chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Standardise tags of MJCF elements in XMLreference.rst

Browse Source 
PiperOrigin-RevId: 479541059
Change-Id: I98cb7933469f7010870d04608fbb931539769c2e
This commit is contained in:
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
Download Patch File Download Diff File Expand all files Collapse all files
doc/overview.rst
+3 -3
View File
@@ -483,7 +483,7 @@ Reference pose
of the joints when the model is in its initial configuration. In our earlier example the elbow was created in a bent
configuration at 90° angle. But MuJoCo does not know what an elbow is, and so by default it treats this joint
configuration as having numeric value of 0. We can override the default behavior and specify that the initial
configuration corresponds to 90°, using the ref attribute of :ref:`joint <joint>`. The reference values of all joints
configuration corresponds to 90°, using the ref attribute of :ref:`joint <body-joint>`. The reference values of all joints
are assembled into the vector ``mjModel.qpos0``. Whenever the simulation is reset, the joint configuration
``mjData.qpos`` is set to ``mjModel.qpos0``. At runtime the joint position vector is interpreted relative to the
reference pose. In particular, the amount of spatial transformation applied by the joints is ``mjData.qpos -
@@ -625,7 +625,7 @@ That said, users are encouraged to use MKS, as there are two places where MuJoCo
- The default value of :ref:`gravity<option>` is (0, 0, -9.81), which corresponds to Earth surface gravity in MKS.
Note that this does not really define system of units to be MKS, since we might be using CGS on
`Enceladus <https://en.wikipedia.org/wiki/Enceladus>`__.
- The default value of :ref:`geom density<geom>` (used to infer body masses and inertias) is 1000, which corresponds to
- The default value of :ref:`geom density<body-geom>` (used to infer body masses and inertias) is 1000, which corresponds to
the density of water in MKS.
Once a consistent system of basic units (length, mass, time) is chosen, all derived units correspond to this system, as
@@ -660,7 +660,7 @@ easy ways to avoid this problem:
:ref:`fluid viscosity<option>` in order to prevent your model from moving around too much.
2. Use :ref:`collision filtering<Collision>` to explicitly disable the unwanted collisions, either by setting the
relevant :at:`contype` and :at:`conaffinity` attributes, or by using a contact :ref:`exclude <exclude>` directive.
relevant :at:`contype` and :at:`conaffinity` attributes, or by using a contact :ref:`exclude <contact-exclude>` directive.
.. _NotObject: