newton.ModelFlags

class newton.ModelFlags(*values)

Bases: IntEnum

Flags indicating which parts of the model have been updated.

These flags are used with notify_model_changed() to specify which properties have changed, allowing the solver to efficiently update only the necessary components.

Categories overlap semantically, but each flag has its own bit. The broad JOINT_DOF_PROPERTIES includes force, inertial, and reference-pose updates. Testing the broad bit alone does not detect a narrower notification.

ACTUATOR_PROPERTIES = 256

gains, biases, limits, etc.

Type:

Indicates actuator property updates

ALL = 4095

Indicates all property updates.

BODY_INERTIAL_PROPERTIES = 8

body_com, body_inertia, body_inv_inertia, body_mass, body_inv_mass.

Type:

Indicates body inertial property updates

BODY_PROPERTIES = 4

body_q, body_qd, body_flags.

Type:

Indicates body property updates

CONSTRAINT_PROPERTIES = 64

equality constraints (mujoco.equality_constraint_anchor, mujoco.equality_constraint_relpose, mujoco.equality_constraint_polycoef, mujoco.equality_constraint_torquescale, mujoco.equality_constraint_enabled, mujoco.eq_solref, mujoco.eq_solimp), mimic relationships (joint_mimic_coeffs and the deprecated constraint_mimic_coef0, constraint_mimic_coef1, constraint_mimic_enabled arrays), and particle-body attachments (attachment_particle_body_stiffness, attachment_particle_body_damping, attachment_particle_body_enabled).

Type:

Indicates constraint property updates

JOINT_DOF_FORCE_PROPERTIES = 512

friction, damping, target gains/modes, effort limits, passive stiffness, and limit coefficients/bounds. Excludes armature and reference poses.

Type:

Indicates joint force updates

JOINT_DOF_INERTIAL_PROPERTIES = 1024

Indicates joint_armature updates. MuJoCo recomputes constants; use at reset or for domain randomization rather than every step.

JOINT_DOF_PROPERTIES = 2

joint_target_ke, joint_target_kd, joint_damping, joint_effort_limit, joint_armature, joint_friction, joint_limit_ke, joint_limit_kd, joint_limit_lower, joint_limit_upper.

Type:

Indicates all joint DOF updates, including force, armature, and reference-pose properties

JOINT_PROPERTIES = 1

joint_q, joint_X_p, joint_X_c, joint_axis.

Type:

Indicates joint property updates

JOINT_REFERENCE_POSE_PROPERTIES = 2048

Indicates joint reference-pose and spring-reference updates. Excludes joint transforms, force parameters, and armature. MuJoCo recomputes constants; use at reset or for domain randomization rather than every step.

MODEL_PROPERTIES = 32

gravity and other global parameters.

Type:

Indicates model property updates

SHAPE_PROPERTIES = 16

shape_transform, shape_scale, shape_collision_radius, shape_material_mu, shape_material_ke, shape_material_kd, rigid_contact_mu_torsional, rigid_contact_mu_rolling.

Type:

Indicates shape property updates

TENDON_PROPERTIES = 128

eg tendon_stiffness.

Type:

Indicates tendon properties