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Document engine plugins.

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Rename `mjPLUGIN_DYNAMIC_LIBRARY_INIT` -> `mjPLUGIN_LIB_INIT`.

PiperOrigin-RevId: 521458377
Change-Id: I42aaec923e4f392899dfe53ab6ce1dddc75a83b3
This commit is contained in:
Yuval Tassa
2023-04-03 07:54:41 -07:00
committed by Copybara-Service
parent ebb150fa3d
commit 01b84089dd
10 changed files with 578 additions and 61 deletions
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doc/XMLschema.rst
+42 -42
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@@ -446,27 +446,27 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
| extension | | |
| :ref:`extension<extension>` | | |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| extension |br| |_| |L| | | .. table:: |
| :el:`plugin` | \* | :class: mjcf-attributes |
| | | |
| :ref:`plugin | \* | :class: mjcf-attributes |
| <extension-plugin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :at:`plugin` | | | |
| | | | :ref:`plugin<extension-plugin-plugin>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| plugin |br| |_2| |L| | | .. table:: |
| :el:`instance` | \* | :class: mjcf-attributes |
| | | |
| :ref:`instance | \* | :class: mjcf-attributes |
| <plugin-instance>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :at:`name` | | | |
| | | | :ref:`name<plugin-instance-name>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_3| instance |br| |_3| |L| | | .. table:: |
| :el:`config` | \* | :class: mjcf-attributes |
| | | |
| :ref:`config | \* | :class: mjcf-attributes |
| <instance-config>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :at:`key` | :at:`value` | | |
| | | | :ref:`key<instance-config-key>` | :ref:`value<instance-config-value>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
@@ -591,17 +591,17 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
| :el:`plugin` | \* | :class: mjcf-attributes |
| | | |
| :ref:`plugin | \* | :class: mjcf-attributes |
| <body-plugin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :at:`plugin` | :at:`instance` | | |
| | | | :ref:`plugin<body-plugin-plugin>` | :ref:`instance<body-plugin-instance>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| plugin |br| |_2| |L| | | .. table:: |
| :el:`config` | \* | :class: mjcf-attributes |
| | | |
| :ref:`config | \* | :class: mjcf-attributes |
| <plugin-config>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :at:`key` | :at:`value` | | |
| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
@@ -727,17 +727,17 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| composite |br| |_2| |L| | | .. table:: |
| :el:`plugin` | \* | :class: mjcf-attributes |
| | | |
| :ref:`plugin | \* | :class: mjcf-attributes |
| <composite-plugin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :at:`plugin` | :at:`instance` | | |
| | | | :ref:`plugin<composite-plugin-plugin>` | :ref:`instance<composite-plugin-instance>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_3| plugin |br| |_3| |L| | | .. table:: |
| :el:`config` | \* | :class: mjcf-attributes |
| | | |
| :ref:`config | \* | :class: mjcf-attributes |
| <plugin-config>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :at:`key` | :at:`value` | | |
| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| composite |br| |_2| |L| | | .. table:: |
@@ -1126,29 +1126,29 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| actuator |br| |_| |L| | | .. table:: |
| :el:`plugin` | \* | :class: mjcf-attributes |
| | | |
| :ref:`plugin | \* | :class: mjcf-attributes |
| <actuator-plugin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`plugin` | |
| | | | :ref:`name<actuator-plugin-name>` | :ref:`class<actuator-plugin-class>` | :ref:`plugin<actuator-plugin-plugin>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :at:`instance` | :at:`group` | :at:`ctrllimited` | |
| | | | :ref:`instance<actuator-plugin-instance>` | :ref:`group<actuator-plugin-group>` | :ref:`ctrllimited<actuator-plugin-ctrllimited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :at:`forcelimited` | :at:`ctrlrange` | :at:`forcerange` | |
| | | | :ref:`forcelimited<actuator-plugin-forcelimited>` | :ref:`ctrlrange<actuator-plugin-ctrlrange>` | :ref:`forcerange<actuator-plugin-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :at:`lengthrange` | :at:`gear` | :at:`cranklength` | |
| | | | :ref:`lengthrange<actuator-plugin-lengthrange>` | :ref:`gear<actuator-plugin-gear>` | :ref:`cranklength<actuator-plugin-cranklength>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :at:`joint` | :at:`jointinparent` | :at:`site` | |
| | | | :ref:`joint<actuator-plugin-joint>` | :ref:`jointinparent<actuator-plugin-jointinparent>` | :ref:`site<actuator-plugin-site>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :at:`tendon` | :at:`cranksite` | :at:`slidersite` | |
| | | | :ref:`tendon<actuator-plugin-tendon>` | :ref:`cranksite<actuator-plugin-cranksite>` | :ref:`slidersite<actuator-plugin-slidersite>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :at:`user` | | | |
| | | | :ref:`user<actuator-plugin-user>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| plugin |br| |_2| |L| | | .. table:: |
| :el:`config` | \* | :class: mjcf-attributes |
| | | |
| :ref:`config | \* | :class: mjcf-attributes |
| <plugin-config>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :at:`key` | :at:`value` | | |
| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
@@ -1504,21 +1504,21 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :el:`plugin` | \* | :class: mjcf-attributes |
| | | |
| :ref:`plugin | \* | :class: mjcf-attributes |
| <sensor-plugin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :at:`name` | :at:`plugin` | :at:`instance` | |
| | | | :ref:`name<sensor-plugin-name>` | :ref:`plugin<sensor-plugin-plugin>` | :ref:`instance<sensor-plugin-instance>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :at:`cutoff` | :at:`objtype` | :at:`objname` | |
| | | | :ref:`cutoff<sensor-plugin-cutoff>` | :ref:`objtype<sensor-plugin-objtype>` | :ref:`objname<sensor-plugin-objname>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :at:`reftype` | :at:`refname` | :at:`user` | |
| | | | :ref:`reftype<sensor-plugin-reftype>` | :ref:`refname<sensor-plugin-refname>` | :ref:`user<sensor-plugin-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| plugin |br| |_2| |L| | | .. table:: |
| :el:`config` | \* | :class: mjcf-attributes |
| | | |
| :ref:`config | \* | :class: mjcf-attributes |
| <plugin-config>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :at:`key` | :at:`value` | | |
| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |