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Fix syntax of permalinks.

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PiperOrigin-RevId: 517428359
Change-Id: I1409f91ca3b82116464b264c1b798807636506f0
This commit is contained in:
Yuval Tassa
2023-03-17 09:11:23 -07:00
committed by Copybara-Service
parent 7b91567585
commit 7bff68dac8
2 changed files with 116 additions and 115 deletions
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doc/XMLreference.rst
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@@ -314,7 +314,7 @@ any effect. The settings here are global and apply to the entire model.
.. _compiler-lengthrange: .. _compiler-lengthrange:
:el-prefix:`compiler/` |j| **lengthrange** (?) :el-prefix:`compiler/` |-| **lengthrange** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element controls the computation of actuator length ranges. For an overview of this functionality see :ref:`Length This element controls the computation of actuator length ranges. For an overview of this functionality see :ref:`Length
@@ -577,7 +577,7 @@ adjust it properly through the XML.
.. _option-flag: .. _option-flag:
:el-prefix:`option/` |j| **flag** (?) :el-prefix:`option/` |-| **flag** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element sets the flags that enable and disable different parts of the simulation pipeline. The actual flags used at This element sets the flags that enable and disable different parts of the simulation pipeline. The actual flags used at
@@ -827,7 +827,7 @@ coordinated visual settings corresponding to a "theme", and then include this fi
.. _visual-global: .. _visual-global:
:el-prefix:`visual/` |j| **global** (?) :el-prefix:`visual/` |-| **global** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
While all settings in mjVisual are global, the settings here could not be fit into any of the other subsections. So this While all settings in mjVisual are global, the settings here could not be fit into any of the other subsections. So this
@@ -894,7 +894,7 @@ is effectively a miscellaneous subsection.
.. _visual-quality: .. _visual-quality:
:el-prefix:`visual/` |j| **quality** (?) :el-prefix:`visual/` |-| **quality** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element specifies settings that affect the quality of the rendering. Larger values result in higher quality but This element specifies settings that affect the quality of the rendering. Larger values result in higher quality but
@@ -943,7 +943,7 @@ visualization should somehow be simplified.
.. _visual-headlight: .. _visual-headlight:
:el-prefix:`visual/` |j| **headlight** (?) :el-prefix:`visual/` |-| **headlight** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element is used to adjust the properties of the headlight. There is always a built-in headlight, in addition to any This element is used to adjust the properties of the headlight. There is always a built-in headlight, in addition to any
@@ -976,7 +976,7 @@ to be reduced.
.. _visual-map: .. _visual-map:
:el-prefix:`visual/` |j| **map** (?) :el-prefix:`visual/` |-| **map** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element is used to specify scaling quantities that affect both the visualization and built-in mouse perturbations. This element is used to specify scaling quantities that affect both the visualization and built-in mouse perturbations.
@@ -1070,7 +1070,7 @@ miscellaneous.
.. _visual-scale: .. _visual-scale:
:el-prefix:`visual/` |j| **scale** (?) :el-prefix:`visual/` |-| **scale** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
The settings in this element control the spatial extent of various decorative objects. In all cases, the rendered size The settings in this element control the spatial extent of various decorative objects. In all cases, the rendered size
@@ -1165,7 +1165,7 @@ documented below.
.. _visual-rgba: .. _visual-rgba:
:el-prefix:`visual/` |j| **rgba** (?) :el-prefix:`visual/` |-| **rgba** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
The settings in this element control the color and transparency (rgba) of various decorative objects. We will call this The settings in this element control the color and transparency (rgba) of various decorative objects. We will call this
@@ -1359,7 +1359,7 @@ if omitted.
.. _default-mesh: .. _default-mesh:
:el-prefix:`default/` |j| **mesh** (?) :el-prefix:`default/` |-| **mesh** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`mesh <asset-mesh>` element of the defaults class. | This element sets the attributes of the dummy :ref:`mesh <asset-mesh>` element of the defaults class.
@@ -1368,7 +1368,7 @@ if omitted.
.. _default-material: .. _default-material:
:el-prefix:`default/` |j| **material** (?) :el-prefix:`default/` |-| **material** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`material <asset-material>` element of the defaults class. | This element sets the attributes of the dummy :ref:`material <asset-material>` element of the defaults class.
@@ -1377,7 +1377,7 @@ if omitted.
.. _default-joint: .. _default-joint:
:el-prefix:`default/` |j| **joint** (?) :el-prefix:`default/` |-| **joint** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`joint <body-joint>` element of the defaults class. | This element sets the attributes of the dummy :ref:`joint <body-joint>` element of the defaults class.
@@ -1386,7 +1386,7 @@ if omitted.
.. _default-geom: .. _default-geom:
:el-prefix:`default/` |j| **geom** (?) :el-prefix:`default/` |-| **geom** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`geom <body-geom>` element of the defaults class. | This element sets the attributes of the dummy :ref:`geom <body-geom>` element of the defaults class.
@@ -1395,7 +1395,7 @@ if omitted.
.. _default-site: .. _default-site:
:el-prefix:`default/` |j| **site** (?) :el-prefix:`default/` |-| **site** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`site <body-site>` element of the defaults class. | This element sets the attributes of the dummy :ref:`site <body-site>` element of the defaults class.
@@ -1404,7 +1404,7 @@ if omitted.
.. _default-camera: .. _default-camera:
:el-prefix:`default/` |j| **camera** (?) :el-prefix:`default/` |-| **camera** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`camera <body-camera>` element of the defaults class. | This element sets the attributes of the dummy :ref:`camera <body-camera>` element of the defaults class.
@@ -1413,7 +1413,7 @@ if omitted.
.. _default-light: .. _default-light:
:el-prefix:`default/` |j| **light** (?) :el-prefix:`default/` |-| **light** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`light <body-light>` element of the defaults class. | This element sets the attributes of the dummy :ref:`light <body-light>` element of the defaults class.
@@ -1422,7 +1422,7 @@ if omitted.
.. _default-pair: .. _default-pair:
:el-prefix:`default/` |j| **pair** (?) :el-prefix:`default/` |-| **pair** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`pair <contact-pair>` element of the defaults class. | This element sets the attributes of the dummy :ref:`pair <contact-pair>` element of the defaults class.
@@ -1431,7 +1431,7 @@ if omitted.
.. _default-equality: .. _default-equality:
:el-prefix:`default/` |j| **equality** (?) :el-prefix:`default/` |-| **equality** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`equality <equality>` element of the defaults class. The actual | This element sets the attributes of the dummy :ref:`equality <equality>` element of the defaults class. The actual
@@ -1442,7 +1442,7 @@ if omitted.
.. _default-tendon: .. _default-tendon:
:el-prefix:`default/` |j| **tendon** (?) :el-prefix:`default/` |-| **tendon** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`tendon <tendon>` element of the defaults class. Similar to | This element sets the attributes of the dummy :ref:`tendon <tendon>` element of the defaults class. Similar to
@@ -1452,7 +1452,7 @@ if omitted.
.. _default-general: .. _default-general:
:el-prefix:`default/` |j| **general** (?) :el-prefix:`default/` |-| **general** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`general <actuator-general>` element of the defaults class. | This element sets the attributes of the dummy :ref:`general <actuator-general>` element of the defaults class.
@@ -1462,7 +1462,7 @@ if omitted.
.. _default-motor: .. _default-motor:
:el-prefix:`default/` |j| **motor** (?) :el-prefix:`default/` |-| **motor** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This and the next three elements set the attributes of the :ref:`general <actuator-general>` element using This and the next three elements set the attributes of the :ref:`general <actuator-general>` element using
@@ -1474,7 +1474,7 @@ slidersite, cranksite.
.. _default-position: .. _default-position:
:el-prefix:`default/` |j| **position** (?) :el-prefix:`default/` |-| **position** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
All :ref:`position <actuator-position>` attributes are available here except: name, class, joint, jointinparent, site, All :ref:`position <actuator-position>` attributes are available here except: name, class, joint, jointinparent, site,
@@ -1483,7 +1483,7 @@ tendon, slidersite, cranksite.
.. _default-velocity: .. _default-velocity:
:el-prefix:`default/` |j| **velocity** (?) :el-prefix:`default/` |-| **velocity** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
All :ref:`velocity <actuator-velocity>` attributes are available here except: name, class, joint, jointinparent, site, All :ref:`velocity <actuator-velocity>` attributes are available here except: name, class, joint, jointinparent, site,
@@ -1492,7 +1492,7 @@ tendon, slidersite, cranksite.
.. _default-intvelocity: .. _default-intvelocity:
:el-prefix:`default/` |j| **intvelocity** (?) :el-prefix:`default/` |-| **intvelocity** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
All :ref:`intvelocity <actuator-intvelocity>` attributes are available here except: name, class, joint, jointinparent, All :ref:`intvelocity <actuator-intvelocity>` attributes are available here except: name, class, joint, jointinparent,
@@ -1501,7 +1501,7 @@ site, tendon, slidersite, cranksite.
.. _default-damper: .. _default-damper:
:el-prefix:`default/` |j| **damper** (?) :el-prefix:`default/` |-| **damper** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
All :ref:`damper <actuator-damper>` attributes are available here except: name, class, joint, jointinparent, site, All :ref:`damper <actuator-damper>` attributes are available here except: name, class, joint, jointinparent, site,
@@ -1510,7 +1510,7 @@ tendon, slidersite, cranksite.
.. _default-cylinder: .. _default-cylinder:
:el-prefix:`default/` |j| **cylinder** (?) :el-prefix:`default/` |-| **cylinder** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
All :ref:`cylinder <actuator-cylinder>` attributes are available here except: name, class, joint, jointinparent, site, All :ref:`cylinder <actuator-cylinder>` attributes are available here except: name, class, joint, jointinparent, site,
@@ -1519,7 +1519,7 @@ tendon, slidersite, cranksite.
.. _default-muscle: .. _default-muscle:
:el-prefix:`default/` |j| **muscle** (?) :el-prefix:`default/` |-| **muscle** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
All :ref:`muscle <actuator-muscle>` attributes are available here except: name, class, joint, jointinparent, site, All :ref:`muscle <actuator-muscle>` attributes are available here except: name, class, joint, jointinparent, site,
@@ -1528,7 +1528,7 @@ tendon, slidersite, cranksite.
.. _default-adhesion: .. _default-adhesion:
:el-prefix:`default/` |j| **adhesion** (?) :el-prefix:`default/` |-| **adhesion** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
All :ref:`adhesion <actuator-adhesion>` attributes are available here except: name, class, body. All :ref:`adhesion <actuator-adhesion>` attributes are available here except: name, class, body.
@@ -1544,7 +1544,7 @@ This is a grouping element for custom numeric and text elements. It does not hav
.. _custom-numeric: .. _custom-numeric:
:el-prefix:`custom/` |j| **numeric** (*) :el-prefix:`custom/` |-| **numeric** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a custom numeric array in mjModel. This element creates a custom numeric array in mjModel.
@@ -1572,7 +1572,7 @@ This element creates a custom numeric array in mjModel.
.. _custom-text: .. _custom-text:
:el-prefix:`custom/` |j| **text** (*) :el-prefix:`custom/` |-| **text** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a custom text field in mjModel. It could be used to store keyword commands for user callbacks and This element creates a custom text field in mjModel. It could be used to store keyword commands for user callbacks and
@@ -1591,7 +1591,7 @@ other custom computations.
.. _custom-tuple: .. _custom-tuple:
:el-prefix:`custom/` |j| **tuple** (*) :el-prefix:`custom/` |-| **tuple** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a custom tuple, which is a list of MuJoCo objects. The list is created by referencing the desired This element creates a custom tuple, which is a list of MuJoCo objects. The list is created by referencing the desired
@@ -1605,7 +1605,7 @@ objects by name.
.. _tuple-element: .. _tuple-element:
:el-prefix:`tuple/` |j| **element** (*) :el-prefix:`tuple/` |-| **element** (*)
''''''''''''''''''''''''''''''''''''''' '''''''''''''''''''''''''''''''''''''''
This adds an element to the tuple. This adds an element to the tuple.
@@ -1640,7 +1640,7 @@ chapter.
.. _asset-texture: .. _asset-texture:
:el-prefix:`asset/` |j| **texture** (*) :el-prefix:`asset/` |-| **texture** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element creates a texture asset, which is then referenced from a :ref:`material <asset-material>` asset, which is | This element creates a texture asset, which is then referenced from a :ref:`material <asset-material>` asset, which is
@@ -1844,7 +1844,7 @@ chapter.
.. _asset-hfield: .. _asset-hfield:
:el-prefix:`asset/` |j| **hfield** (*) :el-prefix:`asset/` |-| **hfield** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a height field asset, which can then be referenced from geoms with type "hfield". A height field, This element creates a height field asset, which can then be referenced from geoms with type "hfield". A height field,
@@ -1934,7 +1934,7 @@ also known as terrain map, is a 2D matrix of elevation data. The data can be spe
.. _asset-mesh: .. _asset-mesh:
:el-prefix:`asset/` |j| **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
@@ -2114,7 +2114,7 @@ The full list of processing steps applied by the compiler to each mesh is as fol
.. _asset-skin: .. _asset-skin:
:el-prefix:`asset/` |j| **skin** (*) :el-prefix:`asset/` |-| **skin** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Skinned meshes (or skins) were added in MuJoCo 2.0. These are deformable meshes whose vertex positions and normals are Skinned meshes (or skins) were added in MuJoCo 2.0. These are deformable meshes whose vertex positions and normals are
@@ -2227,7 +2227,7 @@ be clear from the above specification.
.. _skin-bone: .. _skin-bone:
:el-prefix:`skin/` |j| **bone** (*) :el-prefix:`skin/` |-| **bone** (*)
''''''''''''''''''''''''''''''''''' '''''''''''''''''''''''''''''''''''
This element defines a bone of the skin. The bone is a regular MuJoCo body which is referenced by name here. This element defines a bone of the skin. The bone is a regular MuJoCo body which is referenced by name here.
@@ -2266,7 +2266,7 @@ This element defines a bone of the skin. The bone is a regular MuJoCo body which
.. _asset-material: .. _asset-material:
:el-prefix:`asset/` |j| **material** (*) :el-prefix:`asset/` |-| **material** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a material asset. It can be referenced from :ref:`skins <asset-skin>`, :ref:`geoms <body-geom>`, This element creates a material asset. It can be referenced from :ref:`skins <asset-skin>`, :ref:`geoms <body-geom>`,
@@ -2442,7 +2442,7 @@ defined. Its body name is automatically defined as "world".
.. _body-inertial: .. _body-inertial:
:el-prefix:`body/` |j| **inertial** (?) :el-prefix:`body/` |-| **inertial** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element specifies the mass and inertial properties of the body. If this element is not included in a given body, This element specifies the mass and inertial properties of the body. If this element is not included in a given body,
@@ -2497,7 +2497,7 @@ axes of inertia of the body. Thus the inertia matrix is diagonal in this frame.
.. _body-joint: .. _body-joint:
:el-prefix:`body/` |j| **joint** (*) :el-prefix:`body/` |-| **joint** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a joint. As explained in :ref:`Kinematic tree <CTree>`, a joint creates motion degrees of freedom This element creates a joint. As explained in :ref:`Kinematic tree <CTree>`, a joint creates motion degrees of freedom
@@ -2671,7 +2671,7 @@ unit quaternions.
.. _body-freejoint: .. _body-freejoint:
:el-prefix:`body/` |j| **freejoint** (*) :el-prefix:`body/` |-| **freejoint** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a free joint whose only attributes are :at:`name` and :at:`group`. The :el:`freejoint` element is This element creates a free joint whose only attributes are :at:`name` and :at:`group`. The :el:`freejoint` element is
@@ -2701,7 +2701,7 @@ inherited*. If the XML model is saved, it will appear as a regular joint of type
.. _body-geom: .. _body-geom:
:el-prefix:`body/` |j| **geom** (*) :el-prefix:`body/` |-| **geom** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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
@@ -3043,7 +3043,7 @@ helps clarify the role of bodies and geoms in MuJoCo.
.. _body-site: .. _body-site:
:el-prefix:`body/` |j| **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
@@ -3129,7 +3129,7 @@ tendons, constructing slider-crank transmissions for actuators.
.. _body-camera: .. _body-camera:
:el-prefix:`body/` |j| **camera** (*) :el-prefix:`body/` |-| **camera** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a camera, which moves with the body where it is defined. To create a fixed camera, define it in the This element creates a camera, which moves with the body where it is defined. To create a fixed camera, define it in the
@@ -3216,7 +3216,7 @@ and the +Y axis points up. Thus the frame position and orientation are the key a
.. _body-light: .. _body-light:
:el-prefix:`body/` |j| **light** (*) :el-prefix:`body/` |-| **light** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a light, which moves with the body where it is defined. To create a fixed light, define it in the This element creates a light, which moves with the body where it is defined. To create a fixed light, define it in the
@@ -3323,7 +3323,7 @@ the direction specified by the dir attribute. It does not have a full spatial fr
.. _body-composite: .. _body-composite:
:el-prefix:`body/` |j| **composite** (*) :el-prefix:`body/` |-| **composite** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This is not a model element, but rather a macro which expands into multiple model elements representing a composite This is not a model element, but rather a macro which expands into multiple model elements representing a composite
@@ -3480,7 +3480,7 @@ coordinates results in compiler error. See :ref:`CComposite` in the modeling gui
.. _composite-joint: .. _composite-joint:
:el-prefix:`composite/` |j| **joint** (*) :el-prefix:`composite/` |-| **joint** (*)
''''''''''''''''''''''''''''''''''''''''' '''''''''''''''''''''''''''''''''''''''''
Depending on the composite type, some joints are created automatically (e.g. the universal joints in rope) while other Depending on the composite type, some joints are created automatically (e.g. the universal joints in rope) while other
@@ -3558,7 +3558,7 @@ joints should be created, as well as to adjust the attributes of both automatic
.. _composite-tendon: .. _composite-tendon:
:el-prefix:`composite/` |j| **tendon** (*) :el-prefix:`composite/` |-| **tendon** (*)
'''''''''''''''''''''''''''''''''''''''''' ''''''''''''''''''''''''''''''''''''''''''
Tendons are treated similarly to joints in composite objects. The tendon kind specified here together with the composite Tendons are treated similarly to joints in composite objects. The tendon kind specified here together with the composite
@@ -3625,7 +3625,7 @@ composite objects are equality-constrained.
.. _composite-geom: .. _composite-geom:
:el-prefix:`composite/` |j| **geom** (?) :el-prefix:`composite/` |-| **geom** (?)
'''''''''''''''''''''''''''''''''''''''' ''''''''''''''''''''''''''''''''''''''''
This sub-element adjusts the attributes of the geoms in the composite object. The default attributes are the same as in This sub-element adjusts the attributes of the geoms in the composite object. The default attributes are the same as in
@@ -3678,7 +3678,7 @@ joints and tendons have different sets of attributes, while all geoms in the com
.. _composite-site: .. _composite-site:
:el-prefix:`composite/` |j| **site** (?) :el-prefix:`composite/` |-| **site** (?)
'''''''''''''''''''''''''''''''''''''''' ''''''''''''''''''''''''''''''''''''''''
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.
@@ -3697,7 +3697,7 @@ This sub-element adjusts the attributes of the sites in the composite object. Ot
.. _composite-skin: .. _composite-skin:
:el-prefix:`composite/` |j| **skin** (?) :el-prefix:`composite/` |-| **skin** (?)
'''''''''''''''''''''''''''''''''''''''' ''''''''''''''''''''''''''''''''''''''''
If this element is included, the model compiler will generate a skinned mesh asset and attach it to the element bodies If this element is included, the model compiler will generate a skinned mesh asset and attach it to the element bodies
@@ -3745,7 +3745,7 @@ automatically-generated skin.
.. _composite-pin: .. _composite-pin:
:el-prefix:`composite/` |j| **pin** (*) :el-prefix:`composite/` |-| **pin** (*)
''''''''''''''''''''''''''''''''''''''' '''''''''''''''''''''''''''''''''''''''
This sub-element can be used to pin some of the element bodies in grid objects (both 1D and 2D). Pinning means that the This sub-element can be used to pin some of the element bodies in grid objects (both 1D and 2D). Pinning means that the
@@ -3772,7 +3772,7 @@ thus the description here is brief.
.. _contact-pair: .. _contact-pair:
:el-prefix:`contact/` |j| **pair** (*) :el-prefix:`contact/` |-| **pair** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a predefined geom pair, which will be checked for collision if the collision attribute of This element creates a predefined geom pair, which will be checked for collision if the collision attribute of
@@ -3839,7 +3839,7 @@ element.
.. _contact-exclude: .. _contact-exclude:
:el-prefix:`contact/` |j| **exclude** (*) :el-prefix:`contact/` |-| **exclude** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element is used to exclude a pair of bodies from collision checking. Unlike all other contact-related elements This element is used to exclude a pair of bodies from collision checking. Unlike all other contact-related elements
@@ -3877,7 +3877,7 @@ all equality constraint types, thus we document them only once, under the :ref:`
.. _equality-connect: .. _equality-connect:
:el-prefix:`equality/` |j| **connect** (*) :el-prefix:`equality/` |-| **connect** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates an equality constraint that connects two bodies at a point. The point is not necessarily within the This element creates an equality constraint that connects two bodies at a point. The point is not necessarily within the
@@ -3934,7 +3934,7 @@ geoms volumes of either body. This constraint can be used to define ball joints
.. _equality-weld: .. _equality-weld:
:el-prefix:`equality/` |j| **weld** (*) :el-prefix:`equality/` |-| **weld** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a weld equality constraint. It attaches two bodies to each other, removing all relative degrees of This element creates a weld equality constraint. It attaches two bodies to each other, removing all relative degrees of
@@ -3994,7 +3994,7 @@ of the other body, without any joint elements in the child body.
.. _equality-joint: .. _equality-joint:
:el-prefix:`equality/` |j| **joint** (*) :el-prefix:`equality/` |-| **joint** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element constrains the position or angle of one joint to be a quartic polynomial of another joint. Only scalar This element constrains the position or angle of one joint to be a quartic polynomial of another joint. Only scalar
@@ -4035,7 +4035,7 @@ joint types (slide and hinge) can be used.
.. _equality-tendon: .. _equality-tendon:
:el-prefix:`equality/` |j| **tendon** (*) :el-prefix:`equality/` |-| **tendon** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element constrains the length of one tendon to be a quartic polynomial of another tendon. This element constrains the length of one tendon to be a quartic polynomial of another tendon.
@@ -4073,7 +4073,7 @@ This element constrains the length of one tendon to be a quartic polynomial of a
.. _equality-distance: .. _equality-distance:
:el-prefix:`equality/` |j| **distance** (*) :el-prefix:`equality/` |-| **distance** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Distance equality constraints were removed in MuJoCo version 2.2.2. If you are using an earlier version, please switch Distance equality constraints were removed in MuJoCo version 2.2.2. If you are using an earlier version, please switch
@@ -4093,11 +4093,12 @@ can also represent different forms of mechanical coupling.
.. _tendon-spatial: .. _tendon-spatial:
:el-prefix:`tendon/` |j| **spatial** (*) :el-prefix:`tendon/` |-| **spatial** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
.. figure:: images/modeling/tendon.png
:width: 400px .. figure:: images/modeling/tendon.png
:align: right :width: 400px
:align: right
This element creates a spatial tendon, which is a minimum-length path passing through specified via-points and This element creates a spatial tendon, which is a minimum-length path passing through specified via-points and
wrapping around specified obstacle geoms. The objects along the path are defined with the sub-elements wrapping around specified obstacle geoms. The objects along the path are defined with the sub-elements
@@ -4220,7 +4221,7 @@ the obstacle geom.
.. _spatial-site: .. _spatial-site:
:el-prefix:`spatial/` |j| **site** (*) :el-prefix:`spatial/` |-| **site** (*)
'''''''''''''''''''''''''''''''''''''' ''''''''''''''''''''''''''''''''''''''
This attribute specifies a site that the tendon path has to pass through. Recall that sites are rigidly attached to This attribute specifies a site that the tendon path has to pass through. Recall that sites are rigidly attached to
@@ -4234,7 +4235,7 @@ bodies.
.. _spatial-geom: .. _spatial-geom:
:el-prefix:`spatial/` |j| **geom** (*) :el-prefix:`spatial/` |-| **geom** (*)
'''''''''''''''''''''''''''''''''''''' ''''''''''''''''''''''''''''''''''''''
This element specifies a geom that acts as an obstacle for the tendon path. If the minimum-length path does not touch This element specifies a geom that acts as an obstacle for the tendon path. If the minimum-length path does not touch
@@ -4260,7 +4261,7 @@ constrained to pass through the geom instead of passing around it.
.. _spatial-pulley: .. _spatial-pulley:
:el-prefix:`spatial/` |j| **pulley** (*) :el-prefix:`spatial/` |-| **pulley** (*)
'''''''''''''''''''''''''''''''''''''''' ''''''''''''''''''''''''''''''''''''''''
This element starts a new branch in the tendon path. The branches are not required to be connected spatially. Similar to This element starts a new branch in the tendon path. The branches are not required to be connected spatially. Similar to
@@ -4284,7 +4285,7 @@ illustrated the use of pulleys.
.. _tendon-fixed: .. _tendon-fixed:
:el-prefix:`tendon/` |j| **fixed** (*) :el-prefix:`tendon/` |-| **fixed** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates an abstract tendon whose length is defined as a linear combination of joint positions. Recall that This element creates an abstract tendon whose length is defined as a linear combination of joint positions. Recall that
@@ -4334,7 +4335,7 @@ as above.
.. _fixed-joint: .. _fixed-joint:
:el-prefix:`fixed/` |j| **joint** (*) :el-prefix:`fixed/` |-| **joint** (*)
''''''''''''''''''''''''''''''''''''' '''''''''''''''''''''''''''''''''''''
This element adds a joint to the computation of the fixed tendon length. The position or angle of each included joint is This element adds a joint to the computation of the fixed tendon length. The position or angle of each included joint is
@@ -4364,7 +4365,7 @@ under the :el:`general` actuator.
.. _actuator-general: .. _actuator-general:
:el-prefix:`actuator/` |j| **general** (*) :el-prefix:`actuator/` |-| **general** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a general actuator, providing full access to all actuator components and allowing the user to This element creates a general actuator, providing full access to all actuator components and allowing the user to
@@ -4620,7 +4621,7 @@ specify them independently.
.. _actuator-motor: .. _actuator-motor:
:el-prefix:`actuator/` |j| **motor** (*) :el-prefix:`actuator/` |-| **motor** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This and the next three elements are the :ref:`Actuator shortcuts <CActuator>` discussed earlier. When a This and the next three elements are the :ref:`Actuator shortcuts <CActuator>` discussed earlier. When a
@@ -4688,7 +4689,7 @@ This element does not have custom attributes. It only has common attributes, whi
.. _actuator-position: .. _actuator-position:
:el-prefix:`actuator/` |j| **position** (*) :el-prefix:`actuator/` |-| **position** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a position servo. The underlying :el:`general` attributes are set as follows: This element creates a position servo. The underlying :el:`general` attributes are set as follows:
@@ -4754,7 +4755,7 @@ This element has one custom attribute in addition to the common attributes:
.. _actuator-velocity: .. _actuator-velocity:
:el-prefix:`actuator/` |j| **velocity** (*) :el-prefix:`actuator/` |-| **velocity** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a velocity servo. Note that in order create a PD controller, one has to define two actuators: a This element creates a velocity servo. Note that in order create a PD controller, one has to define two actuators: a
@@ -4819,7 +4820,7 @@ This element has one custom attribute in addition to the common attributes:
.. _actuator-intvelocity: .. _actuator-intvelocity:
:el-prefix:`actuator/` |j| **intvelocity** (*) :el-prefix:`actuator/` |-| **intvelocity** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates an integrated-velocity servo. For more information, see the This element creates an integrated-velocity servo. For more information, see the
@@ -4885,7 +4886,7 @@ This element has one custom attribute in addition to the common attributes:
.. _actuator-damper: .. _actuator-damper:
:el-prefix:`actuator/` |j| **damper** (*) :el-prefix:`actuator/` |-| **damper** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element is an active damper which produces a force proportional to both velocity and control: ``F = - kv * velocity This element is an active damper which produces a force proportional to both velocity and control: ``F = - kv * velocity
@@ -4953,7 +4954,7 @@ This element has one custom attribute in addition to the common attributes:
.. _actuator-cylinder: .. _actuator-cylinder:
:el-prefix:`actuator/` |j| **cylinder** (*) :el-prefix:`actuator/` |-| **cylinder** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element is suitable for modeling pneumatic or hydraulic cylinders. The underlying :el:`general` attributes are This element is suitable for modeling pneumatic or hydraulic cylinders. The underlying :el:`general` attributes are
@@ -5035,7 +5036,7 @@ This element has four custom attributes in addition to the common attributes:
.. _actuator-muscle: .. _actuator-muscle:
:el-prefix:`actuator/` |j| **muscle** (*) :el-prefix:`actuator/` |-| **muscle** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element is used to model a muscle actuator, as described in the :ref:`Muscles actuators <CMuscle>` This element is used to model a muscle actuator, as described in the :ref:`Muscles actuators <CMuscle>`
@@ -5145,7 +5146,7 @@ This element has nine custom attributes in addition to the common attributes:
.. _actuator-adhesion: .. _actuator-adhesion:
:el-prefix:`actuator/` |j| **adhesion** (*) :el-prefix:`actuator/` |-| **adhesion** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
.. youtube:: BcHZ5BFeTmU .. youtube:: BcHZ5BFeTmU
@@ -5227,7 +5228,7 @@ themselves are "features" that could be of interest to the user.
.. _sensor-touch: .. _sensor-touch:
:el-prefix:`sensor/` |j| **touch** (*) :el-prefix:`sensor/` |-| **touch** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a touch sensor. The active sensor zone is defined by a site. If a contact point falls within the This element creates a touch sensor. The active sensor zone is defined by a site. If a contact point falls within the
@@ -5256,7 +5257,7 @@ scalar. It is computed by adding up the (scalar) normal forces from all included
.. _sensor-accelerometer: .. _sensor-accelerometer:
:el-prefix:`sensor/` |j| **accelerometer** (*) :el-prefix:`sensor/` |-| **accelerometer** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a 3-axis accelerometer. The sensor is mounted at a site, and has the same position and orientation This element creates a 3-axis accelerometer. The sensor is mounted at a site, and has the same position and orientation
@@ -5282,7 +5283,7 @@ in local coordinates.
.. _sensor-velocimeter: .. _sensor-velocimeter:
:el-prefix:`sensor/` |j| **velocimeter** (*) :el-prefix:`sensor/` |-| **velocimeter** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a 3-axis velocimeter. The sensor is mounted at a site, and has the same position and orientation as This element creates a 3-axis velocimeter. The sensor is mounted at a site, and has the same position and orientation as
@@ -5307,7 +5308,7 @@ the site frame. This sensor outputs three numbers, which are the linear velocity
.. _sensor-gyro: .. _sensor-gyro:
:el-prefix:`sensor/` |j| **gyro** (*) :el-prefix:`sensor/` |-| **gyro** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a 3-axis gyroscope. The sensor is mounted at a site, and has the same position and orientation as This element creates a 3-axis gyroscope. The sensor is mounted at a site, and has the same position and orientation as
@@ -5334,7 +5335,7 @@ simulate an inertial measurement unit (IMU).
.. _sensor-force: .. _sensor-force:
:el-prefix:`sensor/` |j| **force** (*) :el-prefix:`sensor/` |-| **force** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a 3-axis force sensor. The sensor outputs three numbers, which are the interaction force between a This element creates a 3-axis force sensor. The sensor outputs three numbers, which are the interaction force between a
@@ -5366,7 +5367,7 @@ creating a dummy body welded to its parent (i.e., having no joint elements).
.. _sensor-torque: .. _sensor-torque:
:el-prefix:`sensor/` |j| **torque** (*) :el-prefix:`sensor/` |-| **torque** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a 3-axis torque sensor. This is similar to the :ref:`force <sensor-force>` sensor above, but This element creates a 3-axis torque sensor. This is similar to the :ref:`force <sensor-force>` sensor above, but
@@ -5392,7 +5393,7 @@ measures torque rather than force.
.. _sensor-magnetometer: .. _sensor-magnetometer:
:el-prefix:`sensor/` |j| **magnetometer** (*) :el-prefix:`sensor/` |-| **magnetometer** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a magnetometer. It measures the magnetic flux at the sensor site position, expressed in the sensor This element creates a magnetometer. It measures the magnetic flux at the sensor site position, expressed in the sensor
@@ -5417,7 +5418,7 @@ site frame. The output is a 3D vector.
.. _sensor-rangefinder: .. _sensor-rangefinder:
:el-prefix:`sensor/` |j| **rangefinder** (*) :el-prefix:`sensor/` |-| **rangefinder** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a rangefinder. It measures the distance to the nearest geom surface, along the ray defined by the This element creates a rangefinder. It measures the distance to the nearest geom surface, along the ray defined by the
@@ -5446,7 +5447,7 @@ excluded; this is because sensor calculations are independent of the visualizer.
.. _sensor-jointpos: .. _sensor-jointpos:
:el-prefix:`sensor/` |j| **jointpos** (*) :el-prefix:`sensor/` |-| **jointpos** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This and the remaining sensor elements do not involve sensor-specific computations. Instead they copy into the array This and the remaining sensor elements do not involve sensor-specific computations. Instead they copy into the array
@@ -5473,7 +5474,7 @@ attached to scalar joints (slide or hinge). Its output is scalar.
.. _sensor-jointvel: .. _sensor-jointvel:
:el-prefix:`sensor/` |j| **jointvel** (*) :el-prefix:`sensor/` |-| **jointvel** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a joint velocity sensor. It can be attached to scalar joints (slide or hinge). Its output is This element creates a joint velocity sensor. It can be attached to scalar joints (slide or hinge). Its output is
@@ -5499,7 +5500,7 @@ scalar.
.. _sensor-tendonpos: .. _sensor-tendonpos:
:el-prefix:`sensor/` |j| **tendonpos** (*) :el-prefix:`sensor/` |-| **tendonpos** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a tendon length sensor. It can be attached to both spatial and fixed tendons. Its output is scalar. This element creates a tendon length sensor. It can be attached to both spatial and fixed tendons. Its output is scalar.
@@ -5523,7 +5524,7 @@ This element creates a tendon length sensor. It can be attached to both spatial
.. _sensor-tendonvel: .. _sensor-tendonvel:
:el-prefix:`sensor/` |j| **tendonvel** (*) :el-prefix:`sensor/` |-| **tendonvel** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a tendon velocity sensor. It can be attached to both spatial and fixed tendons. Its output is This element creates a tendon velocity sensor. It can be attached to both spatial and fixed tendons. Its output is
@@ -5548,7 +5549,7 @@ scalar.
.. _sensor-actuatorpos: .. _sensor-actuatorpos:
:el-prefix:`sensor/` |j| **actuatorpos** (*) :el-prefix:`sensor/` |-| **actuatorpos** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates an actuator length sensor. Recall that each actuator has a transmission which has length. This This element creates an actuator length sensor. Recall that each actuator has a transmission which has length. This
@@ -5573,7 +5574,7 @@ sensor can be attached to any actuator. Its output is scalar.
.. _sensor-actuatorvel: .. _sensor-actuatorvel:
:el-prefix:`sensor/` |j| **actuatorvel** (*) :el-prefix:`sensor/` |-| **actuatorvel** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates an actuator velocity sensor. This sensor can be attached to any actuator. Its output is scalar. This element creates an actuator velocity sensor. This sensor can be attached to any actuator. Its output is scalar.
@@ -5597,7 +5598,7 @@ This element creates an actuator velocity sensor. This sensor can be attached to
.. _sensor-actuatorfrc: .. _sensor-actuatorfrc:
:el-prefix:`sensor/` |j| **actuatorfrc** (*) :el-prefix:`sensor/` |-| **actuatorfrc** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates an actuator force sensor. The quantity being sensed is the scalar actuator force, not the This element creates an actuator force sensor. The quantity being sensed is the scalar actuator force, not the
@@ -5623,7 +5624,7 @@ arms determined by the transmission). This sensor can be attached to any actuato
.. _sensor-ballquat: .. _sensor-ballquat:
:el-prefix:`sensor/` |j| **ballquat** (*) :el-prefix:`sensor/` |-| **ballquat** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a quaternion sensor for a ball joints. It outputs 4 numbers corresponding to a unit quaternion. This element creates a quaternion sensor for a ball joints. It outputs 4 numbers corresponding to a unit quaternion.
@@ -5647,7 +5648,7 @@ This element creates a quaternion sensor for a ball joints. It outputs 4 numbers
.. _sensor-ballangvel: .. _sensor-ballangvel:
:el-prefix:`sensor/` |j| **ballangvel** (*) :el-prefix:`sensor/` |-| **ballangvel** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a ball joint angular velocity sensor. It outputs 3 numbers corresponding to the angular velocity of This element creates a ball joint angular velocity sensor. It outputs 3 numbers corresponding to the angular velocity of
@@ -5673,7 +5674,7 @@ rotation takes place.
.. _sensor-jointlimitpos: .. _sensor-jointlimitpos:
:el-prefix:`sensor/` |j| **jointlimitpos** (*) :el-prefix:`sensor/` |-| **jointlimitpos** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a joint limit sensor for position. This element creates a joint limit sensor for position.
@@ -5700,7 +5701,7 @@ This element creates a joint limit sensor for position.
.. _sensor-jointlimitvel: .. _sensor-jointlimitvel:
:el-prefix:`sensor/` |j| **jointlimitvel** (*) :el-prefix:`sensor/` |-| **jointlimitvel** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a joint limit sensor for velocity. This element creates a joint limit sensor for velocity.
@@ -5725,7 +5726,7 @@ This element creates a joint limit sensor for velocity.
.. _sensor-jointlimitfrc: .. _sensor-jointlimitfrc:
:el-prefix:`sensor/` |j| **jointlimitfrc** (*) :el-prefix:`sensor/` |-| **jointlimitfrc** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a joint limit sensor for constraint force. This element creates a joint limit sensor for constraint force.
@@ -5750,7 +5751,7 @@ This element creates a joint limit sensor for constraint force.
.. _sensor-tendonlimitpos: .. _sensor-tendonlimitpos:
:el-prefix:`sensor/` |j| **tendonlimitpos** (*) :el-prefix:`sensor/` |-| **tendonlimitpos** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a tendon limit sensor for position. This element creates a tendon limit sensor for position.
@@ -5775,7 +5776,7 @@ This element creates a tendon limit sensor for position.
.. _sensor-tendonlimitvel: .. _sensor-tendonlimitvel:
:el-prefix:`sensor/` |j| **tendonlimitvel** (*) :el-prefix:`sensor/` |-| **tendonlimitvel** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a tendon limit sensor for velocity. This element creates a tendon limit sensor for velocity.
@@ -5800,7 +5801,7 @@ This element creates a tendon limit sensor for velocity.
.. _sensor-tendonlimitfrc: .. _sensor-tendonlimitfrc:
:el-prefix:`sensor/` |j| **tendonlimitfrc** (*) :el-prefix:`sensor/` |-| **tendonlimitfrc** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a tendon limit sensor for constraint force. This element creates a tendon limit sensor for constraint force.
@@ -5825,7 +5826,7 @@ This element creates a tendon limit sensor for constraint force.
.. _sensor-framepos: .. _sensor-framepos:
:el-prefix:`sensor/` |j| **framepos** (*) :el-prefix:`sensor/` |-| **framepos** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a sensor that returns the 3D position of the spatial frame of the object, in global coordinates or This element creates a sensor that returns the 3D position of the spatial frame of the object, in global coordinates or
@@ -5869,7 +5870,7 @@ optionally with respect to a given frame-of-reference.
.. _sensor-framequat: .. _sensor-framequat:
:el-prefix:`sensor/` |j| **framequat** (*) :el-prefix:`sensor/` |-| **framequat** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a sensor that returns the unit quaternion specifying the orientation of the spatial frame of the This element creates a sensor that returns the unit quaternion specifying the orientation of the spatial frame of the
@@ -5909,7 +5910,7 @@ object, in global coordinates.
.. _sensor-framexaxis: .. _sensor-framexaxis:
:el-prefix:`sensor/` |j| **framexaxis** (*) :el-prefix:`sensor/` |-| **framexaxis** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a sensor that returns the 3D unit vector corresponding to the X-axis of the spatial frame of the This element creates a sensor that returns the 3D unit vector corresponding to the X-axis of the spatial frame of the
@@ -5949,7 +5950,7 @@ object, in global coordinates.
.. _sensor-frameyaxis: .. _sensor-frameyaxis:
:el-prefix:`sensor/` |j| **frameyaxis** (*) :el-prefix:`sensor/` |-| **frameyaxis** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a sensor that returns the 3D unit vector corresponding to the Y-axis of the spatial frame of the This element creates a sensor that returns the 3D unit vector corresponding to the Y-axis of the spatial frame of the
@@ -5989,7 +5990,7 @@ object, in global coordinates.
.. _sensor-framezaxis: .. _sensor-framezaxis:
:el-prefix:`sensor/` |j| **framezaxis** (*) :el-prefix:`sensor/` |-| **framezaxis** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a sensor that returns the 3D unit vector corresponding to the Z-axis of the spatial frame of the This element creates a sensor that returns the 3D unit vector corresponding to the Z-axis of the spatial frame of the
@@ -6029,7 +6030,7 @@ object, in global coordinates.
.. _sensor-framelinvel: .. _sensor-framelinvel:
:el-prefix:`sensor/` |j| **framelinvel** (*) :el-prefix:`sensor/` |-| **framelinvel** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a sensor that returns the 3D linear velocity of the spatial frame of the object, in global This element creates a sensor that returns the 3D linear velocity of the spatial frame of the object, in global
@@ -6069,7 +6070,7 @@ coordinates.
.. _sensor-frameangvel: .. _sensor-frameangvel:
:el-prefix:`sensor/` |j| **frameangvel** (*) :el-prefix:`sensor/` |-| **frameangvel** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a sensor that returns the 3D angular velocity of the spatial frame of the object, in global This element creates a sensor that returns the 3D angular velocity of the spatial frame of the object, in global
@@ -6109,7 +6110,7 @@ coordinates.
.. _sensor-framelinacc: .. _sensor-framelinacc:
:el-prefix:`sensor/` |j| **framelinacc** (*) :el-prefix:`sensor/` |-| **framelinacc** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a sensor that returns the 3D linear acceleration of the spatial frame of the object, in global This element creates a sensor that returns the 3D linear acceleration of the spatial frame of the object, in global
@@ -6139,7 +6140,7 @@ coordinates.
.. _sensor-frameangacc: .. _sensor-frameangacc:
:el-prefix:`sensor/` |j| **frameangacc** (*) :el-prefix:`sensor/` |-| **frameangacc** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a sensor that returns the 3D angular acceleration of the spatial frame of the object, in global This element creates a sensor that returns the 3D angular acceleration of the spatial frame of the object, in global
@@ -6169,7 +6170,7 @@ coordinates.
.. _sensor-subtreecom: .. _sensor-subtreecom:
:el-prefix:`sensor/` |j| **subtreecom** (*) :el-prefix:`sensor/` |-| **subtreecom** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates sensor that returns the center of mass of the kinematic subtree rooted at a specified body, in This element creates sensor that returns the center of mass of the kinematic subtree rooted at a specified body, in
@@ -6194,7 +6195,7 @@ global coordinates.
.. _sensor-subtreelinvel: .. _sensor-subtreelinvel:
:el-prefix:`sensor/` |j| **subtreelinvel** (*) :el-prefix:`sensor/` |-| **subtreelinvel** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates sensor that returns the linear velocity of the center of mass of the kinematic subtree rooted at a This element creates sensor that returns the linear velocity of the center of mass of the kinematic subtree rooted at a
@@ -6219,7 +6220,7 @@ specified body, in global coordinates.
.. _sensor-subtreeangmom: .. _sensor-subtreeangmom:
:el-prefix:`sensor/` |j| **subtreeangmom** (*) :el-prefix:`sensor/` |-| **subtreeangmom** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates sensor that returns the angular momentum around the center of mass of the kinematic subtree rooted This element creates sensor that returns the angular momentum around the center of mass of the kinematic subtree rooted
@@ -6244,7 +6245,7 @@ at a specified body, in global coordinates.
.. _sensor-clock: .. _sensor-clock:
:el-prefix:`sensor/` |j| **clock** (*) :el-prefix:`sensor/` |-| **clock** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates sensor that returns the simulation time. This element creates sensor that returns the simulation time.
@@ -6263,7 +6264,7 @@ This element creates sensor that returns the simulation time.
.. _sensor-user: .. _sensor-user:
:el-prefix:`sensor/` |j| **user** (*) :el-prefix:`sensor/` |-| **user** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a user sensor. MuJoCo does not know how to compute the output of this sensor. Instead the user This element creates a user sensor. MuJoCo does not know how to compute the output of this sensor. Instead the user
@@ -6331,7 +6332,7 @@ in :ref:`simulate.cc <saSimulate>` the simulation state can be copied into a sel
.. _keyframe-key: .. _keyframe-key:
:el-prefix:`keyframe/` |j| **key** (*) :el-prefix:`keyframe/` |-| **key** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element sets the data for one of the keyframes. They are set in the order in which they appear here. This element sets the data for one of the keyframes. They are set in the order in which they appear here.
doc/includes/macros.rst
+1 -1
View File
@@ -23,5 +23,5 @@
.. ..
Macro for unicode word-joiner character. Macro for unicode word-joiner character.
.. |j| unicode:: U+2060 .. |-| unicode:: U+2060
:trim: :trim: