Improvements to schema table.
- Schema table now has attribute links and is open by default. - Attributes are in 4 columns. - Fixed various documentation bugs made visible by this change. - Removed distance equality constraint from xml_native_reader.cc PiperOrigin-RevId: 517558035 Change-Id: Ibc7715587dd4e72253231bfd55bd037f0193b3fd
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
c6ab23d6b4
commit
d97ff39e86
+71
-35
@@ -16,7 +16,8 @@ XML schema
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The table below summarizes the XML elements and their attributes in MJCF. Note that all information in MJCF is entered
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through elements and attributes. Text content in elements is not used; if present, the parser ignores it.
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.. collapse:: Expand schema table
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.. collapse:: Collapse schema table
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:open:
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The symbols in the second column of the table have the following meaning:
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@@ -127,6 +128,8 @@ how to use includes and how to modularize large files if desired.
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The unique top-level element, identifying the XML file as an MJCF model file.
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.. _mujoco-model:
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:at:`model`: :at-val:`string, "MuJoCo Model"`
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The name of the model. This name is shown in the title bar of :ref:`simulate.cc <saSimulate>`.
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@@ -139,6 +142,8 @@ The unique top-level element, identifying the XML file as an MJCF model file.
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This element is used to set options for the built-in parser and compiler. After parsing and compilation it no longer has
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any effect. The settings here are global and apply to the entire model.
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.. _compiler-autolimits:
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:at:`autolimits`: :at-val:`[false, true], "false"`
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This attribute affects the behavior of attributes such as "limited" (on <body-joint> or <tendon>), "forcelimited",
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"ctrllimited", and "actlimited" (on <actuator>). If "true", these attributes are unnecessary and their value
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@@ -498,6 +503,8 @@ adjust it properly through the XML.
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.. _option-o_solref:
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.. _option-o_solimp:
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:at:`o_solref`, :at:`o_solimp`
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These attributes replace the solref and solimp parameters of all active contact pairs when contact override is
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enabled. See :ref:`CSolver` for details.
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@@ -1172,117 +1179,117 @@ The settings in this element control the color and transparency (rgba) of variou
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combined attribute "color" to simplify terminology below. All values should be in the range [0 1]. An alpha value of 0
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disables the rendering of the corresponding object.
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.. visual-rgba-fog:
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.. _visual-rgba-fog:
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:at:`fog`: :at-val:`real(4), "0 0 0 1"`
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When fog is enabled, the color of all pixels fades towards the color specified here. The spatial extent of the fading
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is controlled by the fogstart and fogend attributes of the :ref:`map <visual-map>` element above.
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.. visual-rgba-haze:
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.. _visual-rgba-haze:
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:at:`haze`: :at-val:`real(4), "1 1 1 1"`
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Haze color at the horizon, used to transition between an infinite plane and a skybox smoothly. The default creates
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white haze. To create a seamless transition, make sure the skybox colors near the horizon are similar to the plane
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color/texture, and set the haze color somewhere in that color gamut.
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.. visual-rgba-force:
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.. _visual-rgba-force:
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:at:`force`: :at-val:`real(4), "1 0.5 0.5 1"`
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Color of the arrows used to render perturbation forces.
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.. visual-rgba-inertia:
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.. _visual-rgba-inertia:
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:at:`inertia`: :at-val:`real(4), "0.8 0.2 0.2 0.6"`
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Color of the boxes used to render equivalent body inertias. This is the only rgba setting that has transparency by
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default, because it is usually desirable to see the geoms inside the inertia box.
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.. visual-rgba-joint:
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.. _visual-rgba-joint:
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:at:`joint`: :at-val:`real(4), "0.2 0.6 0.8 1"`
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Color of the arrows used to render joint axes.
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.. visual-rgba-actuator:
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.. _visual-rgba-actuator:
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:at:`actuator`: :at-val:`real(4), "0.2 0.25 0.2 1"`
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Actuator color for neutral value of the control.
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.. visual-rgba-actuatornegative:
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.. _visual-rgba-actuatornegative:
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:at:`actuatornegative`: :at-val:`real(4), "0.2 0.6 0.9 1"`
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Actuator color for most negative value of the control.
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.. visual-rgba-actuatorpositive:
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.. _visual-rgba-actuatorpositive:
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:at:`actuatorpositive`: :at-val:`real(4), "0.9 0.4 0.2 1"`
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Actuator color for most positive value of the control.
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.. visual-rgba-com:
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.. _visual-rgba-com:
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:at:`com`: :at-val:`real(4), "0.9 0.9 0.9 1"`
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Color of the spheres used to render sub-tree centers of mass.
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.. visual-rgba-camera:
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.. _visual-rgba-camera:
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:at:`camera`: :at-val:`real(4), "0.6 0.9 0.6 1"`
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Color of the decorative object used to represent model cameras in the rendering.
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.. visual-rgba-light:
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.. _visual-rgba-light:
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:at:`light`: :at-val:`real(4), "0.6 0.6 0.9 1"`
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Color of the decorative object used to represent model lights in the rendering.
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.. visual-rgba-selectpoint:
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.. _visual-rgba-selectpoint:
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:at:`selectpoint`: :at-val:`real(4), "0.9 0.9 0.1 1"`
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Color of the sphere used to render the selection point.
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.. visual-rgba-connect:
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.. _visual-rgba-connect:
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:at:`connect`: :at-val:`real(4), "0.2 0.2 0.8 1"`
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Color of the capsules used to connect bodies and joints, resulting in an automatically generated skeleton.
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.. visual-rgba-contactpoint:
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.. _visual-rgba-contactpoint:
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:at:`contactpoint`: :at-val:`real(4), "0.9 0.6 0.2 1"`
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Color of the cylinders used to render contact points.
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.. visual-rgba-contactforce:
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.. _visual-rgba-contactforce:
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:at:`contactforce`: :at-val:`real(4), "0.7 0.9 0.9 1"`
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Color of the arrows used to render contact forces. When splitting of contact forces into normal and tangential
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components is enabled, this color is used to render the normal components.
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.. visual-rgba-contactfriction:
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.. _visual-rgba-contactfriction:
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:at:`contactfriction`: :at-val:`real(4), "0.9 0.8 0.4 1"`
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Color of the arrows used to render contact tangential forces, only when splitting is enabled.
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.. visual-rgba-contacttorque:
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.. _visual-rgba-contacttorque:
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:at:`contacttorque`: :at-val:`real(4), "0.9 0.7 0.9 1"`
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Color of the arrows used to render contact torques (currently disabled).
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.. visual-rgba-contactgap:
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.. _visual-rgba-contactgap:
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:at:`contactgap`: :at-val:`real(4), "0.5, 0.8, 0.9, 1"`
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Color of contacts that fall in the contact gap (and are thereby excluded from contact force computations).
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.. visual-rgba-rangefinder:
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.. _visual-rgba-rangefinder:
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:at:`rangefinder`: :at-val:`real(4), "1 1 0.1 1"`
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Color of line geoms used to render rangefinder sensors.
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.. visual-rgba-constraint:
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.. _visual-rgba-constraint:
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:at:`constraint`: :at-val:`real(4), "0.9 0 0 1"`
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Color of the capsules corresponding to spatial constraint violations.
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.. visual-rgba-slidercrank:
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.. _visual-rgba-slidercrank:
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:at:`slidercrank`: :at-val:`real(4), "0.5 0.3 0.8 1"`
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Color of slider-crank mechanisms.
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.. visual-rgba-crankbroken:
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.. _visual-rgba-crankbroken:
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:at:`crankbroken`: :at-val:`real(4), "0.9 0 0 1"`
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Color used to render the crank of slide-crank mechanisms, in model configurations where the specified rod length
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@@ -2224,6 +2231,12 @@ be clear from the above specification.
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only. This is not as flexible as the material mechanism, but is more convenient and is often sufficient. If the value
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of this attribute is different from the internal default, it takes precedence over the material.
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.. _asset-skin-group:
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:at:`group`: :at-val:`int, "0"`
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Integer group to which the skin belongs. This attribute can be used for custom tags. It is also used by the
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visualizer to enable and disable the rendering of entire groups of skins.
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.. _skin-bone:
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@@ -2932,6 +2945,8 @@ helps clarify the role of bodies and geoms in MuJoCo.
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.. _body-geom-solref:
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.. _body-geom-solimp:
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:at:`solref`, :at:`solimp`
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Constraint solver parameters for contact simulation. See :ref:`CSolver`.
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@@ -3336,14 +3351,14 @@ the parent body has a childclass attribute defined. Instead there are internal d
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composite object type. Composite objects can only be defined if the model is in local coordinates. Using them in global
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coordinates results in compiler error. See :ref:`CComposite` in the modeling guide for more detailed explanation.
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.. body-composite-prefix:
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.. _body-composite-prefix:
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:at:`prefix`: :at-val:`string, optional`
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All automatically generated model elements have names indicating the element type and index. For example, the body at
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coordinates (2, 0) in a 2D grid is named "B2_0" by default. If prefix="C" is specified, the same body is named
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"CB2_0". The prefix is needed when multiple composite objects are used in the same model, to avoid name conflicts.
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.. body-composite-type:
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.. _body-composite-type:
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:at:`type`: :at-val:`[particle, grid, cable, rope, loop, cloth, box, cylinder, ellipsoid], required`
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This attribute determines the type of composite object. The remaining attributes and sub-elements are then
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@@ -3522,6 +3537,8 @@ joints should be created, as well as to adjust the attributes of both automatic
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Otherwise these attributes obey the same rules as all other solref and solimp attributes in MJCF. See :ref:`Solver
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parameters <CSolver>`.
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.. _composite-joint-axis:
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.. _composite-joint-group:
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.. _composite-joint-stiffness:
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@@ -3549,7 +3566,7 @@ joints should be created, as well as to adjust the attributes of both automatic
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.. _composite-joint-type:
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.. |body/composite/joint attrib list| replace::
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:at:`group`, :at:`stiffness`, :at:`damping`, :at:`armature`, :at:`limited`, :at:`range`, :at:`margin`,
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:at:`axis`, :at:`group`, :at:`stiffness`, :at:`damping`, :at:`armature`, :at:`limited`, :at:`range`, :at:`margin`,
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:at:`solreflimit`, :at:`solimplimit`, :at:`frictionloss`, :at:`solreffriction`, :at:`solimpfriction`, :at:`type`
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|body/composite/joint attrib list|
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@@ -3719,7 +3736,9 @@ automatically-generated skin.
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.. _composite-skin-rgba:
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:at:`material`, :at:`rgba`
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.. _composite-skin-group:
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:at:`material`, :at:`rgba`, :at:`group`:
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Same meaning as in :ref:`geom <body-geom>`.
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.. _composite-skin-inflate:
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@@ -3742,7 +3761,6 @@ automatically-generated skin.
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bi-cubic interpolation. This increases the quality of the rendering (especially in the absence of textures) but also
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slows down the renderer, so use it with caution. Values above 3 are unlikely to be needed.
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.. _composite-pin:
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:el-prefix:`composite/` |-| **pin** (*)
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@@ -4675,13 +4693,15 @@ This element does not have custom attributes. It only has common attributes, whi
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.. _actuator-motor-site:
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.. _actuator-motor-refsite:
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.. _actuator-motor-user:
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.. |actuator/motor attrib list| replace::
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:at:`name`, :at:`class`, :at:`group`, :at:`ctrllimited`, :at:`forcelimited`, :at:`ctrlrange`, :at:`forcerange`,
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:at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`, :at:`tendon`, :at:`cranksite`,
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:at:`slidersite`, :at:`site`, :at:`user`
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:at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`
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|actuator/motor attrib list|
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Same as in actuator/ :ref:`general <actuator-general>`.
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@@ -4737,12 +4757,14 @@ This element has one custom attribute in addition to the common attributes:
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.. _actuator-position-site:
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.. _actuator-position-refsite:
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.. _actuator-position-user:
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.. |actuator/position attrib list| replace::
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:at:`name`, :at:`class`, :at:`group`, :at:`ctrllimited`, :at:`forcelimited`, :at:`ctrlrange`, :at:`forcerange`,
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:at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`, :at:`tendon`, :at:`cranksite`,
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:at:`slidersite`, :at:`site`, :at:`user`
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:at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`
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|actuator/position attrib list|
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Same as in actuator/ :ref:`general <actuator-general>`.
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@@ -4772,6 +4794,8 @@ biastype affine biasprm 0 0 -kv
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This element has one custom attribute in addition to the common attributes:
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.. _actuator-velocity-name:
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.. _actuator-velocity-class:
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.. _actuator-velocity-group:
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@@ -4802,12 +4826,14 @@ This element has one custom attribute in addition to the common attributes:
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.. _actuator-velocity-site:
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.. _actuator-velocity-refsite:
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.. _actuator-velocity-user:
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.. |actuator/velocity attrib list| replace::
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:at:`name`, :at:`class`, :at:`group`, :at:`ctrllimited`, :at:`forcelimited`, :at:`ctrlrange`, :at:`forcerange`,
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:at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`, :at:`tendon`, :at:`cranksite`,
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:at:`slidersite`, :at:`site`, :at:`user`
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:at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`
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|actuator/velocity attrib list|
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Same as in actuator/ :ref:`general <actuator-general>`.
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@@ -4838,6 +4864,8 @@ actlimited true
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This element has one custom attribute in addition to the common attributes:
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.. _actuator-intvelocity-name:
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.. _actuator-intvelocity-class:
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.. _actuator-intvelocity-group:
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@@ -4850,6 +4878,8 @@ This element has one custom attribute in addition to the common attributes:
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.. _actuator-intvelocity-forcerange:
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.. _actuator-intvelocity-actrange:
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.. _actuator-intvelocity-lengthrange:
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.. _actuator-intvelocity-gear:
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@@ -4868,12 +4898,14 @@ This element has one custom attribute in addition to the common attributes:
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.. _actuator-intvelocity-site:
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.. _actuator-intvelocity-refsite:
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.. _actuator-intvelocity-user:
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.. |actuator/intvelocity attrib list| replace::
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:at:`name`, :at:`class`, :at:`group`, :at:`ctrllimited`, :at:`forcelimited`, :at:`ctrlrange`, :at:`forcerange`,
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:at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`, :at:`tendon`, :at:`cranksite`,
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:at:`slidersite`, :at:`site`, :at:`user`
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:at:`actrange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`, :at:`tendon`,
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:at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`
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|actuator/intvelocity attrib list|
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Same as in actuator/ :ref:`general <actuator-general>`.
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@@ -4937,11 +4969,13 @@ This element has one custom attribute in addition to the common attributes:
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.. _actuator-damper-site:
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.. _actuator-damper-refsite:
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.. _actuator-damper-user:
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.. |actuator/damper attrib list| replace:: :at:`name`, :at:`class`, :at:`group`, :at:`ctrllimited`, :at:`forcelimited`,
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:at:`ctrlrange`, :at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`,
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:at:`jointinparent`, :at:`tendon`, :at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`user`
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:at:`jointinparent`, :at:`tendon`, :at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`
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|actuator/damper attrib list|
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Same as in actuator/ :ref:`general <actuator-general>`.
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@@ -5003,12 +5037,14 @@ This element has four custom attributes in addition to the common attributes:
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.. _actuator-cylinder-site:
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.. _actuator-cylinder-refsite:
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.. _actuator-cylinder-user:
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.. |actuator/cylinder attrib list| replace::
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:at:`name`, :at:`class`, :at:`group`, :at:`ctrllimited`, :at:`forcelimited`, :at:`ctrlrange`, :at:`forcerange`,
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:at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`, :at:`tendon`, :at:`cranksite`,
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:at:`slidersite`, :at:`site`, :at:`user`
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:at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`
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|actuator/cylinder attrib list|
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Same as in actuator/ :ref:`general <actuator-general>`.
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+1535
-1546
File diff suppressed because it is too large
Load Diff
@@ -13,6 +13,12 @@
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.. |_4| unicode:: 0xA0 0xA0 0xA0 0xA0 0xA0 0xA0 0xA0 0xA0
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:trim:
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..
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Macro for L shaped arrow
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.. |L| unicode:: 0x21B3 0xA0
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:trim:
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..
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Macro for injecting a custom line break.
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@@ -79,7 +79,7 @@ void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjCPlugin* pp) {
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//---------------------------------- MJCF schema ---------------------------------------------------
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static const int nMJCF = 191;
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static const int nMJCF = 190;
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static const char* MJCF[nMJCF][mjXATTRNUM] = {
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{"mujoco", "!", "1", "model"},
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{"<"},
|
||||
@@ -298,8 +298,6 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
|
||||
"active", "solref", "solimp"},
|
||||
{"tendon", "*", "8", "name", "class", "tendon1", "tendon2", "polycoef",
|
||||
"active", "solref", "solimp"},
|
||||
{"distance", "*", "8", "name", "class", "geom1", "geom2", "distance",
|
||||
"active", "solref", "solimp"},
|
||||
{">"},
|
||||
|
||||
{"tendon", "*", "0"},
|
||||
|
||||
Reference in New Issue
Block a user