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Standardise tags of MJCF elements in XMLreference.rst

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PiperOrigin-RevId: 479541059
Change-Id: I98cb7933469f7010870d04608fbb931539769c2e
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Yuval Tassa
2022-10-07 03:45:07 -07:00
committed by Copybara-Service
parent 077acb1c8f
commit 6da125ea37
7 changed files with 162 additions and 162 deletions
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doc/XMLreference.rst
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@@ -77,14 +77,14 @@ MJCF Reference
| The *order* of attributes within an element can be arbitrary. The order of child elements within a parent element can
also be arbitrary, with four exceptions:
- The order of :ref:`joint <joint>` elements within a :ref:`body <body>` matters because joint transformations are
- The order of :ref:`joint <body-joint>` elements within a :ref:`body <body>` matters because joint transformations are
performed in sequence.
- The order of elements in a :ref:`spatial <spatial>` tendon matters because it determines the sequence of objects that
- The order of elements in a :ref:`spatial <tendon-spatial>` tendon matters because it determines the sequence of objects that
the tendon passes through or wraps around.
- The order of repeated sections matters when the same attribute is set multiple times to different values. In that
case the last setting takes effect for the entire model.
- The order of multiple actuator shortcuts in the same defaults class matters, because each shortcut sets the
attributes of the single :ref:`general <general>` element in that defaults class, overriding the previous settings.
attributes of the single :ref:`general <actuator-general>` element in that defaults class, overriding the previous settings.
In the remainder of this chapter we describe all valid MJCF elements and their attributes. Some elements can be used in
multiple contexts, in which case their meaning depends on the parent element. This is why we always show the parent as a
@@ -127,7 +127,7 @@ This element is used to set options for the built-in parser and compiler. After
any effect. The settings here are global and apply to the entire model.
:at:`autolimits`: :at-val:`[false, true], "false"`
This attribute affects the behavior of attributes such as "limited" (on <joint> or <tendon>), "forcelimited",
This attribute affects the behavior of attributes such as "limited" (on <body-joint> or <tendon>), "forcelimited",
"ctrllimited", and "actlimited" (on <actuator>). If "true", these attributes are unnecessary and their value
will be inferred from the presence of their corresponding "range" attribute.
If "false", no such inference will happen: For a joint to be limited, both limited="true" and range="min max" must
@@ -165,7 +165,7 @@ any effect. The settings here are global and apply to the entire model.
compiler converts degrees into radians, and mjModel always uses radians. For URDF models the parser sets this
attribute to "radian" internally, regardless of the XML setting.
:at:`fitaabb`: :at-val:`[false, true], "false"`
The compiler is able to replace a mesh with a geometric primitive fitted to that mesh; see :ref:`geom <geom>` below.
The compiler is able to replace a mesh with a geometric primitive fitted to that mesh; see :ref:`geom <body-geom>` below.
If this attribute is "true", the fitting procedure uses the axis-aligned bounding box (aabb) of the mesh. Otherwise
it uses the equivalent-inertia box of the mesh. The type of geometric primitive used for fitting is specified
separately for each geom.
@@ -195,7 +195,7 @@ any effect. The settings here are global and apply to the entire model.
makes sense to have two sets of geoms in the model, especially since MuJoCo uses convex hulls for collisions, so we
recommend using this feature to discard redundant geoms. Keep in mind however that geoms considered visual per the
above definition can still participate in collisions, if they appear in the explicit list of contact
:ref:`pairs <pair>`. The parser does not check this list before discarding geoms; it relies solely on the geom
:ref:`pairs <contact-pair>`. The parser does not check this list before discarding geoms; it relies solely on the geom
attributes to make the determination.
:at:`convexhull`: :at-val:`[false, true], "true"`
If this attribute is "true", the compiler will automatically generate a convex hull for every mesh that is used in at
@@ -221,7 +221,7 @@ any effect. The settings here are global and apply to the entire model.
:at:`inertiafromgeom`: :at-val:`[false, true, auto], "auto"`
This attribute controls the automatic inference of body masses and inertias from geoms attached to the body. If this
setting is "false", no automatic inference is performed. In that case each body must have explicitly defined mass and
inertia with the :ref:`inertial <inertial>` element, or else a compile error will be generated. If this setting is
inertia with the :ref:`inertial <body-inertial>` element, or else a compile error will be generated. If this setting is
"true", the mass and inertia of each body will be inferred from the geoms attached to it, overriding any values
specified with the :el:`inertial` element. The default setting "auto" means that masses and inertias are inferred
automatically only when the :el:`inertial` element is missing in the body definition. One reason to set this
@@ -234,7 +234,7 @@ any effect. The settings here are global and apply to the entire model.
meshes. If set to true, it is exact for any closed mesh geometry.
:at:`inertiagrouprange`: :at-val:`int(2), "0 5"`
This attribute specifies the range of geom groups that are used to infer body masses and inertias (when such
inference is enabled). The group attribute of :ref:`geom <geom>` is an integer. If this integer falls in the range
inference is enabled). The group attribute of :ref:`geom <body-geom>` is an integer. If this integer falls in the range
specified here, the geom will be used in the inertial computation, otherwise it will be ignored. This feature is
useful in models that have redundant sets of geoms for collision and visualization. Note that the world body does not
participate in the inertial computations, so any geoms attached to it are automatically ignored. Therefore it is not
@@ -365,7 +365,7 @@ adjust it properly through the XML.
:at:`implicit` integrator.
:at:`o_margin`: :at-val:`real, "0"`
This attribute replaces the margin parameter of all active contact pairs when :ref:`Contact override <COverride>` is
enabled. Otherwise MuJoCo uses the element-specific margin attribute of :ref:`geom <geom>` or :ref:`pair <pair>`
enabled. Otherwise MuJoCo uses the element-specific margin attribute of :ref:`geom <body-geom>` or :ref:`pair <contact-pair>`
depending on how the contact pair was generated. See also :ref:`Collision` in the Computation chapter. The related
gap parameter does not have a global override.
:at:`o_solref`, :at:`o_solimp`
@@ -377,7 +377,7 @@ adjust it properly through the XML.
the Implicit-in-velocity Euler method.
:at:`collision`: :at-val:`[all, predefined, dynamic], "all"`
This attribute specifies which geom pairs should be checked for collision; recall :ref:`Collision` in the Computation
chapter. "predefined" means that only the explicitly-defined contact :ref:`pairs <pair>` are checked. "dynamic" means
chapter. "predefined" means that only the explicitly-defined contact :ref:`pairs <contact-pair>` are checked. "dynamic" means
that only the contact pairs generated dynamically are checked. "all" means that the contact pairs from both sources
are checked.
:at:`cone`: :at-val:`[pyramidal, elliptic], "pyramidal"`
@@ -521,7 +521,7 @@ compilation.
The size of the field mjData.userdata of mjData. This field should be used to store custom dynamic variables. See
also :ref:`CUser`.
:at:`nkey`: :at-val:`int, "0"`
The number of key frames allocated in mjModel is the larger of this value and the number of :ref:`key <key>` elements
The number of key frames allocated in mjModel is the larger of this value and the number of :ref:`key <keyframe-key>` elements
below. Note that the interactive simulator has the ability to take snapshots of the system state and save them as key
frames.
:at:`nuser_body`: :at-val:`int, "-1"`
@@ -529,13 +529,13 @@ compilation.
The parameter values are set via the user attribute of the :ref:`body <body>` element. These values are not accessed
by MuJoCo. They can be used to define element properties needed in user callbacks and other custom code.
:at:`nuser_jnt`: :at-val:`int, "-1"`
The number of custom user parameters added to the definition of each :ref:`joint <joint>`.
The number of custom user parameters added to the definition of each :ref:`joint <body-joint>`.
:at:`nuser_geom`: :at-val:`int, "-1"`
The number of custom user parameters added to the definition of each :ref:`geom <geom>`.
The number of custom user parameters added to the definition of each :ref:`geom <body-geom>`.
:at:`nuser_site`: :at-val:`int, "-1"`
The number of custom user parameters added to the definition of each :ref:`site <site>`.
The number of custom user parameters added to the definition of each :ref:`site <body-site>`.
:at:`nuser_cam`: :at-val:`int, "-1"`
The number of custom user parameters added to the definition of each :ref:`camera <camera>`.
The number of custom user parameters added to the definition of each :ref:`camera <body-camera>`.
:at:`nuser_tendon`: :at-val:`int, "-1"`
The number of custom user parameters added to the definition of each :ref:`tendon <tendon>`.
:at:`nuser_actuator`: :at-val:`int, "-1"`
@@ -559,7 +559,7 @@ compilation.
| This element is a good candidate for the :ref:`file include <CInclude>` mechanism. One can create an XML file with
coordinated visual settings corresponding to a "theme", and then include this file in multiple models.
.. _global:
.. _visual-global:
:el-prefix:`visual/` **global** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -572,7 +572,7 @@ is effectively a miscellaneous subsection.
the visualizer even if no cameras are explicitly defined in the model. It is always expressed in degrees, regardless
of the setting of the angle attribute of :ref:`compiler <compiler>`, and is also represented in the low level model
in degrees. This is because we pass it to OpenGL which uses degrees. The same convention applies to the fovy
attribute of the :ref:`camera <camera>` element below.
attribute of the :ref:`camera <body-camera>` element below.
:at:`ipd`: :at-val:`real, "0.068"`
This attribute specifies the inter-pupilary distance of the free camera. It only affects the rendering in
stereoscopic mode. The left and right viewpoints are offset by half of this value in the corresponding direction.
@@ -599,7 +599,7 @@ is effectively a miscellaneous subsection.
:at:`offheight`: :at-val:`int, "480"`
This attribute specifies the height in pixels of the OpenGL off-screen rendering buffer.
.. _quality:
.. _visual-quality:
:el-prefix:`visual/` **quality** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -611,7 +611,7 @@ should somehow be simplified.
:at:`shadowsize`: :at-val:`int, "4096"`
This attribute specifies the size of the square texture used for shadow mapping. Higher values result is smoother
shadows. The size of the area over which a :ref:`light <light>` can cast shadows also affects smoothness, so these
shadows. The size of the area over which a :ref:`light <body-light>` can cast shadows also affects smoothness, so these
settings should be adjusted jointly. The default here is somewhat conservative. Most modern GPUs are able to handle
significantly larger textures without slowing down.
:at:`offsamples`: :at-val:`int, "4"`
@@ -633,7 +633,7 @@ should somehow be simplified.
though a geometrically correct rendering can be obtained by setting this value to 1, illumination works better for
larger values because we use per-vertex illumination (as opposed to per-fragment).
.. _headlight:
.. _visual-headlight:
:el-prefix:`visual/` **headlight** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -654,7 +654,7 @@ to be reduced.
:at:`active`: :at-val:`int, "1"`
This attribute enables and disables the headlight. A value of 0 means disabled, any other value means enabled.
.. _map:
.. _visual-map:
:el-prefix:`visual/` **map** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -709,7 +709,7 @@ miscellaneous.
:at:`actuatortendon`: :at-val:`real, "2"`
Ratio of actuator width to tendon width for rendering of actuators attached to tendons.
.. _scale:
.. _visual-scale:
:el-prefix:`visual/` **scale** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -756,7 +756,7 @@ documented below.
The radius of the capsules used to render slider-crank mechanisms. The second part of the mechanism is automatically
scaled relative to this setting.
.. _rgba:
.. _visual-rgba:
:el-prefix:`visual/` **rgba** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -767,7 +767,7 @@ disables the rendering of the corresponding object.
:at:`fog`: :at-val:`real(4), "0 0 0 1"`
When fog is enabled, the color of all pixels fades towards the color specified here. The spatial extent of the fading
is controlled by the fogstart and fogend attributes of the :ref:`map <map>` element above.
is controlled by the fogstart and fogend attributes of the :ref:`map <visual-map>` element above.
:at:`haze`: :at-val:`real(4), "1 1 1 1"`
Haze color at the horizon, used to transition between an infinite plane and a skybox smoothly. The default creates
white haze. To create a seamless transition, make sure the skybox colors near the horizon are similar to the plane
@@ -836,16 +836,16 @@ parameters.
runtime this value scales the solver cost and gradient used for early termination.
:at:`meansize`: :at-val:`real, optional`
If this attribute is specified, it replaces the value of ``mjModel.stat.meansize`` computed by the compiler. At
runtime this value multiplies the attributes of the :ref:`scale <scale>` element above, and acts as their length
runtime this value multiplies the attributes of the :ref:`scale <visual-scale>` element above, and acts as their length
unit. If specific lengths are desired, it can be convenient to set :at:`meansize` to a round number like 1 or 0.01 so
that :ref:`scale <scale>` values are in recognized length units. This is the only semantic of :at:`meansize` and
that :ref:`scale <visual-scale>` values are in recognized length units. This is the only semantic of :at:`meansize` and
setting it has no other side-effect. The automatically computed value is heuristic, representing the average body
radius. The heuristic is based on geom sizes when present, the distances between joints when present, and the sizes
of the body equivalent inertia boxes.
:at:`extent`: :at-val:`real, optional`
If this attribute is specified, it replaces the value of mjModel.stat.extent computed by the compiler. The computed
value is half the side of the bounding box of the model in the initial configuration. At runtime this value is
multiplied by some of the attributes of the :ref:`map <map>` element above. When the model is first loaded, the free
multiplied by some of the attributes of the :ref:`map <visual-map>` element above. When the model is first loaded, the free
camera's initial distance from the :at:`center` (see below) is 1.5 times the :at:`extent`. Must be strictly positive.
:at:`center`: :at-val:`real(3), optional`
If this attribute is specified, it replaces the value of mjModel.stat.center computed by the compiler. The computed
@@ -870,7 +870,7 @@ if omitted.
:el-prefix:`default/` **mesh** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`mesh <mesh>` element of the defaults class.
| This element sets the attributes of the dummy :ref:`mesh <asset-mesh>` element of the defaults class.
| The only mesh attribute available here is: **scale**.
.. _default-material:
@@ -878,7 +878,7 @@ if omitted.
:el-prefix:`default/` **material** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`material <material>` element of the defaults class.
| This element sets the attributes of the dummy :ref:`material <asset-material>` element of the defaults class.
| All material attributes are available here except: name, class.
.. _default-joint:
@@ -886,7 +886,7 @@ if omitted.
:el-prefix:`default/` **joint** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`joint <joint>` element of the defaults class.
| This element sets the attributes of the dummy :ref:`joint <body-joint>` element of the defaults class.
| All joint attributes are available here except: name, class.
.. _default-geom:
@@ -894,7 +894,7 @@ if omitted.
:el-prefix:`default/` **geom** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`geom <geom>` element of the defaults class.
| This element sets the attributes of the dummy :ref:`geom <body-geom>` element of the defaults class.
| All geom attributes are available here except: name, class.
.. _default-site:
@@ -902,7 +902,7 @@ if omitted.
:el-prefix:`default/` **site** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`site <site>` element of the defaults class.
| This element sets the attributes of the dummy :ref:`site <body-site>` element of the defaults class.
| All site attributes are available here except: name, class.
.. _default-camera:
@@ -910,7 +910,7 @@ if omitted.
:el-prefix:`default/` **camera** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`camera <camera>` element of the defaults class.
| This element sets the attributes of the dummy :ref:`camera <body-camera>` element of the defaults class.
| All camera attributes are available here except: name, class.
.. _default-light:
@@ -918,7 +918,7 @@ if omitted.
:el-prefix:`default/` **light** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`light <light>` element of the defaults class.
| This element sets the attributes of the dummy :ref:`light <body-light>` element of the defaults class.
| All light attributes are available here except: name, class.
.. _default-pair:
@@ -926,7 +926,7 @@ if omitted.
:el-prefix:`default/` **pair** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`pair <pair>` element of the defaults class.
| This element sets the attributes of the dummy :ref:`pair <contact-pair>` element of the defaults class.
| All pair attributes are available here except: name, class, geom1, geom2.
.. _default-equality:
@@ -953,7 +953,7 @@ if omitted.
:el-prefix:`default/` **general** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`general <general>` element of the defaults class.
| This element sets the attributes of the dummy :ref:`general <actuator-general>` element of the defaults class.
| All general attributes are available here except: name, class, joint, jointinparent, site, tendon, slidersite,
cranksite.
@@ -962,10 +962,10 @@ if omitted.
:el-prefix:`default/` **motor** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This and the next three elements set the attributes of the :ref:`general <general>` element using :ref:`Actuator
| This and the next three elements set the attributes of the :ref:`general <actuator-general>` element using :ref:`Actuator
shortcuts <CActuator>`. It does not make sense to use more than one such shortcut in the same defaults
class, because they set the same underlying attributes, replacing any previous settings.
| All :ref:`motor <motor>` attributes are available here except: name, class, joint, jointinparent, site, tendon,
| All :ref:`motor <actuator-motor>` attributes are available here except: name, class, joint, jointinparent, site, tendon,
slidersite, cranksite.
.. _default-position:
@@ -973,7 +973,7 @@ if omitted.
:el-prefix:`default/` **position** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
All :ref:`position <position>` attributes are available here except: name, class, joint, jointinparent, site, tendon,
All :ref:`position <actuator-position>` attributes are available here except: name, class, joint, jointinparent, site, tendon,
slidersite, cranksite.
.. _default-velocity:
@@ -981,7 +981,7 @@ slidersite, cranksite.
:el-prefix:`default/` **velocity** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
All :ref:`velocity <velocity>` attributes are available here except: name, class, joint, jointinparent, site, tendon,
All :ref:`velocity <actuator-velocity>` attributes are available here except: name, class, joint, jointinparent, site, tendon,
slidersite, cranksite.
.. _default-intvelocity:
@@ -989,7 +989,7 @@ slidersite, cranksite.
:el-prefix:`default/` **intvelocity** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
All :ref:`intvelocity <intvelocity>` attributes are available here except: name, class, joint, jointinparent, site, tendon,
All :ref:`intvelocity <actuator-intvelocity>` attributes are available here except: name, class, joint, jointinparent, site, tendon,
slidersite, cranksite.
.. _default-damper:
@@ -997,7 +997,7 @@ slidersite, cranksite.
:el-prefix:`default/` **damper** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
All :ref:`damper <damper>` attributes are available here except: name, class, joint, jointinparent, site, tendon,
All :ref:`damper <actuator-damper>` attributes are available here except: name, class, joint, jointinparent, site, tendon,
slidersite, cranksite.
.. _default-cylinder:
@@ -1005,7 +1005,7 @@ slidersite, cranksite.
:el-prefix:`default/` **cylinder** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
All :ref:`cylinder <cylinder>` attributes are available here except: name, class, joint, jointinparent, site, tendon,
All :ref:`cylinder <actuator-cylinder>` attributes are available here except: name, class, joint, jointinparent, site, tendon,
slidersite, cranksite.
.. _default-muscle:
@@ -1013,13 +1013,13 @@ slidersite, cranksite.
:el-prefix:`default/` **muscle** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
All :ref:`muscle <muscle>` attributes are available here except: name, class, joint, jointinparent, site, tendon,
All :ref:`muscle <actuator-muscle>` attributes are available here except: name, class, joint, jointinparent, site, tendon,
slidersite, cranksite.
:el-prefix:`default/` **adhesion** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
All :ref:`adhesion <adhesion>` attributes are available here except: name, class, body.
All :ref:`adhesion <actuator-adhesion>` attributes are available here except: name, class, body.
.. _custom:
@@ -1028,7 +1028,7 @@ All :ref:`adhesion <adhesion>` attributes are available here except: name, class
This is a grouping element for custom numeric and text elements. It does not have attributes.
.. _numeric:
.. _custom-numeric:
:el-prefix:`custom/` **numeric** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -1047,7 +1047,7 @@ This element creates a custom numeric array in mjModel.
can be created for storing information at runtime - which is why data initialization is optional. It becomes required
only when the array size is omitted.
.. _text:
.. _custom-text:
:el-prefix:`custom/` **text** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -1060,7 +1060,7 @@ other custom computations.
:at:`data`: :at-val:`string, required`
Custom text to be copied into mjModel.
.. _tuple:
.. _custom-tuple:
:el-prefix:`custom/` **tuple** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -1071,7 +1071,7 @@ objects by name.
:at:`name`: :at-val:`string, required`
Name of the custom tuple.
.. _tupleelement:
.. _tuple-element:
:el-prefix:`custom/tuple/` **element** (*)
''''''''''''''''''''''''''''''''''''''''''
@@ -1095,12 +1095,12 @@ This is a grouping element for defining assets. It does not have attributes. Ass
they can be referenced from other model elements; recall the discussion of :ref:`Assets <Assets>` in the Overview
chapter.
.. _texture:
.. _asset-texture:
:el-prefix:`asset/` **texture** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element creates a texture asset, which is then referenced from a :ref:`material <material>` asset, which is
| This element creates a texture asset, which is then referenced from a :ref:`material <asset-material>` asset, which is
finally referenced from a model element that needs to be textured. MuJoCo provides access to the texture mapping
mechanism in OpenGL. Texture coordinates are generated automatically in GL_OBJECT_PLANE mode, using either 2D or cube
mapping. MIP maps are always enabled in GL_LINEAR_MIPMAP_LINEAR mode. The texture color is combined with the object
@@ -1127,7 +1127,7 @@ chapter.
remaining attributes are relevant. The keywords have the following meaning:
The **cube** type is the most common. It has the effect of shrink-wrapping a texture cube over an object. Apart from
the adjustment provided by the texuniform attribute of :ref:`material <material>`, the process is automatic.
the adjustment provided by the texuniform attribute of :ref:`material <asset-material>`, the process is automatic.
Internally the GPU constructs a ray from the center of the object to each pixel (or rather fragment), finds the
intersection of this ray with the cube surface (the cube and the object have the same center), and uses the
corresponding texture color. The six square images defining the cube can be the same or different; if they are the
@@ -1156,7 +1156,7 @@ chapter.
stretched. For planes this is not an issue because the plane is always normal to the local Z axis. For height fields
the sides enclosing the terrain map appear stretched, but in that case the effect is actually desirable. 2d textures
can be rectangular, unlike the sides of cube textures which must be square. The scaling can be controlled with the
texrepeat attribute of :ref:`material <material>`. The data can be loaded from a singlefile or created procedurally.
texrepeat attribute of :ref:`material <asset-material>`. The data can be loaded from a singlefile or created procedurally.
:at:`file`: :at-val:`string, optional`
If this attribute is specified, and the builtin attribute below is set to "none", the texture data is loaded from a
single file. See the texturedir attribute of :ref:`compiler <compiler>` regarding the file path.
@@ -1241,7 +1241,7 @@ chapter.
:at:`vflip`: :at-val:`[false, true], "false"`
If true, images loaded from file are flipped in the vertical direction. Does not affect procedural textures.
.. _hfield:
.. _asset-hfield:
:el-prefix:`asset/` **hfield** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -1316,14 +1316,14 @@ also known as terrain map, is a 2D matrix of elevation data. The data can be spe
as an asset with size = "1 1 1 0.1". The horizontal size of the box is 2, the difference between the maximum and
minimum elevation is 1, and the depth of the base added below the minimum elevation point is 0.1.
.. _mesh:
.. _asset-mesh:
:el-prefix:`asset/` **mesh** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a mesh asset, which can then be referenced from geoms. If the referencing geom type is
:at-val:`mesh` the mesh is instantiated in the model, otherwise a geometric primitive is automatically fitted to it; see
the :ref:`geom <geom>` element below.
the :ref:`geom <body-geom>` element below.
MuJoCo works with triangulated meshes. They can be loaded from binary STL files, OBJ files or MSH files with custom
format described below, or vertex and face data specified directly in the XML. Software such as MeshLab can be used to
@@ -1384,7 +1384,7 @@ whose origin is not inside the mesh. In contrast, MuJoCo expects the origin of a
geometric center of the shape. We resolve this discrepancy by pre-processing the mesh in the compiler, so that it is
centered around (0,0,0) and its principal axes of inertia are the coordinate axes. We also save the translation and
rotation offsets needed to achieve such alignment. These offsets are then applied to the referencing geom's position and
orientation; see also :at:`mesh` attribute of :ref:`geom <geom>` below. Fortunately most meshes used in robot models are
orientation; see also :at:`mesh` attribute of :ref:`geom <body-geom>` below. Fortunately most meshes used in robot models are
designed in a coordinate frame centered at the joint. This makes the corresponding MJCF model intuitive: we set the body
frame at the joint, so that the joint position is (0,0,0) in the body frame, and simply reference the mesh. Below is an
MJCF model fragment of a forearm, containing all the information needed to put the mesh where one would expect it to be.
@@ -1459,7 +1459,7 @@ The full list of processing steps applied by the compiler to each mesh is as fol
Reference orientation relative to which the 3D vertex coordinates and normals are defined. The conjugate of this
quaternion is used to rotate the positions and normals. The model compiler normalizes the quaternion automatically.
.. _skin:
.. _asset-skin:
:el-prefix:`asset/` **skin** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -1548,7 +1548,7 @@ be clear from the above specification.
only. This is not as flexible as the material mechanism, but is more convenient and is often sufficient. If the value
of this attribute is different from the internal default, it takes precedence over the material.
.. _skinbone:
.. _skin-bone:
:el-prefix:`asset/skin/` **bone** (*)
'''''''''''''''''''''''''''''''''''''
@@ -1571,13 +1571,13 @@ This element defines a bone of the skin. The bone is a regular MuJoCo body which
allowed (which is needed for cubic interpolation for example) however the sum of all bone weights for a given vertex
must be positive.
.. _material:
.. _asset-material:
:el-prefix:`asset/` **material** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a material asset. It can be referenced from :ref:`skins <skin>`, :ref:`geoms <geom>`, :ref:`sites
<site>` and :ref:`tendons <tendon>` to set their appearance. Note that all these elements also have a local rgba
This element creates a material asset. It can be referenced from :ref:`skins <asset-skin>`, :ref:`geoms <body-geom>`, :ref:`sites
<body-site>` and :ref:`tendons <tendon>` to set their appearance. Note that all these elements also have a local rgba
attribute, which is more convenient when only colors need to be adjusted, because it does not require creating materials
and referencing them. Materials are useful for adjusting appearance properties beyond color. However once a material is
created, it is more natural the specify the color using the material, so that all appearance properties are grouped
@@ -1591,7 +1591,7 @@ together.
If this attribute is specified, the material has a texture associated with it. Referencing the material from a model
element will cause the texture to be applied to that element. Note that the value of this attribute is the name of a
texture asset, not a texture file name. Textures cannot be loaded in the material definition; instead they must be
loaded explicitly via the :ref:`texture <texture>` element and then referenced here.
loaded explicitly via the :ref:`texture <asset-texture>` element and then referenced here.
:at:`texrepeat`: :at-val:`real(2), "1 1"`
This attribute applies to textures of type "2d". It specifies how many times the texture image is repeated, relative
to either the object size or the spatial unit, as determined by the next attribute.
@@ -1637,7 +1637,7 @@ together.
This element is used to construct the :ref:`kinematic tree <CTree>` via nesting. The element :el:`worldbody` is used for
the top-level body, while the element :el:`body` is used for all other bodies. The top-level body is a restricted type
of body: it cannot have child elements :ref:`inertial <inertial>` and :ref:`joint <joint>`, and also cannot have any
of body: it cannot have child elements :ref:`inertial <body-inertial>` and :ref:`joint <body-joint>`, and also cannot have any
attributes. It corresponds to the origin of the world frame, within which the rest of the kinematic tree is defined. Its
body name is automatically defined as "world".
@@ -1661,7 +1661,7 @@ body name is automatically defined as "world".
<CFrame>`. In local coordinates, if the body position is left undefined it defaults to (0,0,0). In global
coordinates, an undefined body position is inferred by the compiler through the following steps:
#. If the inertial frame is not defined via the :ref:`inertial <inertial>` element, it is inferred from the geoms
#. If the inertial frame is not defined via the :ref:`inertial <body-inertial>` element, it is inferred from the geoms
attached to the body. If there are no geoms, the inertial frame remains undefined. This step is applied in both
local and global coordinates.
#. If both the body frame and the inertial frame are undefined, a compile error is generated.
@@ -1683,7 +1683,7 @@ body name is automatically defined as "world".
:at:`user`: :at-val:`real(nbody_user), "0 0 ..."`
See :ref:`CUser`.
.. _inertial:
.. _body-inertial:
:el-prefix:`body/` **inertial** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -1714,7 +1714,7 @@ axes of inertia of the body. Thus the inertia matrix is diagonal in this frame.
frame orientation and diagonal inertia accordingly. If non-positive eigenvalues are encountered (i.e., if M is not
positive definite) a compile error is generated.
.. _joint:
.. _body-joint:
:el-prefix:`body/` **joint** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -1827,7 +1827,7 @@ unit quaternions.
:at:`user`: :at-val:`real(njnt_user), "0 0 ..."`
See :ref:`CUser`.
.. _freejoint:
.. _body-freejoint:
:el-prefix:`body/` **freejoint** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -1839,7 +1839,7 @@ an XML shortcut for
<joint type="free" stiffness="0" damping="0" frictionloss="0" armature="0"/>
While this joint can evidently be created with the :ref:`joint <joint>` element, default joint settings could affect it.
While this joint can evidently be created with the :ref:`joint <body-joint>` element, default joint settings could affect it.
This is usually undesirable as physical free bodies do not have nonzero stiffness, damping, friction or armature. To
avoid this complication, the :el:`freejoint` element was introduced, ensuring joint defaults are *not inherited*. If
the XML model is saved, it will appear as a regular joint of type :at:`free`.
@@ -1850,7 +1850,7 @@ the XML model is saved, it will appear as a regular joint of type :at:`free`.
Integer group to which the joint belongs. This attribute can be used for custom tags. It is also used by the
visualizer to enable and disable the rendering of entire groups of joints.
.. _geom:
.. _body-geom:
:el-prefix:`body/` **geom** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -1858,7 +1858,7 @@ the XML model is saved, it will appear as a regular joint of type :at:`free`.
This element creates a geom, and attaches it rigidly to the body within which the geom is defined. Multiple geoms can
be attached to the same body. At runtime they determine the appearance and collision properties of the body. At
compile time they can also determine the inertial properties of the body, depending on the presence of the
:ref:`inertial <inertial>` element and the setting of the inertiafromgeom attribute of :ref:`compiler <compiler>`.
:ref:`inertial <body-inertial>` element and the setting of the inertiafromgeom attribute of :ref:`compiler <compiler>`.
This is done by summing the masses and inertias of all geoms attached to the body with geom group in the range
specified by the inertiagrouprange attribute of :ref:`compiler <compiler>`. The geom masses and inertias are computed
using the geom shape, a specified density or a geom mass which implies a density, and the assumption of uniform
@@ -1889,13 +1889,13 @@ helps clarify the role of bodies and geoms in MuJoCo.
plane (textures should be used for that purpose). Instead their role is to improve lighting and shadows, similar to
the subdivisions used to render boxes. When planes are viewed from the back, the are automatically made
semi-transparent. Planes and the +Z faces of boxes are the only surfaces that can show reflections, if the
:ref:`material <material>` applied to the geom has positive reflection. To render an infinite plane, set the first
:ref:`material <asset-material>` applied to the geom has positive reflection. To render an infinite plane, set the first
two size parameters to zero.
The **hfield** type defines a height field geom. The geom must reference the desired height field asset with the
hfield attribute below. The position and orientation of the geom set the position and orientation of the height
field. The size of the geom is ignored, and the size parameters of the height field asset are used instead. See the
description of the :ref:`hfield <hfield>` element. Similar to planes, height field geoms can only be attached to the
description of the :ref:`hfield <asset-hfield>` element. Similar to planes, height field geoms can only be attached to the
world body or to static children of the world.
The **sphere** type defines a sphere. This and the next four types correspond to built-in geometric primitives. These
@@ -1903,7 +1903,7 @@ helps clarify the role of bodies and geoms in MuJoCo.
pair-wise collision routines. Models including only planes, spheres, capsules and boxes are the most efficient in
terms of collision detection. Other geom types invoke the general-purpose convex collider. The sphere is centered at
the geom's position. Only one size parameter is used, specifying the radius of the sphere. Rendering of geometric
primitives is done with automatically generated meshes whose density can be adjusted via :ref:`quality <quality>`.
primitives is done with automatically generated meshes whose density can be adjusted via :ref:`quality <visual-quality>`.
The sphere mesh is triangulated along the lines of latitude and longitude, with the Z axis passing through the north
and south pole. This can be useful in wireframe mode for visualizing frame orientation.
@@ -1934,7 +1934,7 @@ helps clarify the role of bodies and geoms in MuJoCo.
is determined by the mesh asset and the geom size parameters are ignored. Unlike all other geoms, the position and
orientation of mesh geoms after compilation do not equal the settings of the corresponding attributes here. Instead
they are offset by the translation and rotation that were needed to center and align the mesh asset in its own
coordinate frame. Recall the discussion of centering and alignment in the :ref:`mesh <mesh>` element.
coordinate frame. Recall the discussion of centering and alignment in the :ref:`mesh <asset-mesh>` element.
:at:`contype`: :at-val:`int, "1"`
This attribute and the next specify 32-bit integer bitmasks used for contact filtering of dynamically generated
contact pairs. See :ref:`Collision` in the Computation chapter. Two geoms can collide if the contype of one geom
@@ -2102,13 +2102,13 @@ helps clarify the role of bodies and geoms in MuJoCo.
:at:`user`: :at-val:`real(nuser_geom), "0 0 ..."`
See :ref:`CUser`.
.. _site:
.. _body-site:
:el-prefix:`body/` **site** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a site, which is a simplified and restricted kind of geom. A small subset of the geom attributes
are available here; see the :ref:`geom <geom>` element for their detailed documentation. Semantically sites represent
are available here; see the :ref:`geom <body-geom>` element for their detailed documentation. Semantically sites represent
locations of interest relative to the body frames. Sites do not participate in collisions and computation of body masses
and inertias. The geometric shapes that can be used to render sites are limited to a subset of the available geom types.
However sites can be used in some places where geoms are not allowed: mounting sensors, specifying via-points of spatial
@@ -2146,7 +2146,7 @@ tendons, constructing slider-crank transmissions for actuators.
:at:`user`: :at-val:`real(nuser_site), "0 0 ..."`
See :ref:`CUser`.
.. _camera:
.. _body-camera:
:el-prefix:`body/` **camera** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -2197,7 +2197,7 @@ and the +Y axis points up. Thus the frame position and orientation are the key a
:at:`user`: :at-val:`real(nuser_cam), "0 0 ..."`
See :ref:`CUser`.
.. _light:
.. _body-light:
:el-prefix:`body/` **light** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -2214,11 +2214,11 @@ the direction specified by the dir attribute. It does not have a full spatial fr
:at:`class`: :at-val:`string, optional`
Defaults class for setting unspecified attributes.
:at:`mode`: :at-val:`[fixed, track, trackcom, targetbody, targetbodycom], "fixed"`
This is identical to the mode attribute of :ref:`camera <camera>` above. It specifies the how the light position and
This is identical to the mode attribute of :ref:`camera <body-camera>` above. It specifies the how the light position and
orientation in world coordinates are computed in forward kinematics (which in turn determine what the light
illuminates).
:at:`target`: :at-val:`string, optional`
This is identical to the target attribute of :ref:`camera <camera>` above. It specifies which body should be targeted
This is identical to the target attribute of :ref:`camera <body-camera>` above. It specifies which body should be targeted
in "targetbody" and "targetbodycom" modes.
:at:`directional`: :at-val:`[false, true], "false"`
The light is directional if this attribute is "true", otherwise it is a spotlight.
@@ -2226,11 +2226,11 @@ the direction specified by the dir attribute. It does not have a full spatial fr
If this attribute is "true" the light will cast shadows. More precisely, the geoms illuminated by the light will cast
shadows, however this is a property of lights rather than geoms. Since each shadow-casting light causes one extra
rendering pass through all geoms, this attribute should be used with caution. Higher quality of the shadows is
achieved by increasing the value of the shadowsize attribute of :ref:`quality <quality>`, as well as positioning
achieved by increasing the value of the shadowsize attribute of :ref:`quality <visual-quality>`, as well as positioning
spotlights closer to the surface on which shadows appear, and limiting the volume in which shadows are cast. For
spotlights this volume is a cone, whose angle is the cutoff attribute below multiplied by the shadowscale attribute
of :ref:`map <map>`. For directional lights this volume is a box, whose half-sizes in the directions orthogonal to
the light are the model extent multiplied by the shadowclip attribute of :ref:`map <map>`. The model extent is
of :ref:`map <visual-map>`. For directional lights this volume is a box, whose half-sizes in the directions orthogonal to
the light are the model extent multiplied by the shadowclip attribute of :ref:`map <visual-map>`. The model extent is
computed by the compiler but can also be overridden by specifying the extent attribute of :ref:`statistic
<statistic>`. Internally the shadow-mapping mechanism renders the scene from the light viewpoint (as if it were a
camera) into a depth texture, and then renders again from the camera viewpoint, using the depth texture to create
@@ -2258,7 +2258,7 @@ the direction specified by the dir attribute. It does not have a full spatial fr
:at:`specular`: :at-val:`real(3), "0.3 0.3 0.3"`
The specular color of the light.
.. _composite:
.. _body-composite:
:el-prefix:`body/` **composite** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -2400,7 +2400,7 @@ joints should be created, as well as to adjust the attributes of both automatic
:at:`solreflimit`, :at:`solimplimit`, :at:`frictionloss`, :at:`solreffriction`, :at:`solimpfriction`
|body/composite/joint attrib list|
Same meaning as regular :ref:`joint <joint>` attributes.
Same meaning as regular :ref:`joint <body-joint>` attributes.
.. _composite-tendon:
@@ -2449,7 +2449,7 @@ joints and tendons have different sets of attributes, while all geoms in the com
:at:`gap`
|body/composite/geom attrib list|
Same meaning as regular :ref:`geom <geom>` attributes.
Same meaning as regular :ref:`geom <body-geom>` attributes.
.. _composite-site:
@@ -2459,7 +2459,7 @@ joints and tendons have different sets of attributes, while all geoms in the com
This sub-element adjusts the attributes of the sites in the composite object. Otherwise it is the same as geom above.
:at:`group`, :at:`size`, :at:`material`, :at:`rgba`
Same meaning as regular :ref:`site <site>` attributes.
Same meaning as regular :ref:`site <body-site>` attributes.
.. _composite-skin:
@@ -2479,7 +2479,7 @@ automatically-generated skin.
is because skins with texture coordinates upload these coordinates to the GPU even if no texture is applied later. So
this attribute should be set to false in cases where no texture will be applied via the material attribute.
:at:`material`, :at:`rgba`
Same meaning as in :ref:`geom <geom>`.
Same meaning as in :ref:`geom <body-geom>`.
:at:`inflate`: :at-val:`real, "0"`
The default value of 0 means that the automatically-generated skin passes through the centers of the body elements
comprising the composite object. Positive values offset each skin vertex by the specified amount, in the direction
@@ -2518,7 +2518,7 @@ This is a grouping element and does not have any attributes. It groups elements
of candidate contact pairs for collision checking. :ref:`Collision` was described in detail in the Computation chapter,
thus the description here is brief.
.. _pair:
.. _contact-pair:
:el-prefix:`contact/` **pair** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -2556,7 +2556,7 @@ element.
constraint solver but are included in mjData.contact for the purpose of custom computations. When this value is
positive, geom distances between margin and margin-gap correspond to such inactive contacts.
.. _exclude:
.. _contact-exclude:
:el-prefix:`contact/` **exclude** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -2566,7 +2566,7 @@ which refer to geoms, this element refers to bodies. Experience has shown that e
bodies. The collision between any geom defined in the first body and any geom defined in the second body is excluded.
The exclusion rules defined here are applied only when the collision attribute of :ref:`option <option>` is set to "all"
or "dynamic". Setting this attribute to "predefined" disables the exclusion mechanism and the geom pairs defined with
the :ref:`pair <pair>` element above are checked for collisions.
the :ref:`pair <contact-pair>` element above are checked for collisions.
:at:`name`: :at-val:`string, optional`
Name of this exclude pair.
@@ -2706,7 +2706,7 @@ tendons, thus we document them only once under spatial tendons. Tendons can be u
spring, damping and dry friction forces, as well as attach actuators to them. When used in equality constraints, tendons
can also represent different forms of mechanical coupling.
.. _spatial:
.. _tendon-spatial:
:el-prefix:`tendon/` **spatial** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -2826,7 +2826,7 @@ illustrated the use of pulleys.
thus a single physical pulley is modeled with two MJCF pulleys. If no pulley elements are included in the tendon
path, the first and only branch has divisor value of 1.
.. _fixed:
.. _tendon-fixed:
:el-prefix:`tendon/` **fixed** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -2843,7 +2843,7 @@ as above.
:at:`damping`, :at:`user`
|tendon/fixed attrib list|
Same as in the :ref:`spatial <spatial>` element.
Same as in the :ref:`spatial <tendon-spatial>` element.
.. _fixed-joint:
@@ -2868,7 +2868,7 @@ This is a grouping element for actuator definitions. Recall the discussion of Mu
chapter. The first 13 attributes of all actuator-related elements below are the same, so we document them only once,
under the :el:`general` actuator.
.. _general:
.. _actuator-general:
:el-prefix:`actuator/` **general** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -2966,7 +2966,7 @@ specify them independently.
This transmission can apply linear forces at contact points in the direction of the contact normal. The set of
contacts is all those belonging to the specified :at:`body`. This can be used to model natural active adhesion
mechanisms like the feet of geckos and insects. The actuator length is again defined as zero. For more information,
see the :ref:`adhesion<adhesion>` shortcut below.
see the :ref:`adhesion<actuator-adhesion>` shortcut below.
:at:`tendon`: :at-val:`string, optional`
If specified, the actuator acts on the given tendon. The actuator length equals the tendon length times the gear
ratio. Both spatial and fixed tendons can be used.
@@ -3023,18 +3023,18 @@ specify them independently.
Activation dynamics parameters. The built-in activation types (except for muscle) use only the first parameter, but
we provide additional parameters in case user callbacks implement a more elaborate model. The length of this array is
not enforced by the parser, so the user can enter as many parameters as needed. These defaults are not compatible
with muscle actuators; see :ref:`muscle <muscle>` below.
with muscle actuators; see :ref:`muscle <actuator-muscle>` below.
:at:`gainprm`: :at-val:`real(10), "1 0 ... 0"`
Gain parameters. The built-in gain types (except for muscle) use only the first parameter, but we provide additional
parameters in case user callbacks implement a more elaborate model. The length of this array is not enforced by the
parser, so the user can enter as many parameters as needed. These defaults are not compatible with muscle actuators;
see :ref:`muscle <muscle>` below.
see :ref:`muscle <actuator-muscle>` below.
:at:`biasprm`: :at-val:`real(10), "0 ... 0"`
Bias parameters. The affine bias type uses three parameters. The length of this array is not enforced by the parser,
so the user can enter as many parameters as needed. These defaults are not compatible with muscle actuators; see
:ref:`muscle <muscle>` below.
:ref:`muscle <actuator-muscle>` below.
.. _motor:
.. _actuator-motor:
:el-prefix:`actuator/` **motor** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -3065,9 +3065,9 @@ This element does not have custom attributes. It only has common attributes, whi
:at:`slidersite`, :at:`site`, :at:`user`
|actuator/motor attrib list|
Same as in actuator/ :ref:`general <general>`.
Same as in actuator/ :ref:`general <actuator-general>`.
.. _position:
.. _actuator-position:
:el-prefix:`actuator/` **position** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -3091,11 +3091,11 @@ This element has one custom attribute in addition to the common attributes:
:at:`slidersite`, :at:`site`, :at:`user`
|actuator/position attrib list|
Same as in actuator/ :ref:`general <general>`.
Same as in actuator/ :ref:`general <actuator-general>`.
:at:`kp`: :at-val:`real, "1"`
Position feedback gain.
.. _velocity:
.. _actuator-velocity:
:el-prefix:`actuator/` **velocity** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -3120,11 +3120,11 @@ This element has one custom attribute in addition to the common attributes:
:at:`slidersite`, :at:`site`, :at:`user`
|actuator/velocity attrib list|
Same as in actuator/ :ref:`general <general>`.
Same as in actuator/ :ref:`general <actuator-general>`.
:at:`kv`: :at-val:`real, "1"`
Velocity feedback gain.
.. _intvelocity:
.. _actuator-intvelocity:
:el-prefix:`actuator/` **intvelocity** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -3150,11 +3150,11 @@ This element has one custom attribute in addition to the common attributes:
:at:`slidersite`, :at:`site`, :at:`user`
|actuator/intvelocity attrib list|
Same as in actuator/ :ref:`general <general>`.
Same as in actuator/ :ref:`general <actuator-general>`.
:at:`kp`: :at-val:`real, "1"`
Position feedback gain.
.. _damper:
.. _actuator-damper:
:el-prefix:`actuator/` **damper** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -3180,11 +3180,11 @@ This element has one custom attribute in addition to the common attributes:
:at:`jointinparent`, :at:`tendon`, :at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`user`
|actuator/damper attrib list|
Same as in actuator/ :ref:`general <general>`.
Same as in actuator/ :ref:`general <actuator-general>`.
:at:`kv`: :at-val:`real, "1"`
Velocity feedback gain.
.. _cylinder:
.. _actuator-cylinder:
:el-prefix:`actuator/` **cylinder** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -3209,7 +3209,7 @@ This element has four custom attributes in addition to the common attributes:
:at:`slidersite`, :at:`site`, :at:`user`
|actuator/cylinder attrib list|
Same as in actuator/ :ref:`general <general>`.
Same as in actuator/ :ref:`general <actuator-general>`.
:at:`timeconst`: :at-val:`real, "1"`
Time constant of the activation dynamics.
:at:`area`: :at-val:`real, "1"`
@@ -3219,7 +3219,7 @@ This element has four custom attributes in addition to the common attributes:
:at:`bias`: :at-val:`real(3), "0 0 0"`
Bias parameters, copied internally into biasprm.
.. _muscle:
.. _actuator-muscle:
:el-prefix:`actuator/` **muscle** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -3244,7 +3244,7 @@ This element has nine custom attributes in addition to the common attributes:
:at:`slidersite`, :at:`user`
|actuator/muscle attrib list|
Same as in actuator/ :ref:`general <general>`.
Same as in actuator/ :ref:`general <actuator-general>`.
:at:`timeconst`: :at-val:`real(2), "0.01 0.04"`
Time constants for activation and de-activation dynamics.
:at:`range`: :at-val:`real(2), "0.75 1.05"`
@@ -3268,7 +3268,7 @@ This element has nine custom attributes in addition to the common attributes:
:at:`fvmax`: :at-val:`real, "1.2"`
Active force generated at saturating lengthening velocity, relative to the peak rest force.
.. _adhesion:
.. _actuator-adhesion:
:el-prefix:`actuator/` **adhesion** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -3305,7 +3305,7 @@ This element has a subset of the common attributes and two custom attributes.
:at:`forcelimited`, :at:`ctrlrange`, :at:`forcerange`, :at:`user`
|actuator/adhesion attrib list|
Same as in actuator/ :ref:`general <general>`.
Same as in actuator/ :ref:`general <actuator-general>`.
:at:`body`: :at-val:`string, required`
The actuator acts on all contacts involving this body's geoms.
:at:`gain`: :at-val:`real, "1"`
@@ -3909,7 +3909,7 @@ mjModel.qpos0.
The user can also set keyframe data in mjModel at runtime; this data will then appear in the saved MJCF model. Note that
in :ref:`simulate.cc <saSimulate>` the simulation state can be copied into a selected keyframe and vice versa.
.. _key:
.. _keyframe-key:
:el-prefix:`keyframe/` **key** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^