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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
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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 | 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: 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. 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 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 - 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. 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 - 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 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 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. any effect. The settings here are global and apply to the entire model.
:at:`autolimits`: :at-val:`[false, true], "false"` :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 "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. 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 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 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. attribute to "radian" internally, regardless of the XML setting.
:at:`fitaabb`: :at-val:`[false, true], "false"` :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 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 it uses the equivalent-inertia box of the mesh. The type of geometric primitive used for fitting is specified
separately for each geom. 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 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 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 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. attributes to make the determination.
:at:`convexhull`: :at-val:`[false, true], "true"` :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 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"` :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 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 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 "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 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 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. meshes. If set to true, it is exact for any closed mesh geometry.
:at:`inertiagrouprange`: :at-val:`int(2), "0 5"` :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 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 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 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 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:`implicit` integrator.
:at:`o_margin`: :at-val:`real, "0"` :at:`o_margin`: :at-val:`real, "0"`
This attribute replaces the margin parameter of all active contact pairs when :ref:`Contact override <COverride>` is 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 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. gap parameter does not have a global override.
:at:`o_solref`, :at:`o_solimp` :at:`o_solref`, :at:`o_solimp`
@@ -377,7 +377,7 @@ adjust it properly through the XML.
the Implicit-in-velocity Euler method. the Implicit-in-velocity Euler method.
:at:`collision`: :at-val:`[all, predefined, dynamic], "all"` :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 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 that only the contact pairs generated dynamically are checked. "all" means that the contact pairs from both sources
are checked. are checked.
:at:`cone`: :at-val:`[pyramidal, elliptic], "pyramidal"` :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 The size of the field mjData.userdata of mjData. This field should be used to store custom dynamic variables. See
also :ref:`CUser`. also :ref:`CUser`.
:at:`nkey`: :at-val:`int, "0"` :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 below. Note that the interactive simulator has the ability to take snapshots of the system state and save them as key
frames. frames.
:at:`nuser_body`: :at-val:`int, "-1"` :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 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. 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"` :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"` :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"` :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"` :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"` :at:`nuser_tendon`: :at-val:`int, "-1"`
The number of custom user parameters added to the definition of each :ref:`tendon <tendon>`. The number of custom user parameters added to the definition of each :ref:`tendon <tendon>`.
:at:`nuser_actuator`: :at-val:`int, "-1"` :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 | 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. coordinated visual settings corresponding to a "theme", and then include this file in multiple models.
.. _global: .. _visual-global:
:el-prefix:`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 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 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 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"` :at:`ipd`: :at-val:`real, "0.068"`
This attribute specifies the inter-pupilary distance of the free camera. It only affects the rendering in 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. 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"` :at:`offheight`: :at-val:`int, "480"`
This attribute specifies the height in pixels of the OpenGL off-screen rendering buffer. This attribute specifies the height in pixels of the OpenGL off-screen rendering buffer.
.. _quality: .. _visual-quality:
:el-prefix:`visual/` **quality** (?) :el-prefix:`visual/` **quality** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -611,7 +611,7 @@ should somehow be simplified.
:at:`shadowsize`: :at-val:`int, "4096"` :at:`shadowsize`: :at-val:`int, "4096"`
This attribute specifies the size of the square texture used for shadow mapping. Higher values result is smoother 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 settings should be adjusted jointly. The default here is somewhat conservative. Most modern GPUs are able to handle
significantly larger textures without slowing down. significantly larger textures without slowing down.
:at:`offsamples`: :at-val:`int, "4"` :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 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). larger values because we use per-vertex illumination (as opposed to per-fragment).
.. _headlight: .. _visual-headlight:
:el-prefix:`visual/` **headlight** (?) :el-prefix:`visual/` **headlight** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -654,7 +654,7 @@ to be reduced.
:at:`active`: :at-val:`int, "1"` :at:`active`: :at-val:`int, "1"`
This attribute enables and disables the headlight. A value of 0 means disabled, any other value means enabled. 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** (?) :el-prefix:`visual/` **map** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -709,7 +709,7 @@ miscellaneous.
:at:`actuatortendon`: :at-val:`real, "2"` :at:`actuatortendon`: :at-val:`real, "2"`
Ratio of actuator width to tendon width for rendering of actuators attached to tendons. Ratio of actuator width to tendon width for rendering of actuators attached to tendons.
.. _scale: .. _visual-scale:
:el-prefix:`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 The radius of the capsules used to render slider-crank mechanisms. The second part of the mechanism is automatically
scaled relative to this setting. scaled relative to this setting.
.. _rgba: .. _visual-rgba:
:el-prefix:`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"` :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 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"` :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 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 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. runtime this value scales the solver cost and gradient used for early termination.
:at:`meansize`: :at-val:`real, optional` :at:`meansize`: :at-val:`real, optional`
If this attribute is specified, it replaces the value of ``mjModel.stat.meansize`` computed by the compiler. At 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 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 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 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. of the body equivalent inertia boxes.
:at:`extent`: :at-val:`real, optional` :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 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 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. 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` :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 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** (?) :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**. | The only mesh attribute available here is: **scale**.
.. _default-material: .. _default-material:
@@ -878,7 +878,7 @@ if omitted.
:el-prefix:`default/` **material** (?) :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. | All material attributes are available here except: name, class.
.. _default-joint: .. _default-joint:
@@ -886,7 +886,7 @@ if omitted.
:el-prefix:`default/` **joint** (?) :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. | All joint attributes are available here except: name, class.
.. _default-geom: .. _default-geom:
@@ -894,7 +894,7 @@ if omitted.
:el-prefix:`default/` **geom** (?) :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. | All geom attributes are available here except: name, class.
.. _default-site: .. _default-site:
@@ -902,7 +902,7 @@ if omitted.
:el-prefix:`default/` **site** (?) :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. | All site attributes are available here except: name, class.
.. _default-camera: .. _default-camera:
@@ -910,7 +910,7 @@ if omitted.
:el-prefix:`default/` **camera** (?) :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. | All camera attributes are available here except: name, class.
.. _default-light: .. _default-light:
@@ -918,7 +918,7 @@ if omitted.
:el-prefix:`default/` **light** (?) :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. | All light attributes are available here except: name, class.
.. _default-pair: .. _default-pair:
@@ -926,7 +926,7 @@ if omitted.
:el-prefix:`default/` **pair** (?) :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. | All pair attributes are available here except: name, class, geom1, geom2.
.. _default-equality: .. _default-equality:
@@ -953,7 +953,7 @@ if omitted.
:el-prefix:`default/` **general** (?) :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, | All general attributes are available here except: name, class, joint, jointinparent, site, tendon, slidersite,
cranksite. cranksite.
@@ -962,10 +962,10 @@ if omitted.
:el-prefix:`default/` **motor** (?) :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 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. 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. slidersite, cranksite.
.. _default-position: .. _default-position:
@@ -973,7 +973,7 @@ if omitted.
:el-prefix:`default/` **position** (?) :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. slidersite, cranksite.
.. _default-velocity: .. _default-velocity:
@@ -981,7 +981,7 @@ slidersite, cranksite.
:el-prefix:`default/` **velocity** (?) :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. slidersite, cranksite.
.. _default-intvelocity: .. _default-intvelocity:
@@ -989,7 +989,7 @@ slidersite, cranksite.
:el-prefix:`default/` **intvelocity** (?) :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. slidersite, cranksite.
.. _default-damper: .. _default-damper:
@@ -997,7 +997,7 @@ slidersite, cranksite.
:el-prefix:`default/` **damper** (?) :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. slidersite, cranksite.
.. _default-cylinder: .. _default-cylinder:
@@ -1005,7 +1005,7 @@ slidersite, cranksite.
:el-prefix:`default/` **cylinder** (?) :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. slidersite, cranksite.
.. _default-muscle: .. _default-muscle:
@@ -1013,13 +1013,13 @@ slidersite, cranksite.
:el-prefix:`default/` **muscle** (?) :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. slidersite, cranksite.
:el-prefix:`default/` **adhesion** (?) :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: .. _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. This is a grouping element for custom numeric and text elements. It does not have attributes.
.. _numeric: .. _custom-numeric:
:el-prefix:`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 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. only when the array size is omitted.
.. _text: .. _custom-text:
:el-prefix:`custom/` **text** (*) :el-prefix:`custom/` **text** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -1060,7 +1060,7 @@ other custom computations.
:at:`data`: :at-val:`string, required` :at:`data`: :at-val:`string, required`
Custom text to be copied into mjModel. Custom text to be copied into mjModel.
.. _tuple: .. _custom-tuple:
:el-prefix:`custom/` **tuple** (*) :el-prefix:`custom/` **tuple** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -1071,7 +1071,7 @@ objects by name.
:at:`name`: :at-val:`string, required` :at:`name`: :at-val:`string, required`
Name of the custom tuple. Name of the custom tuple.
.. _tupleelement: .. _tuple-element:
:el-prefix:`custom/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 they can be referenced from other model elements; recall the discussion of :ref:`Assets <Assets>` in the Overview
chapter. chapter.
.. _texture: .. _asset-texture:
:el-prefix:`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 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 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 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: 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 **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 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 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 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 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 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 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` :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 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. 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"` :at:`vflip`: :at-val:`[false, true], "false"`
If true, images loaded from file are flipped in the vertical direction. Does not affect procedural textures. If true, images loaded from file are flipped in the vertical direction. Does not affect procedural textures.
.. _hfield: .. _asset-hfield:
:el-prefix:`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 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. 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** (*) :el-prefix:`asset/` **mesh** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a mesh asset, which can then be referenced from geoms. If the referencing geom type is 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 :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 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 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 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 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 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 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 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. 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 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. quaternion is used to rotate the positions and normals. The model compiler normalizes the quaternion automatically.
.. _skin: .. _asset-skin:
:el-prefix:`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 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. of this attribute is different from the internal default, it takes precedence over the material.
.. _skinbone: .. _skin-bone:
:el-prefix:`asset/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 allowed (which is needed for cubic interpolation for example) however the sum of all bone weights for a given vertex
must be positive. must be positive.
.. _material: .. _asset-material:
:el-prefix:`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 This element creates a material asset. It can be referenced from :ref:`skins <asset-skin>`, :ref:`geoms <body-geom>`, :ref:`sites
<site>` and :ref:`tendons <tendon>` to set their appearance. Note that all these elements also have a local rgba <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 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 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 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 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 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 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"` :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 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. 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 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 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 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". 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 <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: 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 attached to the body. If there are no geoms, the inertial frame remains undefined. This step is applied in both
local and global coordinates. local and global coordinates.
#. If both the body frame and the inertial frame are undefined, a compile error is generated. #. 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 ..."` :at:`user`: :at-val:`real(nbody_user), "0 0 ..."`
See :ref:`CUser`. See :ref:`CUser`.
.. _inertial: .. _body-inertial:
:el-prefix:`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 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. positive definite) a compile error is generated.
.. _joint: .. _body-joint:
:el-prefix:`body/` **joint** (*) :el-prefix:`body/` **joint** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -1827,7 +1827,7 @@ unit quaternions.
:at:`user`: :at-val:`real(njnt_user), "0 0 ..."` :at:`user`: :at-val:`real(njnt_user), "0 0 ..."`
See :ref:`CUser`. See :ref:`CUser`.
.. _freejoint: .. _body-freejoint:
:el-prefix:`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"/> <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 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 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`. 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 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. visualizer to enable and disable the rendering of entire groups of joints.
.. _geom: .. _body-geom:
:el-prefix:`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 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 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 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 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 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 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 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 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 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. two size parameters to zero.
The **hfield** type defines a height field geom. The geom must reference the desired height field asset with the 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 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 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. 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 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 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 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 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 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. 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 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 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 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"` :at:`contype`: :at-val:`int, "1"`
This attribute and the next specify 32-bit integer bitmasks used for contact filtering of dynamically generated 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 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 ..."` :at:`user`: :at-val:`real(nuser_geom), "0 0 ..."`
See :ref:`CUser`. See :ref:`CUser`.
.. _site: .. _body-site:
:el-prefix:`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 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 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. 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 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 ..."` :at:`user`: :at-val:`real(nuser_site), "0 0 ..."`
See :ref:`CUser`. See :ref:`CUser`.
.. _camera: .. _body-camera:
:el-prefix:`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 ..."` :at:`user`: :at-val:`real(nuser_cam), "0 0 ..."`
See :ref:`CUser`. See :ref:`CUser`.
.. _light: .. _body-light:
:el-prefix:`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` :at:`class`: :at-val:`string, optional`
Defaults class for setting unspecified attributes. Defaults class for setting unspecified attributes.
:at:`mode`: :at-val:`[fixed, track, trackcom, targetbody, targetbodycom], "fixed"` :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 orientation in world coordinates are computed in forward kinematics (which in turn determine what the light
illuminates). illuminates).
:at:`target`: :at-val:`string, optional` :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. in "targetbody" and "targetbodycom" modes.
:at:`directional`: :at-val:`[false, true], "false"` :at:`directional`: :at-val:`[false, true], "false"`
The light is directional if this attribute is "true", otherwise it is a spotlight. 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 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 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 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 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 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 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 <map>`. The model extent is 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 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 <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 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"` :at:`specular`: :at-val:`real(3), "0.3 0.3 0.3"`
The specular color of the light. The specular color of the light.
.. _composite: .. _body-composite:
:el-prefix:`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` :at:`solreflimit`, :at:`solimplimit`, :at:`frictionloss`, :at:`solreffriction`, :at:`solimpfriction`
|body/composite/joint attrib list| |body/composite/joint attrib list|
Same meaning as regular :ref:`joint <joint>` attributes. Same meaning as regular :ref:`joint <body-joint>` attributes.
.. _composite-tendon: .. _composite-tendon:
@@ -2449,7 +2449,7 @@ joints and tendons have different sets of attributes, while all geoms in the com
:at:`gap` :at:`gap`
|body/composite/geom attrib list| |body/composite/geom attrib list|
Same meaning as regular :ref:`geom <geom>` attributes. Same meaning as regular :ref:`geom <body-geom>` attributes.
.. _composite-site: .. _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. 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` :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: .. _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 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. this attribute should be set to false in cases where no texture will be applied via the material attribute.
:at:`material`, :at:`rgba` :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"` :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 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 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, of candidate contact pairs for collision checking. :ref:`Collision` was described in detail in the Computation chapter,
thus the description here is brief. thus the description here is brief.
.. _pair: .. _contact-pair:
:el-prefix:`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 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. positive, geom distances between margin and margin-gap correspond to such inactive contacts.
.. _exclude: .. _contact-exclude:
:el-prefix:`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. 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" 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 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` :at:`name`: :at-val:`string, optional`
Name of this exclude pair. 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 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. can also represent different forms of mechanical coupling.
.. _spatial: .. _tendon-spatial:
:el-prefix:`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 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. path, the first and only branch has divisor value of 1.
.. _fixed: .. _tendon-fixed:
:el-prefix:`tendon/` **fixed** (*) :el-prefix:`tendon/` **fixed** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -2843,7 +2843,7 @@ as above.
:at:`damping`, :at:`user` :at:`damping`, :at:`user`
|tendon/fixed attrib list| |tendon/fixed attrib list|
Same as in the :ref:`spatial <spatial>` element. Same as in the :ref:`spatial <tendon-spatial>` element.
.. _fixed-joint: .. _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, 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. under the :el:`general` actuator.
.. _general: .. _actuator-general:
:el-prefix:`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 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 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, 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` :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 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. 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 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 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 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"` :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 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 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; 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"` :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, 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 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** (*) :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` :at:`slidersite`, :at:`site`, :at:`user`
|actuator/motor attrib list| |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** (*) :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` :at:`slidersite`, :at:`site`, :at:`user`
|actuator/position attrib list| |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"` :at:`kp`: :at-val:`real, "1"`
Position feedback gain. Position feedback gain.
.. _velocity: .. _actuator-velocity:
:el-prefix:`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` :at:`slidersite`, :at:`site`, :at:`user`
|actuator/velocity attrib list| |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"` :at:`kv`: :at-val:`real, "1"`
Velocity feedback gain. Velocity feedback gain.
.. _intvelocity: .. _actuator-intvelocity:
:el-prefix:`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` :at:`slidersite`, :at:`site`, :at:`user`
|actuator/intvelocity attrib list| |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"` :at:`kp`: :at-val:`real, "1"`
Position feedback gain. Position feedback gain.
.. _damper: .. _actuator-damper:
:el-prefix:`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` :at:`jointinparent`, :at:`tendon`, :at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`user`
|actuator/damper attrib list| |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"` :at:`kv`: :at-val:`real, "1"`
Velocity feedback gain. Velocity feedback gain.
.. _cylinder: .. _actuator-cylinder:
:el-prefix:`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` :at:`slidersite`, :at:`site`, :at:`user`
|actuator/cylinder attrib list| |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"` :at:`timeconst`: :at-val:`real, "1"`
Time constant of the activation dynamics. Time constant of the activation dynamics.
:at:`area`: :at-val:`real, "1"` :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"` :at:`bias`: :at-val:`real(3), "0 0 0"`
Bias parameters, copied internally into biasprm. Bias parameters, copied internally into biasprm.
.. _muscle: .. _actuator-muscle:
:el-prefix:`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` :at:`slidersite`, :at:`user`
|actuator/muscle attrib list| |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"` :at:`timeconst`: :at-val:`real(2), "0.01 0.04"`
Time constants for activation and de-activation dynamics. Time constants for activation and de-activation dynamics.
:at:`range`: :at-val:`real(2), "0.75 1.05"` :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"` :at:`fvmax`: :at-val:`real, "1.2"`
Active force generated at saturating lengthening velocity, relative to the peak rest force. Active force generated at saturating lengthening velocity, relative to the peak rest force.
.. _adhesion: .. _actuator-adhesion:
:el-prefix:`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` :at:`forcelimited`, :at:`ctrlrange`, :at:`forcerange`, :at:`user`
|actuator/adhesion attrib list| |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` :at:`body`: :at-val:`string, required`
The actuator acts on all contacts involving this body's geoms. The actuator acts on all contacts involving this body's geoms.
:at:`gain`: :at-val:`real, "1"` :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 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. 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** (*) :el-prefix:`keyframe/` **key** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
doc/changelog.rst
+14 -14
View File
@@ -81,7 +81,7 @@ General
:align: right :align: right
:height: 150px :height: 150px
1. Added :ref:`adhesion actuators<adhesion>` mimicking vacuum grippers and adhesive biomechanical appendages. 1. Added :ref:`adhesion actuators<actuator-adhesion>` mimicking vacuum grippers and adhesive biomechanical appendages.
#. Added related `example model <https://github.com/deepmind/mujoco/tree/main/model/adhesion>`_ and video: #. Added related `example model <https://github.com/deepmind/mujoco/tree/main/model/adhesion>`_ and video:
#. Added :ref:`mj_jacSubtreeCom` for computing the translational Jacobian of the center-of-mass of a subtree. #. Added :ref:`mj_jacSubtreeCom` for computing the translational Jacobian of the center-of-mass of a subtree.
#. Added :at:`torquescale` and :at:`anchor` attributes to :el:`weld` constraints. :at:`torquescale` sets the #. Added :at:`torquescale` and :at:`anchor` attributes to :el:`weld` constraints. :at:`torquescale` sets the
@@ -98,7 +98,7 @@ General
:height: 150px :height: 150px
#. Cartesian 6D end-effector control is now possible by adding a reference site to actuators with :at:`site` #. Cartesian 6D end-effector control is now possible by adding a reference site to actuators with :at:`site`
transmission. See description of new :at:`refsite` attribute in the :ref:`actuator<general>` documentation and transmission. See description of new :at:`refsite` attribute in the :ref:`actuator<actuator-general>` documentation and
`refsite.xml <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/refsite.xml>`_ example model. `refsite.xml <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/refsite.xml>`_ example model.
#. Added :at:`autolimits` compiler option. If ``true``, joint and tendon :at:`limited` attributes and actuator #. Added :at:`autolimits` compiler option. If ``true``, joint and tendon :at:`limited` attributes and actuator
:at:`ctrllimited`, :at:`forcelimited` and :at:`actlimited` attributes will automatically be set to ``true`` if the :at:`ctrllimited`, :at:`forcelimited` and :at:`actlimited` attributes will automatically be set to ``true`` if the
@@ -125,8 +125,8 @@ General
#. Added catenary visualisation for hanging tendons. The model seen in the video can be found #. Added catenary visualisation for hanging tendons. The model seen in the video can be found
`here <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/catenary.xml>`_. `here <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/catenary.xml>`_.
#. Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global<global>`, defining the initial orientation of #. Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global<visual-global>`, defining the initial
the free camera at model load time. orientation of the free camera at model load time.
#. Added ``mjv_defaultFreeCamera`` which sets the default free camera, respecting the above attributes. #. Added ``mjv_defaultFreeCamera`` which sets the default free camera, respecting the above attributes.
#. ``simulate`` now supports taking a screenshot via a button in the File section or via ``Ctrl-P``. #. ``simulate`` now supports taking a screenshot via a button in the File section or via ``Ctrl-P``.
#. Improvements to time synchronisation in `simulate`, in particular report actual real-time factor if different from #. Improvements to time synchronisation in `simulate`, in particular report actual real-time factor if different from
@@ -162,8 +162,8 @@ General
#. Added visualisation groups to skins. #. Added visualisation groups to skins.
#. Added actuator visualisation for ``free`` and ``ball`` joints and for actuators with ``site`` transmission. #. Added actuator visualisation for ``free`` and ``ball`` joints and for actuators with ``site`` transmission.
#. Added visualisation for actuator activations. #. Added visualisation for actuator activations.
#. Added ``<intvelocity>`` actuator shortcut for "integrated velocity" actuators, documented :ref:`here <intvelocity>`. #. Added ``<actuator-intvelocity>`` actuator shortcut for "integrated velocity" actuators, documented :ref:`here <actuator-intvelocity>`.
#. Added ``<damper>`` actuator shortcut for active-damping actuators, documented :ref:`here <damper>`. #. Added ``<actuator-damper>`` actuator shortcut for active-damping actuators, documented :ref:`here <actuator-damper>`.
#. ``mju_rotVecMat`` and ``mju_rotVecMatT`` now support in-place multiplication. #. ``mju_rotVecMat`` and ``mju_rotVecMatT`` now support in-place multiplication.
#. ``mjData.ctrl`` values are no longer clamped in-place, remain untouched by the engine. #. ``mjData.ctrl`` values are no longer clamped in-place, remain untouched by the engine.
#. Arrays in mjData's buffer now align to 64-byte boundaries rather than 8-byte. #. Arrays in mjData's buffer now align to 64-byte boundaries rather than 8-byte.
@@ -231,9 +231,9 @@ General
#. Added ``implicit`` integrator. Using the analytic derivatives above, a new implicit-in-velocity integrator was added. #. Added ``implicit`` integrator. Using the analytic derivatives above, a new implicit-in-velocity integrator was added.
This integrator lies between the Euler and Runge Kutta integrators in terms of both stability and computational This integrator lies between the Euler and Runge Kutta integrators in terms of both stability and computational
cost. It is most useful for models which use fluid drag (e.g. for flying or swimming) and for models which use cost. It is most useful for models which use fluid drag (e.g. for flying or swimming) and for models which use
:ref:`velocity actuators<velocity>`. For more details, see the :ref:`Numerical Integration<geIntegration>` section. :ref:`velocity actuators<actuator-velocity>`. For more details, see the :ref:`Numerical Integration<geIntegration>` section.
#. Added :at:`actlimited` and :at:`actrange` attributes to :ref:`general actuators<general>`, for clamping actuator #. Added :at:`actlimited` and :at:`actrange` attributes to :ref:`general actuators<actuator-general>`, for clamping actuator
internal states (activations). This clamping is useful for integrated-velocity actuators, see the :ref:`Activation internal states (activations). This clamping is useful for integrated-velocity actuators, see the :ref:`Activation
clamping <CActRange>` section for details. clamping <CActRange>` section for details.
@@ -245,14 +245,14 @@ General
other open source projects. Developers are encouraged to include MuJoCo public headers in their own codebase via other open source projects. Developers are encouraged to include MuJoCo public headers in their own codebase via
``#include <mujoco/filename.h>``. ``#include <mujoco/filename.h>``.
#. The default shadow resolution specified by the :ref:`shadowsize<quality>` attribute was increased from 1024 to 4096. #. The default shadow resolution specified by the :ref:`shadowsize<visual-quality>` attribute was increased from 1024 to 4096.
#. Saved XMLs now use 2-space indents. #. Saved XMLs now use 2-space indents.
Bug fixes Bug fixes
^^^^^^^^^ ^^^^^^^^^
10. Antialiasing was disabled for segmentation rendering. Before this change, if the :ref:`offsamples<quality>` 10. Antialiasing was disabled for segmentation rendering. Before this change, if the :ref:`offsamples<visual-quality>`
attribute was greater than 0 (the default value is 4), pixels that overlapped with multiple geoms would receive attribute was greater than 0 (the default value is 4), pixels that overlapped with multiple geoms would receive
averaged segmentation IDs, leading to incorrect or non-existent IDs. After this change :at:`offsamples` is ignored averaged segmentation IDs, leading to incorrect or non-existent IDs. After this change :at:`offsamples` is ignored
during segmentation rendering. during segmentation rendering.
@@ -403,12 +403,12 @@ General
#. Increased the maximum number of lights in an :ref:`mjvScene` from 8 to 100. #. Increased the maximum number of lights in an :ref:`mjvScene` from 8 to 100.
#. Saved XML files only contain explicit :ref:`inertial <inertial>` elements if the original XML included them. Inertias #. Saved XML files only contain explicit :ref:`inertial <body-inertial>` elements if the original XML included them. Inertias
that were automatically inferred by the compiler's :ref:`inertiafromgeom <compiler>` mechanism remain unspecified. that were automatically inferred by the compiler's :ref:`inertiafromgeom <compiler>` mechanism remain unspecified.
#. User-selected geoms are always rendered as opaque. This is useful in interactive visualizers. #. User-selected geoms are always rendered as opaque. This is useful in interactive visualizers.
#. Static geoms now respect their :ref:`geom group<geom>` for visualisation. Until this change rendering of static geoms #. Static geoms now respect their :ref:`geom group<body-geom>` for visualisation. Until this change rendering of static geoms
could only be toggled using the :ref:`mjVIS_STATIC<mjtVisFlag>` visualisation flag . After this change, both the geom could only be toggled using the :ref:`mjVIS_STATIC<mjtVisFlag>` visualisation flag . After this change, both the geom
group and the visualisation flag need to be enabled for the geom to be rendered. group and the visualisation flag need to be enabled for the geom to be rendered.
@@ -420,7 +420,7 @@ General
#. Experimental stateless fluid interaction model. As described :ref:`here <gePassive>`, fluid forces use sizes computed #. Experimental stateless fluid interaction model. As described :ref:`here <gePassive>`, fluid forces use sizes computed
from body inertia. While sometimes convenient, this is very rarely a good approximation. In the new model forces act from body inertia. While sometimes convenient, this is very rarely a good approximation. In the new model forces act
on geoms, rather than bodies, and have a several user-settable parameters. The model is activated by setting a new on geoms, rather than bodies, and have a several user-settable parameters. The model is activated by setting a new
attribute: ``<geom fluidshape="ellipsoid"/>``. The parameters are described succinctly :ref:`here<geom>`, but we attribute: ``<geom fluidshape="ellipsoid"/>``. The parameters are described succinctly :ref:`here<body-geom>`, but we
leave a full description or the model and its parameters to when this feature leaves experimental status. leave a full description or the model and its parameters to when this feature leaves experimental status.
Bug fixes Bug fixes
@@ -481,7 +481,7 @@ Bug Fixes
:ref:`weld <equality-weld>` constraints. :ref:`weld <equality-weld>` constraints.
.. note:: .. note::
Forces generated by :ref:`spatial tendons <spatial>` which are outside the kinematic tree (i.e., between bodies Forces generated by :ref:`spatial tendons <tendon-spatial>` which are outside the kinematic tree (i.e., between bodies
which have no ancestral relationship) are still not taken into account by force and torque sensors. This remains a which have no ancestral relationship) are still not taken into account by force and torque sensors. This remains a
future work item. future work item.
doc/computation.rst
+6 -6
View File
@@ -267,7 +267,7 @@ is attached; the possible attachment object types are :at:`joint`, :at:`tendon`,
:at:`slider-crank`, :at:`site`, and :at:`body`. :at:`slider-crank`, :at:`site`, and :at:`body`.
The :at:`joint` and :at:`tendon` transmission types act as expected and correspond to the actuator applying forces or The :at:`joint` and :at:`tendon` transmission types act as expected and correspond to the actuator applying forces or
torques to the target object. Ball joints are special, see the :at:`joint` documentation in :ref:`actuator<general>` torques to the target object. Ball joints are special, see the :at:`joint` documentation in :ref:`actuator<actuator-general>`
reference for more details. reference for more details.
The :at:`jointinparent` transmission is unique to ball and free joint and asserts that rotation should be measured The :at:`jointinparent` transmission is unique to ball and free joint and asserts that rotation should be measured
@@ -284,13 +284,13 @@ is attached; the possible attachment object types are :at:`joint`, :at:`tendon`,
forces. Site transmissions correspond to applying a Cartsian force/torque at the site, and are useful for modeling forces. Site transmissions correspond to applying a Cartsian force/torque at the site, and are useful for modeling
jets and propellors. :el:`body` transmissions correspond to applying forces at contact points belonging to a body, in jets and propellors. :el:`body` transmissions correspond to applying forces at contact points belonging to a body, in
order to model vacuum grippers and biomechanical adhesive appendages. For more information about adhesion, see the order to model vacuum grippers and biomechanical adhesive appendages. For more information about adhesion, see the
:ref:`adhesion<adhesion>` actuator documentation. :ref:`adhesion<actuator-adhesion>` actuator documentation.
If a :at:`site` transmission target is defined with the optional :at:`refsite` attribute, forces and torques are If a :at:`site` transmission target is defined with the optional :at:`refsite` attribute, forces and torques are
applied in the frame of the reference site rather than the the site's own frame. If a reference site is defined then applied in the frame of the reference site rather than the the site's own frame. If a reference site is defined then
the length of the actuator is nonzero and corresponds to the pose difference of the two sites. This length can then the length of the actuator is nonzero and corresponds to the pose difference of the two sites. This length can then
be controlled with a :el:`position` actuator, enabling Cartesian end-effector control. See the :at:`refsite` be controlled with a :el:`position` actuator, enabling Cartesian end-effector control. See the :at:`refsite`
documentation in :ref:`actuator<general>` reference for more details. documentation in :ref:`actuator<actuator-general>` reference for more details.
Activation dynamics Activation dynamics
Some actuators such as pneumatic and hydraulic cylinders as well as biological muscles have an internal state called Some actuators such as pneumatic and hydraulic cylinders as well as biological muscles have an internal state called
@@ -362,7 +362,7 @@ with MuJoCo's operation as long as such user forces depend only on position and
MuJoCo can compute two types of passive forces: spring-dampers in joints and tendons, and fluid dynamics. When Euler MuJoCo can compute two types of passive forces: spring-dampers in joints and tendons, and fluid dynamics. When Euler
integration is used, joint damping is integrated implicitly (by modifying the inertia matrix internally) which integration is used, joint damping is integrated implicitly (by modifying the inertia matrix internally) which
significantly increases stability. Thus, even though damping can be alternatively modeled as an actuator property, it is significantly increases stability. Thus, even though damping can be alternatively modeled as an actuator property, it is
better to model it as a joint property. Note also the XML :ref:`joint <joint>` attribute springdamper which automates better to model it as a joint property. Note also the XML :ref:`joint <body-joint>` attribute springdamper which automates
the creation of mass-spring-dampers with desired time constants and damping ratios; in that case the compiler computes the creation of mass-spring-dampers with desired time constants and damping ratios; in that case the compiler computes
the stiffness and damping coefficients of the joint by taking the joint inertia into account. the stiffness and damping coefficients of the joint by taking the joint inertia into account.
@@ -1395,7 +1395,7 @@ checked in detail. The decision process involves two stages: generation and filt
Generation Generation
First we generate a list of candidate geom pairs in one of two ways: "pair" or "dynamic". The user can also specify First we generate a list of candidate geom pairs in one of two ways: "pair" or "dynamic". The user can also specify
"all" which merges both sources (and is the default). This is done via the setting ``mjModel.opt.collision``. "Pair" "all" which merges both sources (and is the default). This is done via the setting ``mjModel.opt.collision``. "Pair"
refers to an explicit list of geom pairs defined with the :ref:`pair <pair>` element in MJCF. It gives the user full refers to an explicit list of geom pairs defined with the :ref:`pair <contact-pair>` element in MJCF. It gives the user full
control, however it is a static mechanism (independent of the spatial arrangement of the geoms at runtime) and can be control, however it is a static mechanism (independent of the spatial arrangement of the geoms at runtime) and can be
tedious for large models. It is normally used to supplement the output of the "dynamic" mechanism. Dynamic generation tedious for large models. It is normally used to supplement the output of the "dynamic" mechanism. Dynamic generation
works with bodies rather than geoms; when a body pair is included this means that all geoms attached to one body can works with bodies rather than geoms; when a body pair is included this means that all geoms attached to one body can
@@ -1404,7 +1404,7 @@ Generation
principal eigenvector of the covariance matrix of all geom centers - which maximizes the spread. If broad-phase principal eigenvector of the covariance matrix of all geom centers - which maximizes the spread. If broad-phase
collision detection is disabled by the user, all body pairs are included in this step. collision detection is disabled by the user, all body pairs are included in this step.
Finally, the user can explicitly exclude certain body pairs using the :ref:`exclude <exclude>` element Finally, the user can explicitly exclude certain body pairs using the :ref:`exclude <contact-exclude>` element
in MJCF. Exclusion is applied when "dynamic" or "all" are selected, but not when "pair" is selected. At the end of in MJCF. Exclusion is applied when "dynamic" or "all" are selected, but not when "pair" is selected. At the end of
this step we have a list of geoms pairs that is typically much smaller than :math:`n (n-1)/2`, but can still be this step we have a list of geoms pairs that is typically much smaller than :math:`n (n-1)/2`, but can still be
pruned further before detailed collision checking. pruned further before detailed collision checking.
doc/modeling.rst
+20 -20
View File
@@ -103,14 +103,14 @@ special and is called :el:`worldbody`. This tree organization is in contrast wit
links and then connects them with joints that specify a child and a parent link. In MJCF the child body is literally a links and then connects them with joints that specify a child and a parent link. In MJCF the child body is literally a
child of the parent body, in the sense of XML. child of the parent body, in the sense of XML.
When a :ref:`joint <joint>` is defined inside a body, its function is not to connect the parent and child but rather to When a :ref:`joint <body-joint>` is defined inside a body, its function is not to connect the parent and child but rather to
create motion degrees of freedom between them. If no joints are defined within a given body, that body is welded to its create motion degrees of freedom between them. If no joints are defined within a given body, that body is welded to its
parent. A body in MJCF can contain multiple joints, thus there is no need to introduce dummy bodies for creating parent. A body in MJCF can contain multiple joints, thus there is no need to introduce dummy bodies for creating
composite joints. Instead simply define all the primitive joints that form the desired composite joint within the same composite joints. Instead simply define all the primitive joints that form the desired composite joint within the same
body. For example, two sliders and one hinge can be used to model a body moving in a plane. body. For example, two sliders and one hinge can be used to model a body moving in a plane.
Other MJCF elements can be defined within the tree created by nested body elements, in particular :ref:`joint <joint>`, Other MJCF elements can be defined within the tree created by nested body elements, in particular :ref:`joint <body-joint>`,
:ref:`geom <geom>`, :ref:`site <site>`, :ref:`camera <camera>`, :ref:`light <light>`. When an element is defined within :ref:`geom <body-geom>`, :ref:`site <body-site>`, :ref:`camera <body-camera>`, :ref:`light <body-light>`. When an element is defined within
a body, it is fixed to the local frame of that body and always moves with it. Elements that refer to multiple bodies, or a body, it is fixed to the local frame of that body and always moves with it. Elements that refer to multiple bodies, or
do not refer to bodies at all, are defined in separate sections outside the kinematic tree. do not refer to bodies at all, are defined in separate sections outside the kinematic tree.
@@ -387,7 +387,7 @@ Contact parameters
The parameters of each contact were described in the :ref:`Contact <coContact>` section of the Computation The parameters of each contact were described in the :ref:`Contact <coContact>` section of the Computation
chapter. Here we explain how these parameters are set. If the geom pair is explicitly defined with the XML element chapter. Here we explain how these parameters are set. If the geom pair is explicitly defined with the XML element
:ref:`pair <pair>`, it has attributes specifying all contact parameters directly. In that case the :ref:`pair <contact-pair>`, it has attributes specifying all contact parameters directly. In that case the
parameters of the individual geoms are ignored. If on the other hand the contact is generated by the dynamic mechanism, parameters of the individual geoms are ignored. If on the other hand the contact is generated by the dynamic mechanism,
its parameters need to be inferred from the two geoms in the contact pair. If the two geoms have identical parameters its parameters need to be inferred from the two geoms in the contact pair. If the two geoms have identical parameters
there is nothing to do, but what if their parameters are different? In that case we use the geom attributes there is nothing to do, but what if their parameters are different? In that case we use the geom attributes
@@ -459,7 +459,7 @@ User parameters
A number of MJCF elements have the optional attribute :at:`user`, which defines a custom element-specific parameter A number of MJCF elements have the optional attribute :at:`user`, which defines a custom element-specific parameter
array. This interacts with the corresponding "nuser_XXX" attribute of the :ref:`size <size>` element. If for example we array. This interacts with the corresponding "nuser_XXX" attribute of the :ref:`size <size>` element. If for example we
set :at:`nuser_geom` to 5, then every geom in mjModel will have a custom array of 5 real-valued parameters. These geom- set :at:`nuser_geom` to 5, then every geom in mjModel will have a custom array of 5 real-valued parameters. These geom-
specific parameters are either defined in the MJCF file via the :at:`user` attribute of :ref:`geom <geom>`, or set to 0 specific parameters are either defined in the MJCF file via the :at:`user` attribute of :ref:`geom <body-geom>`, or set to 0
by the compiler if this attribute is omitted. The default value of all "nuser_XXX" attributes is -1, which instructs the by the compiler if this attribute is omitted. The default value of all "nuser_XXX" attributes is -1, which instructs the
compiler to automatically set this value to the length of the maximum associated :at:`user` attribute defined in the compiler to automatically set this value to the length of the maximum associated :at:`user` attribute defined in the
model. MuJoCo does not use these parameters in any internal computations; instead they are available for custom model. MuJoCo does not use these parameters in any internal computations; instead they are available for custom
@@ -468,7 +468,7 @@ nuser_XXX.
Some element-specific parameters that are normally used in internal computations can also be used in custom Some element-specific parameters that are normally used in internal computations can also be used in custom
computations. This is done by installing user callbacks which override parts of the simulation pipeline. For example, computations. This is done by installing user callbacks which override parts of the simulation pipeline. For example,
the :ref:`general <general>` actuator element has attributes :at:`dyntype` and :at:`dynprm`. If the :ref:`general <actuator-general>` actuator element has attributes :at:`dyntype` and :at:`dynprm`. If
:at:`dyntype` is set to "user", then MuJoCo will call :ref:`mjcb_act_dyn` to compute :at:`dyntype` is set to "user", then MuJoCo will call :ref:`mjcb_act_dyn` to compute
the actuator dynamics instead of calling its internal function. The user function pointed to by the actuator dynamics instead of calling its internal function. The user function pointed to by
:ref:`mjcb_act_dyn` can interpret the parameters defined in :at:`dynprm` however it :ref:`mjcb_act_dyn` can interpret the parameters defined in :at:`dynprm` however it
@@ -547,11 +547,11 @@ Actuator shortcuts
As explained in the :ref:`Actuation model <geActuation>` section of the Computation chapter, MuJoCo offers a flexible As explained in the :ref:`Actuation model <geActuation>` section of the Computation chapter, MuJoCo offers a flexible
actuator model with transmission, activation dynamics and force generation components that can be specified actuator model with transmission, activation dynamics and force generation components that can be specified
independently. The full functionality can be accessed via the XML element :ref:`general <general>` which allows the user independently. The full functionality can be accessed via the XML element :ref:`general <actuator-general>` which allows the user
to create a variety of custom actuators. In addition, MJCF provides shortcuts for configuring common actuators. This is to create a variety of custom actuators. In addition, MJCF provides shortcuts for configuring common actuators. This is
done via the XML elements :ref:`motor <motor>`, :ref:`position <position>`, :ref:`velocity <velocity>`, done via the XML elements :ref:`motor <actuator-motor>`, :ref:`position <actuator-position>`, :ref:`velocity <actuator-velocity>`,
:ref:`intvelocity <intvelocity>`, :ref:`damper<damper>`, :ref:`cylinder<cylinder>`, :ref:`muscle <muscle>`, and :ref:`intvelocity <actuator-intvelocity>`, :ref:`damper<actuator-damper>`, :ref:`cylinder<actuator-cylinder>`, :ref:`muscle <actuator-muscle>`, and
:ref:`adhesion <adhesion>`. These are *not* separate model elements. Internally MuJoCo supports only one actuator type - :ref:`adhesion <actuator-adhesion>`. These are *not* separate model elements. Internally MuJoCo supports only one actuator type -
which is why when an MJCF model is saved all actuators are written as :el:`general`. Shortcuts create general actuators which is why when an MJCF model is saved all actuators are written as :el:`general`. Shortcuts create general actuators
implicitly, set their attributes to suitable values, and expose a subset of attributes with possibly different names. implicitly, set their attributes to suitable values, and expose a subset of attributes with possibly different names.
For example, :el:`position` creates a position servo with attribute :at:`kp` which is the servo gain. However For example, :el:`position` creates a position servo with attribute :at:`kp` which is the servo gain. However
@@ -582,8 +582,8 @@ Activation clamping
As described in the :ref:`Actuation model <geActuation>` section of the Computation chapter, MuJoCo supports actuators As described in the :ref:`Actuation model <geActuation>` section of the Computation chapter, MuJoCo supports actuators
with internal dynamics whose states are called "activations". One useful application of these stateful actuators is the with internal dynamics whose states are called "activations". One useful application of these stateful actuators is the
"integrated-velocity" actuator, implemented by the :ref:`intvelocity<intvelocity>` shortcut. Different from the "integrated-velocity" actuator, implemented by the :ref:`intvelocity<actuator-intvelocity>` shortcut. Different from the
:ref:`pure velocity<velocity>` actuators, which implement direct feedback on transmission target's velocity, :ref:`pure velocity<actuator-velocity>` actuators, which implement direct feedback on transmission target's velocity,
*integrated-velocity* actuators couple an *integrator* with a *position-feedback* actuator. In this case the semantics *integrated-velocity* actuators couple an *integrator* with a *position-feedback* actuator. In this case the semantics
of the activation state are "the target of the position actuator", and the semantics of the control signal are "the of the activation state are "the target of the position actuator", and the semantics of the control signal are "the
velocity of the target of the position actuator". Note that in real robotic systems this integrated-velocity actuator is velocity of the target of the position actuator". Note that in real robotic systems this integrated-velocity actuator is
@@ -694,8 +694,8 @@ adjusting any parameters. Constructing a more detailed model will of course requ
in this section. in this section.
Keep in mind that even though the muscle model is quite elaborate, it is still a type of MuJoCo actuator and obeys the Keep in mind that even though the muscle model is quite elaborate, it is still a type of MuJoCo actuator and obeys the
same conventions as all other actuators. A muscle can be defined using :ref:`general <general>`, but same conventions as all other actuators. A muscle can be defined using :ref:`general <actuator-general>`, but
the shortcut :ref:`muscle <muscle>` is more convenient. As with all other actuators, the force the shortcut :ref:`muscle <actuator-muscle>` is more convenient. As with all other actuators, the force
production mechanism and the transmission are defined independently. Nevertheless, muscles only make (bio)physical production mechanism and the transmission are defined independently. Nevertheless, muscles only make (bio)physical
sense when attached to tendon or joint transmissions. For concreteness we will assume a tendon transmission here. sense when attached to tendon or joint transmissions. For concreteness we will assume a tendon transmission here.
@@ -757,7 +757,7 @@ muscle-specific constant :math:`F_0` to obtain the actual force:
The negative sign is because positive muscle activation generates pulling force. The constant :math:`F_0` is the peak The negative sign is because positive muscle activation generates pulling force. The constant :math:`F_0` is the peak
active force at zero velocity. It is related to the muscle thickness (i.e., physiological cross-sectional area or PCSA). active force at zero velocity. It is related to the muscle thickness (i.e., physiological cross-sectional area or PCSA).
If known, it can be set with the attribute force of element :ref:`muscle <muscle>`. If it is not known, we set it to If known, it can be set with the attribute force of element :ref:`muscle <actuator-muscle>`. If it is not known, we set it to
:math:`-1` which is the default. In that case we rely on the fact that larger muscles tend to act on joints that move :math:`-1` which is the default. In that case we rely on the fact that larger muscles tend to act on joints that move
more weight. The attribute scale defines this relationship as: more weight. The attribute scale defines this relationship as:
@@ -814,7 +814,7 @@ are two time constants specified with the attribute timeconst, namely :math:`\te
\tau_\text{deact} / (0.5 + 1.5\cdot\texttt{act}) & \texttt{ctrl} \leq \texttt{act} \tau_\text{deact} / (0.5 + 1.5\cdot\texttt{act}) & \texttt{ctrl} \leq \texttt{act}
\end{cases} \end{cases}
Now we summarize the attributes of element :ref:`muscle <muscle>` which users may want to adjust, Now we summarize the attributes of element :ref:`muscle <actuator-muscle>` which users may want to adjust,
depending on their familiarity with the biomechanics literature and availability of detailed measurements with regard depending on their familiarity with the biomechanics literature and availability of detailed measurements with regard
to a particular model: to a particular model:
@@ -842,7 +842,7 @@ lmin, lmax, vmax, fpmax, fvmax
change the :math:`\text{\small FLV}` parameters for all muscles, do so in the :ref:`default <default>` element. change the :math:`\text{\small FLV}` parameters for all muscles, do so in the :ref:`default <default>` element.
Custom model Custom model
Instead of adjusting the parameters of our muscle model, users can implement a different model, by setting gaintype, Instead of adjusting the parameters of our muscle model, users can implement a different model, by setting gaintype,
biastype and dyntype of a :ref:`general <general>` actuator to "user" and providing callbacks at biastype and dyntype of a :ref:`general <actuator-general>` actuator to "user" and providing callbacks at
runtime. Or, leave some of these types set to "muscle" and use our model, while replacing the other components. Note runtime. Or, leave some of these types set to "muscle" and use our model, while replacing the other components. Note
that tendon geometry computations are still handled by the standard MuJoCo pipeline providing actuator_length, that tendon geometry computations are still handled by the standard MuJoCo pipeline providing actuator_length,
actuator_velocity and actuator_lengthrange as inputs to the user's muscle model. Custom callbacks could then simulate actuator_velocity and actuator_lengthrange as inputs to the user's muscle model. Custom callbacks could then simulate
@@ -916,7 +916,7 @@ Composite objects were introduced in MuJoCo 2.0, along with solver optimizations
objects. They are not new model elements. Instead, they are (large) collections of existing elements designed to objects. They are not new model elements. Instead, they are (large) collections of existing elements designed to
simulate particle systems, ropes, cloth, and soft bodies. These collections are generated by the model compiler simulate particle systems, ropes, cloth, and soft bodies. These collections are generated by the model compiler
automatically. The user configures the automatic generator on a high level, using the new XML element automatically. The user configures the automatic generator on a high level, using the new XML element
:ref:`composite <composite>` and its attributes and sub-elements, as described in the XML reference :ref:`composite <body-composite>` and its attributes and sub-elements, as described in the XML reference
chapter. If the compiled model is then saved, :el:`composite` is no longer present and is replaced with the collection chapter. If the compiled model is then saved, :el:`composite` is no longer present and is replaced with the collection
of regular model elements that were automatically generated. So think of it as a macro that gets expanded by the model of regular model elements that were automatically generated. So think of it as a macro that gets expanded by the model
compiler. compiler.
@@ -935,7 +935,7 @@ of these equality constraints can be adjusted by the user, thereby adjusting the
composite objects. composite objects.
In addition to setting up the physics, the composite object generator creates suitable rendering. 2D and 3D objects In addition to setting up the physics, the composite object generator creates suitable rendering. 2D and 3D objects
can be rendered as :ref:`skins <skin>` which are also new in MuJoCo 2.0. The skin is generated can be rendered as :ref:`skins <asset-skin>` which are also new in MuJoCo 2.0. The skin is generated
automatically, and can be textured as well as subdivided using bi-cubic interpolation. The actual physics and in automatically, and can be textured as well as subdivided using bi-cubic interpolation. The actual physics and in
particular the collision detection are based on the element bodies and their geoms, while the skin is purely a particular the collision detection are based on the element bodies and their geoms, while the skin is purely a
visualization object. Yet in most situations we prefer to look at the skin representation. To facilitate this, the visualization object. Yet in most situations we prefer to look at the skin representation. To facilitate this, the
@@ -948,7 +948,7 @@ addition to geoms).
We have designed the composite object generator to have intuitive high-level controls as much as possible, but at the We have designed the composite object generator to have intuitive high-level controls as much as possible, but at the
same time it exposes a large number of options that interact with each other and can profoundly affect the resulting same time it exposes a large number of options that interact with each other and can profoundly affect the resulting
physics. So at some point users should read the :ref:`reference documentation <composite>` carefully. physics. So at some point users should read the :ref:`reference documentation <body-composite>` carefully.
As a quick start though, MuJoCo 2.0 comes with an example of each composite object type. Below we go over these As a quick start though, MuJoCo 2.0 comes with an example of each composite object type. Below we go over these
examples and explain the less obvious aspects. In all examples we have a static scene which is included in the model, examples and explain the less obvious aspects. In all examples we have a static scene which is included in the model,
followed by a single composite object. The static scene has a mocap body (large capsule) that can be moved around with followed by a single composite object. The static scene has a mocap body (large capsule) that can be moved around with
doc/overview.rst
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@@ -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 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 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 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 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 ``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 - 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. - 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 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>`__. `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. 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 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. :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 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: .. _NotObject:
doc/programming.rst
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@@ -1381,7 +1381,7 @@ contiguous (note that one body can have multiple geoms attached to it), and the
that the first body acts as the major index and the second body as the minor index. Not all detected contacts are that the first body acts as the major index and the second body as the minor index. Not all detected contacts are
included in the contact force computation. When a contact is included, its mjContact.exclude field is 0, and its included in the contact force computation. When a contact is included, its mjContact.exclude field is 0, and its
mjContact.efc_address is the address in the list of active scalar constraints. Reasons for exclusion can be the mjContact.efc_address is the address in the list of active scalar constraints. Reasons for exclusion can be the
:at:`gap` attribute of :ref:`geom <geom>`, as well as certain kinds of internal processing that use virtual contacts :at:`gap` attribute of :ref:`geom <body-geom>`, as well as certain kinds of internal processing that use virtual contacts
for intermediate computations. for intermediate computations.
The list ``mjData.contact`` is generated by the position stage of both forward and inverse dynamics. This is done The list ``mjData.contact`` is generated by the position stage of both forward and inverse dynamics. This is done
doc/unity.rst
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@@ -144,7 +144,7 @@ effects:
material assets for geom RGBA specification. material assets for geom RGBA specification.
- It allows the importer to handle :ref:`\<include\> <include>` elements without replicating MuJoCo’s file-system - It allows the importer to handle :ref:`\<include\> <include>` elements without replicating MuJoCo’s file-system
workflow. workflow.
- The current version of MuJoCo generates MJCF files with explicit :ref:`\<inertial\> <inertial>` elements, even when - The current version of MuJoCo generates MJCF files with explicit :ref:`\<inertial\> <body-inertial>` elements, even when
the original model uses geoms for implicit definition of the body inertia. If you plan to change geom properties of the original model uses geoms for implicit definition of the body inertia. If you plan to change geom properties of
an imported model, remove these auto-generated ``MjInertial`` components manually. We plan to address this in a an imported model, remove these auto-generated ``MjInertial`` components manually. We plan to address this in a
future release of MuJoCo. future release of MuJoCo.