Change schema order in the docs: move option to the top, move visual down.
PiperOrigin-RevId: 627036617 Change-Id: Icb18a4afab7d549baee8ed0df89e98dfac4d6e6c
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Yuval Tassa
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@@ -7,6 +7,42 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| mujoco |br| |L| | | .. table:: |
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| :ref:`option | \* | :class: mjcf-attributes |
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| <option>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`timestep<option-timestep>` | :ref:`apirate<option-apirate>` | :ref:`impratio<option-impratio>` | :ref:`tolerance<option-tolerance>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`ls_tolerance<option-ls_tolerance>` | :ref:`noslip_tolerance<option-noslip_tolerance>` | :ref:`mpr_tolerance<option-mpr_tolerance>` | :ref:`gravity<option-gravity>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`wind<option-wind>` | :ref:`magnetic<option-magnetic>` | :ref:`density<option-density>` | :ref:`viscosity<option-viscosity>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`o_margin<option-o_margin>` | :ref:`o_solref<option-o_solref>` | :ref:`o_solimp<option-o_solimp>` | :ref:`o_friction<option-o_friction>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`integrator<option-integrator>` | :ref:`cone<option-cone>` | :ref:`jacobian<option-jacobian>` | :ref:`solver<option-solver>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`iterations<option-iterations>` | :ref:`ls_iterations<option-ls_iterations>` | :ref:`noslip_iterations<option-noslip_iterations>` | :ref:`mpr_iterations<option-mpr_iterations>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`sdf_iterations<option-sdf_iterations>` | :ref:`sdf_initpoints<option-sdf_initpoints>` | :ref:`actuatorgroupdisable<option-actuatorgroupdisable>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| option |br| |_| |L| | | .. table:: |
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| :ref:`flag | ? | :class: mjcf-attributes |
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| <option-flag>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`constraint<option-flag-constraint>` | :ref:`equality<option-flag-equality>` | :ref:`frictionloss<option-flag-frictionloss>` | :ref:`limit<option-flag-limit>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`contact<option-flag-contact>` | :ref:`passive<option-flag-passive>` | :ref:`gravity<option-flag-gravity>` | :ref:`clampctrl<option-flag-clampctrl>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`warmstart<option-flag-warmstart>` | :ref:`filterparent<option-flag-filterparent>` | :ref:`actuation<option-flag-actuation>` | :ref:`refsafe<option-flag-refsafe>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`sensor<option-flag-sensor>` | :ref:`midphase<option-flag-midphase>` | :ref:`eulerdamp<option-flag-eulerdamp>` | :ref:`override<option-flag-override>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | :ref:`invdiscrete<option-flag-invdiscrete>` | :ref:`multiccd<option-flag-multiccd>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`island<option-flag-island>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| mujoco |br| |L| | | .. table:: |
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| :ref:`compiler | \* | :class: mjcf-attributes |
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| <compiler>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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@@ -55,83 +91,6 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| mujoco |br| |L| | | *no attributes* |
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| :ref:`visual<visual>` | | |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| visual |br| |_| |L| | | .. table:: |
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| :ref:`global | ? | :class: mjcf-attributes |
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| <visual-global>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`fovy<visual-global-fovy>` | :ref:`ipd<visual-global-ipd>` | :ref:`azimuth<visual-global-azimuth>` | :ref:`elevation<visual-global-elevation>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`linewidth<visual-global-linewidth>` | :ref:`glow<visual-global-glow>` | :ref:`offwidth<visual-global-offwidth>` | :ref:`offheight<visual-global-offheight>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`realtime<visual-global-realtime>` | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` | :ref:`bvactive<visual-global-bvactive>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| visual |br| |_| |L| | | .. table:: |
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| :ref:`quality | ? | :class: mjcf-attributes |
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| <visual-quality>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`shadowsize<visual-quality-shadowsize>` | :ref:`offsamples<visual-quality-offsamples>` | :ref:`numslices<visual-quality-numslices>` | :ref:`numstacks<visual-quality-numstacks>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`numquads<visual-quality-numquads>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| visual |br| |_| |L| | | .. table:: |
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| :ref:`headlight | ? | :class: mjcf-attributes |
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| <visual-headlight>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`ambient<visual-headlight-ambient>` | :ref:`diffuse<visual-headlight-diffuse>` | :ref:`specular<visual-headlight-specular>` | :ref:`active<visual-headlight-active>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| visual |br| |_| |L| | | .. table:: |
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| :ref:`map | ? | :class: mjcf-attributes |
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| <visual-map>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`stiffness<visual-map-stiffness>` | :ref:`stiffnessrot<visual-map-stiffnessrot>` | :ref:`force<visual-map-force>` | :ref:`torque<visual-map-torque>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`alpha<visual-map-alpha>` | :ref:`fogstart<visual-map-fogstart>` | :ref:`fogend<visual-map-fogend>` | :ref:`znear<visual-map-znear>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`zfar<visual-map-zfar>` | :ref:`haze<visual-map-haze>` | :ref:`shadowclip<visual-map-shadowclip>` | :ref:`shadowscale<visual-map-shadowscale>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`actuatortendon<visual-map-actuatortendon>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| visual |br| |_| |L| | | .. table:: |
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| :ref:`scale | ? | :class: mjcf-attributes |
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| <visual-scale>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`forcewidth<visual-scale-forcewidth>` | :ref:`contactwidth<visual-scale-contactwidth>` | :ref:`contactheight<visual-scale-contactheight>` | :ref:`connect<visual-scale-connect>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`com<visual-scale-com>` | :ref:`camera<visual-scale-camera>` | :ref:`light<visual-scale-light>` | :ref:`selectpoint<visual-scale-selectpoint>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`jointlength<visual-scale-jointlength>` | :ref:`jointwidth<visual-scale-jointwidth>` | :ref:`actuatorlength<visual-scale-actuatorlength>` | :ref:`actuatorwidth<visual-scale-actuatorwidth>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`framelength<visual-scale-framelength>` | :ref:`framewidth<visual-scale-framewidth>` | :ref:`constraint<visual-scale-constraint>` | :ref:`slidercrank<visual-scale-slidercrank>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`frustum<visual-scale-frustum>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| visual |br| |_| |L| | | .. table:: |
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| :ref:`rgba | ? | :class: mjcf-attributes |
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| <visual-rgba>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`fog<visual-rgba-fog>` | :ref:`haze<visual-rgba-haze>` | :ref:`force<visual-rgba-force>` | :ref:`inertia<visual-rgba-inertia>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`joint<visual-rgba-joint>` | :ref:`actuator<visual-rgba-actuator>` | :ref:`actuatornegative<visual-rgba-actuatornegative>` | :ref:`actuatorpositive<visual-rgba-actuatorpositive>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`com<visual-rgba-com>` | :ref:`camera<visual-rgba-camera>` | :ref:`light<visual-rgba-light>` | :ref:`selectpoint<visual-rgba-selectpoint>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`connect<visual-rgba-connect>` | :ref:`contactpoint<visual-rgba-contactpoint>` | :ref:`contactforce<visual-rgba-contactforce>` | :ref:`contactfriction<visual-rgba-contactfriction>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`contacttorque<visual-rgba-contacttorque>` | :ref:`contactgap<visual-rgba-contactgap>` | :ref:`rangefinder<visual-rgba-rangefinder>` | :ref:`constraint<visual-rgba-constraint>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`slidercrank<visual-rgba-slidercrank>` | :ref:`crankbroken<visual-rgba-crankbroken>` | :ref:`frustum<visual-rgba-frustum>` | :ref:`bv<visual-rgba-bv>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`bvactive<visual-rgba-bvactive>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| mujoco |br| |L| | | *no attributes* |
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| :ref:`asset<asset>` | | |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| asset |br| |_| |L| | | .. table:: |
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@@ -217,42 +176,6 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| mujoco |br| |L| | | .. table:: |
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| :ref:`option | \* | :class: mjcf-attributes |
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| <option>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`timestep<option-timestep>` | :ref:`apirate<option-apirate>` | :ref:`impratio<option-impratio>` | :ref:`tolerance<option-tolerance>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`ls_tolerance<option-ls_tolerance>` | :ref:`noslip_tolerance<option-noslip_tolerance>` | :ref:`mpr_tolerance<option-mpr_tolerance>` | :ref:`gravity<option-gravity>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`wind<option-wind>` | :ref:`magnetic<option-magnetic>` | :ref:`density<option-density>` | :ref:`viscosity<option-viscosity>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`o_margin<option-o_margin>` | :ref:`o_solref<option-o_solref>` | :ref:`o_solimp<option-o_solimp>` | :ref:`o_friction<option-o_friction>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`integrator<option-integrator>` | :ref:`cone<option-cone>` | :ref:`jacobian<option-jacobian>` | :ref:`solver<option-solver>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`iterations<option-iterations>` | :ref:`ls_iterations<option-ls_iterations>` | :ref:`noslip_iterations<option-noslip_iterations>` | :ref:`mpr_iterations<option-mpr_iterations>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`sdf_iterations<option-sdf_iterations>` | :ref:`sdf_initpoints<option-sdf_initpoints>` | :ref:`actuatorgroupdisable<option-actuatorgroupdisable>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| option |br| |_| |L| | | .. table:: |
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| :ref:`flag | ? | :class: mjcf-attributes |
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| <option-flag>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`constraint<option-flag-constraint>` | :ref:`equality<option-flag-equality>` | :ref:`frictionloss<option-flag-frictionloss>` | :ref:`limit<option-flag-limit>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`contact<option-flag-contact>` | :ref:`passive<option-flag-passive>` | :ref:`gravity<option-flag-gravity>` | :ref:`clampctrl<option-flag-clampctrl>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`warmstart<option-flag-warmstart>` | :ref:`filterparent<option-flag-filterparent>` | :ref:`actuation<option-flag-actuation>` | :ref:`refsafe<option-flag-refsafe>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`sensor<option-flag-sensor>` | :ref:`midphase<option-flag-midphase>` | :ref:`eulerdamp<option-flag-eulerdamp>` | :ref:`override<option-flag-override>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | :ref:`invdiscrete<option-flag-invdiscrete>` | :ref:`multiccd<option-flag-multiccd>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`island<option-flag-island>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| mujoco |br| |L| | | .. table:: |
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| :ref:`body | R | :class: mjcf-attributes |
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| <body>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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@@ -1287,6 +1210,83 @@
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| | | | :ref:`act<keyframe-key-act>` | :ref:`mpos<keyframe-key-mpos>` | :ref:`mquat<keyframe-key-mquat>` | :ref:`ctrl<keyframe-key-ctrl>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| mujoco |br| |L| | | *no attributes* |
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| :ref:`visual<visual>` | | |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| visual |br| |_| |L| | | .. table:: |
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| :ref:`global | ? | :class: mjcf-attributes |
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| <visual-global>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`fovy<visual-global-fovy>` | :ref:`ipd<visual-global-ipd>` | :ref:`azimuth<visual-global-azimuth>` | :ref:`elevation<visual-global-elevation>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`linewidth<visual-global-linewidth>` | :ref:`glow<visual-global-glow>` | :ref:`offwidth<visual-global-offwidth>` | :ref:`offheight<visual-global-offheight>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`realtime<visual-global-realtime>` | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` | :ref:`bvactive<visual-global-bvactive>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| visual |br| |_| |L| | | .. table:: |
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| :ref:`quality | ? | :class: mjcf-attributes |
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| <visual-quality>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`shadowsize<visual-quality-shadowsize>` | :ref:`offsamples<visual-quality-offsamples>` | :ref:`numslices<visual-quality-numslices>` | :ref:`numstacks<visual-quality-numstacks>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`numquads<visual-quality-numquads>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| visual |br| |_| |L| | | .. table:: |
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| :ref:`headlight | ? | :class: mjcf-attributes |
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| <visual-headlight>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`ambient<visual-headlight-ambient>` | :ref:`diffuse<visual-headlight-diffuse>` | :ref:`specular<visual-headlight-specular>` | :ref:`active<visual-headlight-active>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| visual |br| |_| |L| | | .. table:: |
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| :ref:`map | ? | :class: mjcf-attributes |
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| <visual-map>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`stiffness<visual-map-stiffness>` | :ref:`stiffnessrot<visual-map-stiffnessrot>` | :ref:`force<visual-map-force>` | :ref:`torque<visual-map-torque>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`alpha<visual-map-alpha>` | :ref:`fogstart<visual-map-fogstart>` | :ref:`fogend<visual-map-fogend>` | :ref:`znear<visual-map-znear>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`zfar<visual-map-zfar>` | :ref:`haze<visual-map-haze>` | :ref:`shadowclip<visual-map-shadowclip>` | :ref:`shadowscale<visual-map-shadowscale>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`actuatortendon<visual-map-actuatortendon>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| visual |br| |_| |L| | | .. table:: |
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| :ref:`scale | ? | :class: mjcf-attributes |
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| <visual-scale>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
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| | | | :ref:`forcewidth<visual-scale-forcewidth>` | :ref:`contactwidth<visual-scale-contactwidth>` | :ref:`contactheight<visual-scale-contactheight>` | :ref:`connect<visual-scale-connect>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`com<visual-scale-com>` | :ref:`camera<visual-scale-camera>` | :ref:`light<visual-scale-light>` | :ref:`selectpoint<visual-scale-selectpoint>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`jointlength<visual-scale-jointlength>` | :ref:`jointwidth<visual-scale-jointwidth>` | :ref:`actuatorlength<visual-scale-actuatorlength>` | :ref:`actuatorwidth<visual-scale-actuatorwidth>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`framelength<visual-scale-framelength>` | :ref:`framewidth<visual-scale-framewidth>` | :ref:`constraint<visual-scale-constraint>` | :ref:`slidercrank<visual-scale-slidercrank>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`frustum<visual-scale-frustum>` | | | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| visual |br| |_| |L| | | .. table:: |
|
||||
| :ref:`rgba | ? | :class: mjcf-attributes |
|
||||
| <visual-rgba>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`fog<visual-rgba-fog>` | :ref:`haze<visual-rgba-haze>` | :ref:`force<visual-rgba-force>` | :ref:`inertia<visual-rgba-inertia>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`joint<visual-rgba-joint>` | :ref:`actuator<visual-rgba-actuator>` | :ref:`actuatornegative<visual-rgba-actuatornegative>` | :ref:`actuatorpositive<visual-rgba-actuatorpositive>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`com<visual-rgba-com>` | :ref:`camera<visual-rgba-camera>` | :ref:`light<visual-rgba-light>` | :ref:`selectpoint<visual-rgba-selectpoint>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`connect<visual-rgba-connect>` | :ref:`contactpoint<visual-rgba-contactpoint>` | :ref:`contactforce<visual-rgba-contactforce>` | :ref:`contactfriction<visual-rgba-contactfriction>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`contacttorque<visual-rgba-contacttorque>` | :ref:`contactgap<visual-rgba-contactgap>` | :ref:`rangefinder<visual-rgba-rangefinder>` | :ref:`constraint<visual-rgba-constraint>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`slidercrank<visual-rgba-slidercrank>` | :ref:`crankbroken<visual-rgba-crankbroken>` | :ref:`frustum<visual-rgba-frustum>` | :ref:`bv<visual-rgba-bv>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`bvactive<visual-rgba-bvactive>` | | | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| mujoco |br| |L| | | .. table:: |
|
||||
| :ref:`default | R | :class: mjcf-attributes |
|
||||
| <default>` | | |
|
||||
|
||||
Reference in New Issue
Block a user