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Improve schema order in XML reference

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PiperOrigin-RevId: 556726473
Change-Id: I157dd170d66708a59510e5656468aef498bff7be
This commit is contained in:
Yuval Tassa
2023-08-14 03:16:12 -07:00
committed by Copybara-Service
parent 81d0e56185
commit abfa08f6cd
2 changed files with 1412 additions and 1411 deletions
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doc/XMLreference.rst
+1090 -1089
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doc/XMLschema.rst
+322 -322
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@@ -33,38 +33,6 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | .. table:: |
| :ref:`option | \* | :class: mjcf-attributes |
| <option>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`timestep<option-timestep>` | :ref:`apirate<option-apirate>` | :ref:`impratio<option-impratio>` | :ref:`tolerance<option-tolerance>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`noslip_tolerance<option-noslip_tolerance>` | :ref:`mpr_tolerance<option-mpr_tolerance>` | :ref:`gravity<option-gravity>` | :ref:`wind<option-wind>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`magnetic<option-magnetic>` | :ref:`density<option-density>` | :ref:`viscosity<option-viscosity>` | :ref:`o_margin<option-o_margin>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`o_solref<option-o_solref>` | :ref:`o_solimp<option-o_solimp>` | :ref:`integrator<option-integrator>` | :ref:`collision<option-collision>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`cone<option-cone>` | :ref:`jacobian<option-jacobian>` | :ref:`solver<option-solver>` | :ref:`iterations<option-iterations>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`noslip_iterations<option-noslip_iterations>` | :ref:`mpr_iterations<option-mpr_iterations>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| option |br| |_| |L| | | .. table:: |
| :ref:`flag | ? | :class: mjcf-attributes |
| <option-flag>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`constraint<option-flag-constraint>` | :ref:`equality<option-flag-equality>` | :ref:`frictionloss<option-flag-frictionloss>` | :ref:`limit<option-flag-limit>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`contact<option-flag-contact>` | :ref:`passive<option-flag-passive>` | :ref:`gravity<option-flag-gravity>` | :ref:`clampctrl<option-flag-clampctrl>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`warmstart<option-flag-warmstart>` | :ref:`filterparent<option-flag-filterparent>` | :ref:`actuation<option-flag-actuation>` | :ref:`refsafe<option-flag-refsafe>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`sensor<option-flag-sensor>` | :ref:`override<option-flag-override>` | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`sensornoise<option-flag-sensornoise>` | :ref:`multiccd<option-flag-multiccd>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | .. table:: |
| :ref:`size | \* | :class: mjcf-attributes |
| <size>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
@@ -77,6 +45,15 @@
| | | | :ref:`nuser_actuator<size-nuser_actuator>` | :ref:`nuser_sensor<size-nuser_sensor>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | .. table:: |
| :ref:`statistic | \* | :class: mjcf-attributes |
| <statistic>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`meaninertia<statistic-meaninertia>` | :ref:`meanmass<statistic-meanmass>` | :ref:`meansize<statistic-meansize>` | :ref:`extent<statistic-extent>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`center<statistic-center>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
| :ref:`visual<visual>` | | |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
@@ -150,296 +127,6 @@
| | | | :ref:`slidercrank<visual-rgba-slidercrank>` | :ref:`crankbroken<visual-rgba-crankbroken>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | .. table:: |
| :ref:`statistic | \* | :class: mjcf-attributes |
| <statistic>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`meaninertia<statistic-meaninertia>` | :ref:`meanmass<statistic-meanmass>` | :ref:`meansize<statistic-meansize>` | :ref:`extent<statistic-extent>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`center<statistic-center>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | .. table:: |
| :ref:`default | R | :class: mjcf-attributes |
| <default>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`class<default-class>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`mesh | ? | :class: mjcf-attributes |
| <default-mesh>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`scale<default-mesh-scale>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`material | ? | :class: mjcf-attributes |
| <default-material>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<default-material-texture>` | :ref:`emission<default-material-emission>` | :ref:`specular<default-material-specular>` | :ref:`shininess<default-material-shininess>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`reflectance<default-material-reflectance>` | :ref:`rgba<default-material-rgba>` | :ref:`texrepeat<default-material-texrepeat>` | :ref:`texuniform<default-material-texuniform>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`joint | ? | :class: mjcf-attributes |
| <default-joint>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`type<default-joint-type>` | :ref:`group<default-joint-group>` | :ref:`pos<default-joint-pos>` | :ref:`axis<default-joint-axis>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`springdamper<default-joint-springdamper>` | :ref:`limited<default-joint-limited>` | :ref:`actuatorforcelimited<default-joint-actuatorforcelimited>` | :ref:`solreflimit<default-joint-solreflimit>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimplimit<default-joint-solimplimit>` | :ref:`solreffriction<default-joint-solreffriction>` | :ref:`solimpfriction<default-joint-solimpfriction>` | :ref:`stiffness<default-joint-stiffness>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`range<default-joint-range>` | :ref:`actuatorforcerange<default-joint-actuatorforcerange>` | :ref:`margin<default-joint-margin>` | :ref:`ref<default-joint-ref>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`springref<default-joint-springref>` | :ref:`armature<default-joint-armature>` | :ref:`damping<default-joint-damping>` | :ref:`frictionloss<default-joint-frictionloss>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<default-joint-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`geom | ? | :class: mjcf-attributes |
| <default-geom>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`type<default-geom-type>` | :ref:`pos<default-geom-pos>` | :ref:`quat<default-geom-quat>` | :ref:`contype<default-geom-contype>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`conaffinity<default-geom-conaffinity>` | :ref:`condim<default-geom-condim>` | :ref:`group<default-geom-group>` | :ref:`priority<default-geom-priority>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`size<default-geom-size>` | :ref:`material<default-geom-material>` | :ref:`friction<default-geom-friction>` | :ref:`mass<default-geom-mass>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`density<default-geom-density>` | :ref:`shellinertia<default-geom-shellinertia>` | :ref:`solmix<default-geom-solmix>` | :ref:`solref<default-geom-solref>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimp<default-geom-solimp>` | :ref:`margin<default-geom-margin>` | :ref:`gap<default-geom-gap>` | :ref:`fromto<default-geom-fromto>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`axisangle<default-geom-axisangle>` | :ref:`xyaxes<default-geom-xyaxes>` | :ref:`zaxis<default-geom-zaxis>` | :ref:`euler<default-geom-euler>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`hfield<default-geom-hfield>` | :ref:`mesh<default-geom-mesh>` | :ref:`fitscale<default-geom-fitscale>` | :ref:`rgba<default-geom-rgba>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fluidshape<default-geom-fluidshape>` | :ref:`fluidcoef<default-geom-fluidcoef>` | :ref:`user<default-geom-user>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`site | ? | :class: mjcf-attributes |
| <default-site>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`type<default-site-type>` | :ref:`group<default-site-group>` | :ref:`pos<default-site-pos>` | :ref:`quat<default-site-quat>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`material<default-site-material>` | :ref:`size<default-site-size>` | :ref:`fromto<default-site-fromto>` | :ref:`axisangle<default-site-axisangle>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`xyaxes<default-site-xyaxes>` | :ref:`zaxis<default-site-zaxis>` | :ref:`euler<default-site-euler>` | :ref:`rgba<default-site-rgba>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<default-site-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`camera | ? | :class: mjcf-attributes |
| <default-camera>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fovy<default-camera-fovy>` | :ref:`ipd<default-camera-ipd>` | :ref:`pos<default-camera-pos>` | :ref:`quat<default-camera-quat>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`axisangle<default-camera-axisangle>` | :ref:`xyaxes<default-camera-xyaxes>` | :ref:`zaxis<default-camera-zaxis>` | :ref:`euler<default-camera-euler>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`mode<default-camera-mode>` | :ref:`user<default-camera-user>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`light | ? | :class: mjcf-attributes |
| <default-light>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`pos<default-light-pos>` | :ref:`dir<default-light-dir>` | :ref:`directional<default-light-directional>` | :ref:`castshadow<default-light-castshadow>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`active<default-light-active>` | :ref:`attenuation<default-light-attenuation>` | :ref:`cutoff<default-light-cutoff>` | :ref:`exponent<default-light-exponent>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ambient<default-light-ambient>` | :ref:`diffuse<default-light-diffuse>` | :ref:`specular<default-light-specular>` | :ref:`mode<default-light-mode>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`pair | ? | :class: mjcf-attributes |
| <default-pair>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`condim<default-pair-condim>` | :ref:`friction<default-pair-friction>` | :ref:`solref<default-pair-solref>` | :ref:`solreffriction<default-pair-solreffriction>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimp<default-pair-solimp>` | :ref:`gap<default-pair-gap>` | :ref:`margin<default-pair-margin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`equality | ? | :class: mjcf-attributes |
| <default-equality>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`active<default-equality-active>` | :ref:`solref<default-equality-solref>` | :ref:`solimp<default-equality-solimp>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`tendon | ? | :class: mjcf-attributes |
| <default-tendon>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`group<default-tendon-group>` | :ref:`limited<default-tendon-limited>` | :ref:`range<default-tendon-range>` | :ref:`solreflimit<default-tendon-solreflimit>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimplimit<default-tendon-solimplimit>` | :ref:`solreffriction<default-tendon-solreffriction>` | :ref:`solimpfriction<default-tendon-solimpfriction>` | :ref:`frictionloss<default-tendon-frictionloss>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`springlength<default-tendon-springlength>` | :ref:`width<default-tendon-width>` | :ref:`material<default-tendon-material>` | :ref:`margin<default-tendon-margin>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`stiffness<default-tendon-stiffness>` | :ref:`damping<default-tendon-damping>` | :ref:`rgba<default-tendon-rgba>` | :ref:`user<default-tendon-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`general | ? | :class: mjcf-attributes |
| <default-general>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-general-ctrllimited>` | :ref:`forcelimited<default-general-forcelimited>` | :ref:`actlimited<default-general-actlimited>` | :ref:`ctrlrange<default-general-ctrlrange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcerange<default-general-forcerange>` | :ref:`actrange<default-general-actrange>` | :ref:`gear<default-general-gear>` | :ref:`cranklength<default-general-cranklength>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<default-general-user>` | :ref:`group<default-general-group>` | :ref:`actdim<default-general-actdim>` | :ref:`dyntype<default-general-dyntype>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gaintype<default-general-gaintype>` | :ref:`biastype<default-general-biastype>` | :ref:`dynprm<default-general-dynprm>` | :ref:`gainprm<default-general-gainprm>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`biasprm<default-general-biasprm>` | :ref:`actearly<default-general-actearly>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`motor | ? | :class: mjcf-attributes |
| <default-motor>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-motor-ctrllimited>` | :ref:`forcelimited<default-motor-forcelimited>` | :ref:`ctrlrange<default-motor-ctrlrange>` | :ref:`forcerange<default-motor-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<default-motor-gear>` | :ref:`cranklength<default-motor-cranklength>` | :ref:`user<default-motor-user>` | :ref:`group<default-motor-group>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`position | ? | :class: mjcf-attributes |
| <default-position>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-position-ctrllimited>` | :ref:`forcelimited<default-position-forcelimited>` | :ref:`ctrlrange<default-position-ctrlrange>` | :ref:`forcerange<default-position-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<default-position-gear>` | :ref:`cranklength<default-position-cranklength>` | :ref:`user<default-position-user>` | :ref:`group<default-position-group>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`kp<default-position-kp>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`velocity | ? | :class: mjcf-attributes |
| <default-velocity>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-velocity-ctrllimited>` | :ref:`forcelimited<default-velocity-forcelimited>` | :ref:`ctrlrange<default-velocity-ctrlrange>` | :ref:`forcerange<default-velocity-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<default-velocity-gear>` | :ref:`cranklength<default-velocity-cranklength>` | :ref:`user<default-velocity-user>` | :ref:`group<default-velocity-group>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`kv<default-velocity-kv>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`intvelocity | ? | :class: mjcf-attributes |
| <default-intvelocity>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-intvelocity-ctrllimited>` | :ref:`forcelimited<default-intvelocity-forcelimited>` | :ref:`ctrlrange<default-intvelocity-ctrlrange>` | :ref:`forcerange<default-intvelocity-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`actrange<default-intvelocity-actrange>` | :ref:`gear<default-intvelocity-gear>` | :ref:`cranklength<default-intvelocity-cranklength>` | :ref:`user<default-intvelocity-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`group<default-intvelocity-group>` | :ref:`kp<default-intvelocity-kp>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`damper | ? | :class: mjcf-attributes |
| <default-damper>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcelimited<default-damper-forcelimited>` | :ref:`ctrlrange<default-damper-ctrlrange>` | :ref:`forcerange<default-damper-forcerange>` | :ref:`gear<default-damper-gear>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`cranklength<default-damper-cranklength>` | :ref:`user<default-damper-user>` | :ref:`group<default-damper-group>` | :ref:`kv<default-damper-kv>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`cylinder | ? | :class: mjcf-attributes |
| <default-cylinder>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-cylinder-ctrllimited>` | :ref:`forcelimited<default-cylinder-forcelimited>` | :ref:`ctrlrange<default-cylinder-ctrlrange>` | :ref:`forcerange<default-cylinder-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<default-cylinder-gear>` | :ref:`cranklength<default-cylinder-cranklength>` | :ref:`user<default-cylinder-user>` | :ref:`group<default-cylinder-group>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`timeconst<default-cylinder-timeconst>` | :ref:`area<default-cylinder-area>` | :ref:`diameter<default-cylinder-diameter>` | :ref:`bias<default-cylinder-bias>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`muscle | ? | :class: mjcf-attributes |
| <default-muscle>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-muscle-ctrllimited>` | :ref:`forcelimited<default-muscle-forcelimited>` | :ref:`ctrlrange<default-muscle-ctrlrange>` | :ref:`forcerange<default-muscle-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<default-muscle-gear>` | :ref:`cranklength<default-muscle-cranklength>` | :ref:`user<default-muscle-user>` | :ref:`group<default-muscle-group>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`timeconst<default-muscle-timeconst>` | :ref:`range<default-muscle-range>` | :ref:`force<default-muscle-force>` | :ref:`scale<default-muscle-scale>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`lmin<default-muscle-lmin>` | :ref:`lmax<default-muscle-lmax>` | :ref:`vmax<default-muscle-vmax>` | :ref:`fpmax<default-muscle-fpmax>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fvmax<default-muscle-fvmax>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`adhesion | ? | :class: mjcf-attributes |
| <default-adhesion>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcelimited<default-adhesion-forcelimited>` | :ref:`ctrlrange<default-adhesion-ctrlrange>` | :ref:`forcerange<default-adhesion-forcerange>` | :ref:`gain<default-adhesion-gain>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<default-adhesion-user>` | :ref:`group<default-adhesion-group>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
| :ref:`extension<extension>` | | |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| extension |br| |_| |L| | | .. table:: |
| :ref:`plugin | \* | :class: mjcf-attributes |
| <extension-plugin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`plugin<extension-plugin-plugin>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| plugin |br| |_2| |L| | | .. table:: |
| :ref:`instance | \* | :class: mjcf-attributes |
| <plugin-instance>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<plugin-instance-name>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_3| instance |br| |_3| |L| | | .. table:: |
| :ref:`config | \* | :class: mjcf-attributes |
| <instance-config>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`key<instance-config-key>` | :ref:`value<instance-config-value>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
| :ref:`custom<custom>` | | |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| custom |br| |_| |L| | | .. table:: |
| :ref:`numeric | \* | :class: mjcf-attributes |
| <custom-numeric>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<custom-numeric-name>` | :ref:`size<custom-numeric-size>` | :ref:`data<custom-numeric-data>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| custom |br| |_| |L| | | .. table:: |
| :ref:`text | \* | :class: mjcf-attributes |
| <custom-text>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<custom-text-name>` | :ref:`data<custom-text-data>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| custom |br| |_| |L| | | .. table:: |
| :ref:`tuple | \* | :class: mjcf-attributes |
| <custom-tuple>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<custom-tuple-name>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| tuple |br| |_2| |L| | | .. table:: |
| :ref:`element | \* | :class: mjcf-attributes |
| <tuple-element>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`objtype<tuple-element-objtype>` | :ref:`objname<tuple-element-objname>` | :ref:`prm<tuple-element-prm>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
| :ref:`asset<asset>` | | |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
@@ -512,6 +199,38 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | .. table:: |
| :ref:`option | \* | :class: mjcf-attributes |
| <option>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`timestep<option-timestep>` | :ref:`apirate<option-apirate>` | :ref:`impratio<option-impratio>` | :ref:`tolerance<option-tolerance>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`noslip_tolerance<option-noslip_tolerance>` | :ref:`mpr_tolerance<option-mpr_tolerance>` | :ref:`gravity<option-gravity>` | :ref:`wind<option-wind>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`magnetic<option-magnetic>` | :ref:`density<option-density>` | :ref:`viscosity<option-viscosity>` | :ref:`o_margin<option-o_margin>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`o_solref<option-o_solref>` | :ref:`o_solimp<option-o_solimp>` | :ref:`integrator<option-integrator>` | :ref:`collision<option-collision>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`cone<option-cone>` | :ref:`jacobian<option-jacobian>` | :ref:`solver<option-solver>` | :ref:`iterations<option-iterations>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`noslip_iterations<option-noslip_iterations>` | :ref:`mpr_iterations<option-mpr_iterations>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| option |br| |_| |L| | | .. table:: |
| :ref:`flag | ? | :class: mjcf-attributes |
| <option-flag>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`constraint<option-flag-constraint>` | :ref:`equality<option-flag-equality>` | :ref:`frictionloss<option-flag-frictionloss>` | :ref:`limit<option-flag-limit>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`contact<option-flag-contact>` | :ref:`passive<option-flag-passive>` | :ref:`gravity<option-flag-gravity>` | :ref:`clampctrl<option-flag-clampctrl>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`warmstart<option-flag-warmstart>` | :ref:`filterparent<option-flag-filterparent>` | :ref:`actuation<option-flag-actuation>` | :ref:`refsafe<option-flag-refsafe>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`sensor<option-flag-sensor>` | :ref:`override<option-flag-override>` | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`sensornoise<option-flag-sensornoise>` | :ref:`multiccd<option-flag-multiccd>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | .. table:: |
| :ref:`body | R | :class: mjcf-attributes |
| <body>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
@@ -1390,4 +1109,285 @@
| | | | :ref:`act<keyframe-key-act>` | :ref:`mpos<keyframe-key-mpos>` | :ref:`mquat<keyframe-key-mquat>` | :ref:`ctrl<keyframe-key-ctrl>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | .. table:: |
| :ref:`default | R | :class: mjcf-attributes |
| <default>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`class<default-class>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`mesh | ? | :class: mjcf-attributes |
| <default-mesh>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`scale<default-mesh-scale>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`material | ? | :class: mjcf-attributes |
| <default-material>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<default-material-texture>` | :ref:`emission<default-material-emission>` | :ref:`specular<default-material-specular>` | :ref:`shininess<default-material-shininess>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`reflectance<default-material-reflectance>` | :ref:`rgba<default-material-rgba>` | :ref:`texrepeat<default-material-texrepeat>` | :ref:`texuniform<default-material-texuniform>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`joint | ? | :class: mjcf-attributes |
| <default-joint>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`type<default-joint-type>` | :ref:`group<default-joint-group>` | :ref:`pos<default-joint-pos>` | :ref:`axis<default-joint-axis>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`springdamper<default-joint-springdamper>` | :ref:`limited<default-joint-limited>` | :ref:`actuatorforcelimited<default-joint-actuatorforcelimited>` | :ref:`solreflimit<default-joint-solreflimit>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimplimit<default-joint-solimplimit>` | :ref:`solreffriction<default-joint-solreffriction>` | :ref:`solimpfriction<default-joint-solimpfriction>` | :ref:`stiffness<default-joint-stiffness>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`range<default-joint-range>` | :ref:`actuatorforcerange<default-joint-actuatorforcerange>` | :ref:`margin<default-joint-margin>` | :ref:`ref<default-joint-ref>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`springref<default-joint-springref>` | :ref:`armature<default-joint-armature>` | :ref:`damping<default-joint-damping>` | :ref:`frictionloss<default-joint-frictionloss>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<default-joint-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`geom | ? | :class: mjcf-attributes |
| <default-geom>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`type<default-geom-type>` | :ref:`pos<default-geom-pos>` | :ref:`quat<default-geom-quat>` | :ref:`contype<default-geom-contype>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`conaffinity<default-geom-conaffinity>` | :ref:`condim<default-geom-condim>` | :ref:`group<default-geom-group>` | :ref:`priority<default-geom-priority>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`size<default-geom-size>` | :ref:`material<default-geom-material>` | :ref:`friction<default-geom-friction>` | :ref:`mass<default-geom-mass>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`density<default-geom-density>` | :ref:`shellinertia<default-geom-shellinertia>` | :ref:`solmix<default-geom-solmix>` | :ref:`solref<default-geom-solref>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimp<default-geom-solimp>` | :ref:`margin<default-geom-margin>` | :ref:`gap<default-geom-gap>` | :ref:`fromto<default-geom-fromto>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`axisangle<default-geom-axisangle>` | :ref:`xyaxes<default-geom-xyaxes>` | :ref:`zaxis<default-geom-zaxis>` | :ref:`euler<default-geom-euler>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`hfield<default-geom-hfield>` | :ref:`mesh<default-geom-mesh>` | :ref:`fitscale<default-geom-fitscale>` | :ref:`rgba<default-geom-rgba>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fluidshape<default-geom-fluidshape>` | :ref:`fluidcoef<default-geom-fluidcoef>` | :ref:`user<default-geom-user>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`site | ? | :class: mjcf-attributes |
| <default-site>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`type<default-site-type>` | :ref:`group<default-site-group>` | :ref:`pos<default-site-pos>` | :ref:`quat<default-site-quat>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`material<default-site-material>` | :ref:`size<default-site-size>` | :ref:`fromto<default-site-fromto>` | :ref:`axisangle<default-site-axisangle>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`xyaxes<default-site-xyaxes>` | :ref:`zaxis<default-site-zaxis>` | :ref:`euler<default-site-euler>` | :ref:`rgba<default-site-rgba>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<default-site-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`camera | ? | :class: mjcf-attributes |
| <default-camera>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fovy<default-camera-fovy>` | :ref:`ipd<default-camera-ipd>` | :ref:`pos<default-camera-pos>` | :ref:`quat<default-camera-quat>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`axisangle<default-camera-axisangle>` | :ref:`xyaxes<default-camera-xyaxes>` | :ref:`zaxis<default-camera-zaxis>` | :ref:`euler<default-camera-euler>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`mode<default-camera-mode>` | :ref:`user<default-camera-user>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`light | ? | :class: mjcf-attributes |
| <default-light>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`pos<default-light-pos>` | :ref:`dir<default-light-dir>` | :ref:`directional<default-light-directional>` | :ref:`castshadow<default-light-castshadow>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`active<default-light-active>` | :ref:`attenuation<default-light-attenuation>` | :ref:`cutoff<default-light-cutoff>` | :ref:`exponent<default-light-exponent>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ambient<default-light-ambient>` | :ref:`diffuse<default-light-diffuse>` | :ref:`specular<default-light-specular>` | :ref:`mode<default-light-mode>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`pair | ? | :class: mjcf-attributes |
| <default-pair>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`condim<default-pair-condim>` | :ref:`friction<default-pair-friction>` | :ref:`solref<default-pair-solref>` | :ref:`solreffriction<default-pair-solreffriction>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimp<default-pair-solimp>` | :ref:`gap<default-pair-gap>` | :ref:`margin<default-pair-margin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`equality | ? | :class: mjcf-attributes |
| <default-equality>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`active<default-equality-active>` | :ref:`solref<default-equality-solref>` | :ref:`solimp<default-equality-solimp>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`tendon | ? | :class: mjcf-attributes |
| <default-tendon>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`group<default-tendon-group>` | :ref:`limited<default-tendon-limited>` | :ref:`range<default-tendon-range>` | :ref:`solreflimit<default-tendon-solreflimit>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimplimit<default-tendon-solimplimit>` | :ref:`solreffriction<default-tendon-solreffriction>` | :ref:`solimpfriction<default-tendon-solimpfriction>` | :ref:`frictionloss<default-tendon-frictionloss>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`springlength<default-tendon-springlength>` | :ref:`width<default-tendon-width>` | :ref:`material<default-tendon-material>` | :ref:`margin<default-tendon-margin>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`stiffness<default-tendon-stiffness>` | :ref:`damping<default-tendon-damping>` | :ref:`rgba<default-tendon-rgba>` | :ref:`user<default-tendon-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`general | ? | :class: mjcf-attributes |
| <default-general>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-general-ctrllimited>` | :ref:`forcelimited<default-general-forcelimited>` | :ref:`actlimited<default-general-actlimited>` | :ref:`ctrlrange<default-general-ctrlrange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcerange<default-general-forcerange>` | :ref:`actrange<default-general-actrange>` | :ref:`gear<default-general-gear>` | :ref:`cranklength<default-general-cranklength>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<default-general-user>` | :ref:`group<default-general-group>` | :ref:`actdim<default-general-actdim>` | :ref:`dyntype<default-general-dyntype>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gaintype<default-general-gaintype>` | :ref:`biastype<default-general-biastype>` | :ref:`dynprm<default-general-dynprm>` | :ref:`gainprm<default-general-gainprm>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`biasprm<default-general-biasprm>` | :ref:`actearly<default-general-actearly>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`motor | ? | :class: mjcf-attributes |
| <default-motor>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-motor-ctrllimited>` | :ref:`forcelimited<default-motor-forcelimited>` | :ref:`ctrlrange<default-motor-ctrlrange>` | :ref:`forcerange<default-motor-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<default-motor-gear>` | :ref:`cranklength<default-motor-cranklength>` | :ref:`user<default-motor-user>` | :ref:`group<default-motor-group>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`position | ? | :class: mjcf-attributes |
| <default-position>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-position-ctrllimited>` | :ref:`forcelimited<default-position-forcelimited>` | :ref:`ctrlrange<default-position-ctrlrange>` | :ref:`forcerange<default-position-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<default-position-gear>` | :ref:`cranklength<default-position-cranklength>` | :ref:`user<default-position-user>` | :ref:`group<default-position-group>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`kp<default-position-kp>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`velocity | ? | :class: mjcf-attributes |
| <default-velocity>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-velocity-ctrllimited>` | :ref:`forcelimited<default-velocity-forcelimited>` | :ref:`ctrlrange<default-velocity-ctrlrange>` | :ref:`forcerange<default-velocity-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<default-velocity-gear>` | :ref:`cranklength<default-velocity-cranklength>` | :ref:`user<default-velocity-user>` | :ref:`group<default-velocity-group>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`kv<default-velocity-kv>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`intvelocity | ? | :class: mjcf-attributes |
| <default-intvelocity>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-intvelocity-ctrllimited>` | :ref:`forcelimited<default-intvelocity-forcelimited>` | :ref:`ctrlrange<default-intvelocity-ctrlrange>` | :ref:`forcerange<default-intvelocity-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`actrange<default-intvelocity-actrange>` | :ref:`gear<default-intvelocity-gear>` | :ref:`cranklength<default-intvelocity-cranklength>` | :ref:`user<default-intvelocity-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`group<default-intvelocity-group>` | :ref:`kp<default-intvelocity-kp>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`damper | ? | :class: mjcf-attributes |
| <default-damper>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcelimited<default-damper-forcelimited>` | :ref:`ctrlrange<default-damper-ctrlrange>` | :ref:`forcerange<default-damper-forcerange>` | :ref:`gear<default-damper-gear>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`cranklength<default-damper-cranklength>` | :ref:`user<default-damper-user>` | :ref:`group<default-damper-group>` | :ref:`kv<default-damper-kv>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`cylinder | ? | :class: mjcf-attributes |
| <default-cylinder>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-cylinder-ctrllimited>` | :ref:`forcelimited<default-cylinder-forcelimited>` | :ref:`ctrlrange<default-cylinder-ctrlrange>` | :ref:`forcerange<default-cylinder-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<default-cylinder-gear>` | :ref:`cranklength<default-cylinder-cranklength>` | :ref:`user<default-cylinder-user>` | :ref:`group<default-cylinder-group>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`timeconst<default-cylinder-timeconst>` | :ref:`area<default-cylinder-area>` | :ref:`diameter<default-cylinder-diameter>` | :ref:`bias<default-cylinder-bias>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`muscle | ? | :class: mjcf-attributes |
| <default-muscle>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-muscle-ctrllimited>` | :ref:`forcelimited<default-muscle-forcelimited>` | :ref:`ctrlrange<default-muscle-ctrlrange>` | :ref:`forcerange<default-muscle-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<default-muscle-gear>` | :ref:`cranklength<default-muscle-cranklength>` | :ref:`user<default-muscle-user>` | :ref:`group<default-muscle-group>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`timeconst<default-muscle-timeconst>` | :ref:`range<default-muscle-range>` | :ref:`force<default-muscle-force>` | :ref:`scale<default-muscle-scale>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`lmin<default-muscle-lmin>` | :ref:`lmax<default-muscle-lmax>` | :ref:`vmax<default-muscle-vmax>` | :ref:`fpmax<default-muscle-fpmax>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fvmax<default-muscle-fvmax>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`adhesion | ? | :class: mjcf-attributes |
| <default-adhesion>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcelimited<default-adhesion-forcelimited>` | :ref:`ctrlrange<default-adhesion-ctrlrange>` | :ref:`forcerange<default-adhesion-forcerange>` | :ref:`gain<default-adhesion-gain>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<default-adhesion-user>` | :ref:`group<default-adhesion-group>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
| :ref:`custom<custom>` | | |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| custom |br| |_| |L| | | .. table:: |
| :ref:`numeric | \* | :class: mjcf-attributes |
| <custom-numeric>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<custom-numeric-name>` | :ref:`size<custom-numeric-size>` | :ref:`data<custom-numeric-data>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| custom |br| |_| |L| | | .. table:: |
| :ref:`text | \* | :class: mjcf-attributes |
| <custom-text>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<custom-text-name>` | :ref:`data<custom-text-data>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| custom |br| |_| |L| | | .. table:: |
| :ref:`tuple | \* | :class: mjcf-attributes |
| <custom-tuple>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<custom-tuple-name>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| tuple |br| |_2| |L| | | .. table:: |
| :ref:`element | \* | :class: mjcf-attributes |
| <tuple-element>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`objtype<tuple-element-objtype>` | :ref:`objname<tuple-element-objname>` | :ref:`prm<tuple-element-prm>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
| :ref:`extension<extension>` | | |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| extension |br| |_| |L| | | .. table:: |
| :ref:`plugin | \* | :class: mjcf-attributes |
| <extension-plugin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`plugin<extension-plugin-plugin>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| plugin |br| |_2| |L| | | .. table:: |
| :ref:`instance | \* | :class: mjcf-attributes |
| <plugin-instance>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<plugin-instance-name>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_3| instance |br| |_3| |L| | | .. table:: |
| :ref:`config | \* | :class: mjcf-attributes |
| <instance-config>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`key<instance-config-key>` | :ref:`value<instance-config-value>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+