package direct

Get desktop application:
View/edit binary Protocol Buffers messages

• rpc Init (InitRequest, InitResponse)

  direct.proto:21

  Initialize Direct

  message InitRequest

  direct.proto:45

  • optional MjModel model = 1

  • optional int32 configuration_length = 2

  • optional int32 buffer_length = 3

  message InitResponse

  direct.proto:51

  (message has no fields)

• rpc Data (DataRequest, DataResponse)

  direct.proto:23

  Set Direct data

  message DataRequest

  direct.proto:68

  • int32 index = 1

  • optional Data data = 2

  message DataResponse

  direct.proto:73

  • optional Data data = 1

• rpc Settings (SettingsRequest, SettingsResponse)

  direct.proto:25

  Direct settings

  message SettingsRequest

  direct.proto:104

  • optional Settings settings = 1

  message SettingsResponse

  direct.proto:108

  • optional Settings settings = 1

• rpc Cost (CostRequest, CostResponse)

  direct.proto:27

  Direct costs

  message CostRequest

  direct.proto:115

  • optional bool derivatives = 1

  • optional bool internals = 2

  message CostResponse

  direct.proto:120

  • double total = 1

  • double sensor = 2

  • double force = 3

  • double parameter = 4

  • double initial = 5

  • repeated double gradient = 6

  • repeated double hessian = 7

  • repeated double residual_sensor = 8

  • repeated double residual_force = 9

  • repeated double jacobian_sensor = 10

  • repeated double jacobian_force = 11

  • repeated double norm_gradient_sensor = 12

  • repeated double norm_gradient_force = 13

  • repeated double norm_hessian_sensor = 14

  • repeated double norm_hessian_force = 15

  • int32 nvar = 16

  • int32 nsensor = 17

  • int32 nforce = 18

• rpc Noise (NoiseRequest, NoiseResponse)

  direct.proto:29

  Direct noise (process + sensor)

  message NoiseRequest

  direct.proto:150

  • optional Noise noise = 1

  message NoiseResponse

  direct.proto:154

  • optional Noise noise = 1

• rpc Reset (ResetRequest, ResetResponse)

  direct.proto:31

  Reset Direct

  message ResetRequest

  direct.proto:158

  (message has no fields)

  message ResetResponse

  direct.proto:160

  (message has no fields)

• rpc Optimize (OptimizeRequest, OptimizeResponse)

  direct.proto:33

  Optimize Direct

  message OptimizeRequest

  direct.proto:162

  (message has no fields)

  message OptimizeResponse

  direct.proto:164

  (message has no fields)

• rpc Status (StatusRequest, StatusResponse)

  direct.proto:35

  Get Direct status

  message StatusRequest

  direct.proto:180

  (message has no fields)

  message StatusResponse

  direct.proto:182

  • optional Status status = 1

• rpc SensorInfo (SensorInfoRequest, SensorInfoResponse)

  direct.proto:37

  Sensor dimension info

  message SensorInfoRequest

  direct.proto:186

  (message has no fields)

  message SensorInfoResponse

  direct.proto:188

  • int32 start_index = 1

  • int32 num_measurements = 2

  • int32 dim_measurements = 3

Used in: DataRequest, DataResponse

• repeated double configuration = 1

• repeated double velocity = 2

• repeated double acceleration = 3

• repeated double time = 4

• repeated double configuration_previous = 5

• repeated double sensor_measurement = 6

• repeated double sensor_prediction = 7

• repeated int32 sensor_mask = 8

• repeated double force_measurement = 9

• repeated double force_prediction = 10

• repeated double parameters = 11

• repeated double parameters_previous = 12

Used in: InitRequest

• optional bytes mjb = 1

• optional string xml = 2

Used in: NoiseRequest, NoiseResponse

• repeated double process = 1

• repeated double sensor = 2

• repeated double parameter = 3

Used in: SettingsRequest, SettingsResponse

• optional int32 configuration_length = 1

• optional bool sensor_flag = 2

• optional bool force_flag = 3

• optional int32 max_search_iterations = 4

• optional int32 max_smoother_iterations = 5

• optional double gradient_tolerance = 6

• optional bool verbose_iteration = 7

• optional bool verbose_optimize = 8

• optional bool verbose_cost = 9

• optional int32 search_type = 10

• optional double step_scaling = 11

• optional double regularization_initial = 12

• optional double regularization_scaling = 13

• optional bool time_scaling_force = 14

• optional bool time_scaling_sensor = 15

• optional double search_direction_tolerance = 16

• optional double cost_tolerance = 17

• optional bool assemble_sensor_jacobian = 18

• optional bool assemble_force_jacobian = 19

• optional bool assemble_sensor_norm_hessian = 20

• optional bool assemble_force_norm_hessian = 21

• optional bool first_step_position_sensors = 22

• optional bool last_step_position_sensors = 23

• optional bool last_step_velocity_sensors = 24

Used in: StatusResponse

• int32 search_iterations = 1

• int32 smoother_iterations = 2

• double step_size = 3

• double regularization = 4

• double gradient_norm = 5

• double search_direction_norm = 6

• int32 solve_status = 7

• double cost_difference = 8

• double improvement = 9

• double expected = 10

• double reduction_ratio = 11