — number of keyframes

nlight — number of lights

nM — number of non-zeros in sparse inertia matrix

nmat — number of materials

nmesh — number of meshes

nmeshdegmax — maximum number of edges adjacent to a mesh vertex

nmeshface — number of triangular faces in all meshes

nmeshgraph — number of ints in mesh auxiliary data

nmeshnormal — number of normals in all meshes

nmeshpoly — number of polygons in all meshes

nmeshpolymap — number of polygons in vertex map

nmeshpolyvert — number of vertices in all polygons

nmeshtexcoord — number of texcoords in all meshes

nmeshvert — number of vertices in all meshes

nmocap — number of mocap bodies

nnames — number of chars in all names

nnames_map — number of slots in the names hash map

nnumeric — number of numeric custom fields

nnumericdata — number of mjtNums in all numeric fields

noct — number of total octree cells in all meshes

nout — number of force outputs, derived from transmission type

npair — number of predefined geom pairs

npaths — number of chars in all paths

nplastic — number of mjtNums in plastic state vector

nplugin — number of plugin instances

npluginattr — number of chars in all plugin config attributes

npluginstate — number of mjtNums in plugin state vector

npolygonmax — maximum number of vertices in a mesh polygon

nq — number of generalized coordinates = dim(qpos)

nsensor — number of sensors

nsensordata — number of mjtNums in sensor data vector

nsite — number of sites

nskin — number of skins

nskinbone — number of bones in all skins

nskinbonevert — number of vertices in all skin bones

nskinface — number of triangular faces in all skins

nskintexvert — number of vertices with texcoords in all skins

nskinvert — number of vertices in all skins

ntendon — number of tendons

ntex — number of textures

ntexdata — number of bytes in texture rgb data

ntext — number of text custom fields

ntextdata — number of mjtBytes in all text fields

ntree — number of kinematic trees under world body

ntuple — number of tuple custom fields

ntupledata — number of objects in all tuple fields

nu — number of scalar controls = dim(ctrl)

numeric_adr — address of field in numeric_data (nnumeric x 1)

numeric_data — array of all numeric fields (nnumericdata x 1)

numeric_size — size of numeric field (nnumeric x 1)

nuser_actuator — number of mjtNums in actuator_user

nuser_body — number of mjtNums in body_user

nuser_cam — number of mjtNums in cam_user

nuser_geom — number of mjtNums in geom_user

nuser_jnt — number of mjtNums in jnt_user

nuser_sensor — number of mjtNums in sensor_user

nuser_site — number of mjtNums in site_user

nuser_tendon — number of mjtNums in tendon_user

nuserdata — number of mjtNums reserved for the user

nv — number of degrees of freedom = dim(qvel)

nwrap — number of wrap objects in all tendon paths

oct_aabb — octree node bounding box (center, size) (noct x 6)

oct_child — children of octree node (noct x 8)

oct_coeff — octree interpolation coefficients (noct x 8)

oct_depth — depth in the octree (noct x 1)

pair_adhesion — adhesive force of contacts (npair x 1)

pair_dim — contact dimensionality (npair x 1)

pair_friction — tangent1, 2, spin, roll1, 2 (npair x 5)

pair_gap — additional contact detection buffer (npair x 1)

pair_geom1 — id of geom1 (npair x 1)

pair_geom2 — id of geom2 (npair x 1)

pair_margin — geometric inflation for contact (npair x 1)

pair_signature — body1 << 16 + body2 (npair x 1)

pair_solimp — solver impedance: contact (npair x mjNIMP)

pair_solref — solver reference: contact normal (npair x mjNREF)

pair_solreffriction — solver reference: contact friction (npair x mjNREF)

plugin — globally registered plugin slot number (nplugin x 1)

plugin_attradr — address to each instance's config attrib (nplugin x 1)

plugin_stateadr — address in the plugin state array (nplugin x 1)

plugin_statenum — number of states in the plugin instance (nplugin x 1)

qpos0 — qpos values at default pose (nq x 1)

qpos_spring — reference pose for springs (nq x 1)

sensor_adr — address in sensor array (nsensor x 1)

sensor_cutoff — cutoff for real and positive; 0: ignore (nsensor x 1)

sensor_datatype — numeric data type (mjtDataType) (nsensor x 1)

sensor_delay — delay time in seconds; 0: no delay (nsensor x 1)

sensor_dim — number of scalar outputs (nsensor x 1)

sensor_history — history buffer: [nsample, interp] (nsensor x 2)

sensor_historyadr — address in history buffer; -1: none (nsensor x 1)

sensor_interval — interval: [period, phase] in seconds (nsensor x 2)

sensor_intprm — sensor parameters (nsensor x mjNSENS)

sensor_needstage — required compute stage (mjtStage) (nsensor x 1)

sensor_noise — noise standard deviation (nsensor x 1)

sensor_objid — id of sensorized object (nsensor x 1)

sensor_objtype — type of sensorized object (mjtObj) (nsensor x 1)

sensor_plugin — plugin instance id; -1: not a plugin (nsensor x 1)

sensor_refid — id of reference frame; -1: global frame (nsensor x 1)

sensor_reftype — type of reference frame (mjtObj) (nsensor x 1)

sensor_type — sensor type (mjtSensor) (nsensor x 1)

sensor_user — user data (nsensor x nuser_sensor)

site_bodyid — id of site's body (nsite x 1)

site_dataid — id of site's mesh; -1: none (nsite x 1)

site_group — group for visibility (nsite x 1)

site_matid — material id for rendering; -1: none (nsite x 1)

site_pos — local position offset rel. to body (nsite x 3)

site_quat — local orientation offset rel. to body (nsite x 4)

site_rgba — rgba when material is omitted (nsite x 4)

site_sameframe — same frame as body (mjtSameframe) (nsite x 1)

site_size — geom size for rendering (nsite x 3)

site_type — geom type for rendering (mjtGeom) (nsite x 1)

site_user — user data (nsite x nuser_site)

skin_boneadr — first bone in skin (nskin x 1)

skin_bonebindpos — bind pos of each bone (nskinbone x 3)

skin_bonebindquat — bind quat of each bone (nskinbone x 4)

skin_bonebodyid — body id of each bone (nskinbone x 1)

skin_bonenum — number of bones in skin (nskin x 1)

skin_bonevertadr — first vertex in each bone (nskinbone x 1)

skin_bonevertid — mesh ids of vertices in each bone (nskinbonevert x 1)

skin_bonevertnum — number of vertices in each bone (nskinbone x 1)

skin_bonevertweight — weights of vertices in each bone (nskinbonevert x 1)

skin_face — triangle faces for all skin meshes (nskinface x 3)

skin_faceadr — first face address (nskin x 1)

skin_facenum — number of faces (nskin x 1)

skin_group — group for visibility (nskin x 1)

skin_inflate — inflate skin in normal direction (nskin x 1)

skin_matid — skin material id; -1: none (nskin x 1)

skin_pathadr — address of asset path for skin; -1: none (nskin x 1)

skin_rgba — skin rgba (nskin x 4)

skin_texcoord — vertex texcoords for all skin meshes (nskintexvert x 2)

skin_texcoordadr — texcoord data address; -1: no texcoord (nskin x 1)

skin_vert — vertex positions for all skin meshes (nskinvert x 3)

skin_vertadr — first vertex address (nskin x 1)

skin_vertnum — number of vertices (nskin x 1)

ten_J_colind — column indices in sparse Jacobian (nJten x 1)

ten_J_rowadr — row start address in colind array (ntendon x 1)

ten_J_rownnz — number of non-zeros in Jacobian row (ntendon x 1)

tendon_actfrclimited — does tendon have actuator force limits (ntendon x 1)

tendon_actfrcrange — range of total actuator force (ntendon x 2)

tendon_actuatorid — actuator contributing damping / armature (ntendon x 1)

tendon_adr — address of first object in tendon's path (ntendon x 1)

tendon_armature — inertia associated with tendon velocity (ntendon x 1)

tendon_damping — linear damping coefficient (ntendon x 1)

tendon_dampingpoly — high-order damping coefficients (ntendon x mjNPOLY)

tendon_frictionloss — loss due to friction (ntendon x 1)

tendon_group — group for visibility (ntendon x 1)

tendon_invweight0 — inv. weight in qpos0 (ntendon x 1)

tendon_length0 — tendon length in qpos0 (ntendon x 1)

tendon_lengthspring — spring resting length range (ntendon x 2)

tendon_limited — does tendon have length limits (ntendon x 1)

tendon_margin — min distance for limit detection (ntendon x 1)

tendon_matid — material id for rendering (ntendon x 1)

tendon_num — number of objects in tendon's path (ntendon x 1)

tendon_plasticadr — start addr in plastic state (-1: none) (ntendon x 1)

tendon_range — tendon length limits (ntendon x 2)

tendon_rgba — rgba when material is omitted (ntendon x 4)

tendon_solimp_fri — constraint solver impedance: friction (ntendon x mjNIMP)

tendon_solimp_lim — constraint solver impedance: limit (ntendon x mjNIMP)

tendon_solref_fri — constraint solver reference: friction (ntendon x mjNREF)

tendon_solref_lim — constraint solver reference: limit (ntendon x mjNREF)

tendon_springyield — plastic yield threshold (ntendon x 1)

tendon_stiffness — linear stiffness coefficient (ntendon x 1)

tendon_stiffnesspoly — high-order stiffness coefficients (ntendon x mjNPOLY)

tendon_treeid — first two trees along tendon's path (ntendon x 2)

tendon_treenum — number of trees along tendon's path (ntendon x 1)

tendon_type — type of tendon (mjtTendon) (ntendon x 1)

tendon_user — user data (ntendon x nuser_tendon)

tendon_width — width for rendering (ntendon x 1)

tex_colorspace — texture colorspace (mjtColorSpace) (ntex x 1)

tex_contenttypeadr — content type address in paths; -1: none (ntex x 1)

tex_data — pixel values (ntexdata x 1)

tex_height — number of rows in texture image (ntex x 1)

tex_nchannel — number of channels in texture image (ntex x 1)

tex_pathadr — address of texture asset path; -1: none (ntex x 1)

tex_type — texture type (mjtTexture) (ntex x 1)

tex_width — number of columns in texture image (ntex x 1)

text_adr — address of text in text_data (ntext x 1)

text_size — size of text field (strlen+1) (ntext x 1)

tree_bodyadr — start addr of bodies (ntree x 1)

tree_bodynum — number of bodies in tree (ntree x 1)

tree_dofadr — start addr of dofs (ntree x 1)

tree_dofnum — number of dofs in tree (ntree x 1)

tree_sleep_policy — sleep policy (mjtSleepPolicy) (ntree x 1)

tuple_adr — address of text in text_data (ntuple x 1)

tuple_objid — array of object ids in all tuples (ntupledata x 1)

tuple_objprm — array of object params in all tuples (ntupledata x 1)

tuple_objtype — array of object types in all tuples (ntupledata x 1)

tuple_size — number of objects in tuple (ntuple x 1)

wrap_objid — object id: geom, site, joint (nwrap x 1)

wrap_prm — divisor, joint coef, or site id (nwrap x 1)

wrap_type — wrap object type (mjtWrap) (nwrap x 1)