Document engine plugins.
Rename `mjPLUGIN_DYNAMIC_LIBRARY_INIT` -> `mjPLUGIN_LIB_INIT`. PiperOrigin-RevId: 521458377 Change-Id: I42aaec923e4f392899dfe53ab6ce1dddc75a83b3
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Yuval Tassa
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Copybara-Service
Copybara-Service
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ebb150fa3d
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01b84089dd
@@ -2889,6 +2889,24 @@ defined. Its body name is automatically defined as "world".
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See :ref:`CUser`.
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.. _body-plugin:
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:el-prefix:`body/` |-| **plugin** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Associate this body with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
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.. _body-plugin-plugin:
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:at:`plugin`: :at-val:`string, optional`
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Plugin identifier, used for implicit plugin instantiation.
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.. _body-plugin-instance:
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:at:`instance`: :at-val:`string, optional`
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Instance name, used for explicit plugin instantiation.
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.. _body-inertial:
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:el-prefix:`body/` |-| **inertial** (?)
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@@ -4214,6 +4232,23 @@ handle where the composite object is attached. For other composite types this su
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attribute can have only one number, in which case the second number is automatically set to 0.
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.. _composite-plugin:
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:el-prefix:`composite/` |-| **plugin** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Associate this composite with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
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.. _composite-plugin-plugin:
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:at:`plugin`: :at-val:`string, optional`
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Plugin identifier, used for implicit plugin instantiation.
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.. _composite-plugin-instance:
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:at:`instance`: :at-val:`string, optional`
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Instance name, used for explicit plugin instantiation.
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.. _contact:
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**contact** (*)
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@@ -5682,6 +5717,65 @@ This element has a subset of the common attributes and two custom attributes.
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to the target body.
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.. _actuator-plugin:
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:el-prefix:`actuator/` |-| **plugin** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Associate this actuator with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
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.. _actuator-plugin-plugin:
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:at:`plugin`: :at-val:`string, optional`
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Plugin identifier, used for implicit plugin instantiation.
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.. _actuator-plugin-instance:
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:at:`instance`: :at-val:`string, optional`
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Instance name, used for explicit plugin instantiation.
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.. _actuator-plugin-name:
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.. _actuator-plugin-class:
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.. _actuator-plugin-group:
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.. _actuator-plugin-ctrllimited:
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.. _actuator-plugin-forcelimited:
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.. _actuator-plugin-ctrlrange:
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.. _actuator-plugin-forcerange:
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.. _actuator-plugin-lengthrange:
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.. _actuator-plugin-gear:
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.. _actuator-plugin-cranklength:
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.. _actuator-plugin-joint:
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.. _actuator-plugin-jointinparent:
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.. _actuator-plugin-site:
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.. _actuator-plugin-tendon:
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.. _actuator-plugin-cranksite:
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.. _actuator-plugin-slidersite:
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.. _actuator-plugin-user:
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.. |actuator/plugin attrib list| replace:: :at:`name`, :at:`class`, :at:`group`, :at:`ctrllimited`, :at:`forcelimited`
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:at:`ctrlrange`, :at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`
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:at:`site`, :at:`tendon`, :at:`cranksite`, :at:`slidersite`, :at:`user`
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|actuator/plugin attrib list|
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Same as in actuator/ :ref:`general <actuator-general>`.
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.. _sensor:
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**sensor** (*)
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@@ -6787,6 +6881,44 @@ bodies whose center of mass is of interest.
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Number of scalar outputs of this sensor.
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.. _sensor-plugin:
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:el-prefix:`sensor/` |-| **plugin** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Ascociate this sensor with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
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.. _sensor-plugin-plugin:
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:at:`plugin`: :at-val:`string, optional`
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Plugin identifier, used for implicit plugin instantiation.
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.. _sensor-plugin-instance:
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:at:`instance`: :at-val:`string, optional`
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Instance name, used for explicit plugin instantiation.
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.. _sensor-plugin-name:
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.. _sensor-plugin-cutoff:
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.. _sensor-plugin-objtype:
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.. _sensor-plugin-objname:
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.. _sensor-plugin-reftype:
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.. _sensor-plugin-refname:
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.. _sensor-plugin-user:
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.. |sensor/plugin attrib list| replace:: :at:`name`, :at:`cutoff`, :at:`objtype`, :at:`objname`, :at:`reftype`
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:at:`refname`, :at:`user`
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|sensor/plugin attrib list|
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See :ref:`CSensor`.
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.. _keyframe:
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**keyframe** (*)
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@@ -6849,3 +6981,64 @@ This element sets the data for one of the keyframes. They are set in the order i
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:at:`mquat`: :at-val:`real(4*mjModel.nmocap), default = mjModel.body_quat`
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Vector of mocap body quaternions, copied into mjData.mocap_quat when the simulation state is set to this keyframe.
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.. _extension:
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**extension** (*)
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~~~~~~~~~~~~~~~~~
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This is a grouping element for MuJoCo extensions. Extensions allow the user to extend MuJoCo's capabilities with custom
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code and are described in detail in the Programming chapter's :ref:`exExtension` page. Currently, the only available
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extension type are :ref:`exPlugin`.
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.. _extension-plugin:
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:el-prefix:`extension/` |-| **plugin** (*)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element specifies that an engine plugin is required in order to simulate this model.
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See :ref:`exPlugin` for more details.
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.. _extension-plugin-plugin:
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:at:`plugin`: :at-val:`string, required`
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Identifier of the plugin.
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.. _plugin-instance:
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:el-prefix:`plugin/` |-| **instance** (*)
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'''''''''''''''''''''''''''''''''''''''''
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Declares a plugin instance. Explicit instances declaration is required when multiple elements are backed by the same
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plugin, or when global plugin configuration is desired. See plugin :ref:`declaration<exDeclaration>` and
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:ref:`configuration<exConfiguration>` for more details.
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.. _plugin-instance-name:
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:at:`name`: :at-val:`string, required`
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Name of the plugin instance.
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.. _plugin-config:
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.. _instance-config:
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:el-prefix:`instance/` |-| **config** (*)
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"""""""""""""""""""""""""""""""""""""""""
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Configuration of a plugin instance. When implicitly declaring a plugin under a model element, configuration is
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performed with identical semantics using :el:`element/plugin/config`. The elements which currently support plugins are
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:el:`body`, :el:`composite`, :el:`actuator` and :el:`sensor`.
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.. _plugin-config-key:
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.. _instance-config-key:
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:at:`key`: :at-val:`string, optional`
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Key used for plugin configuration.
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.. _plugin-config-value:
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.. _instance-config-value:
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:at:`value`: :at-val:`string, optional`
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Value associated with key.
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