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Fix indentation bugs in docs, improve attribute order in schema.

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PiperOrigin-RevId: 566230568
Change-Id: I0f536a2048d3e35d8ee510d86b6eba7a74c4e80a
This commit is contained in:
Yuval Tassa
2023-09-18 01:46:59 -07:00
committed by Copybara-Service
parent 63fd23a934
commit ee8da5babe
3 changed files with 57 additions and 57 deletions
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doc/XMLreference.rst
+21 -21
View File
@@ -1562,7 +1562,7 @@ The full list of processing steps applied by the compiler to each mesh is as fol
.. _mesh-plugin:
:el-prefix:`mesh/` |-| **plugin** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
'''''''''''''''''''''''''''''''''''''
Associate this mesh with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
@@ -2246,24 +2246,6 @@ defined. Its body name is automatically defined as "world".
See :ref:`CUser`.
.. _body-plugin:
:el-prefix:`body/` |-| **plugin** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Associate this body with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
.. _body-plugin-plugin:
:at:`plugin`: :at-val:`string, optional`
Plugin identifier, used for implicit plugin instantiation.
.. _body-plugin-instance:
:at:`instance`: :at-val:`string, optional`
Instance name, used for explicit plugin instantiation.
.. _body-inertial:
:el-prefix:`body/` |-| **inertial** (?)
@@ -2898,7 +2880,7 @@ helps clarify the role of bodies and geoms in MuJoCo.
.. _geom-plugin:
:el-prefix:`geom/` |-| **plugin** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
'''''''''''''''''''''''''''''''''''''
Associate this geom with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
@@ -3200,6 +3182,24 @@ the direction specified by the dir attribute. It does not have a full spatial fr
The specular color of the light.
.. _body-plugin:
:el-prefix:`body/` |-| **plugin** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Associate this body with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
.. _body-plugin-plugin:
:at:`plugin`: :at-val:`string, optional`
Plugin identifier, used for implicit plugin instantiation.
.. _body-plugin-instance:
:at:`instance`: :at-val:`string, optional`
Instance name, used for explicit plugin instantiation.
.. _body-composite:
:el-prefix:`body/` |-| **composite** (*)
@@ -3650,7 +3650,7 @@ handle where the composite object is attached. For other composite types this su
.. _composite-plugin:
:el-prefix:`composite/` |-| **plugin** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
''''''''''''''''''''''''''''''''''''''''''
Associate this composite with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
doc/XMLschema.rst
+28 -28
View File
@@ -260,20 +260,6 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
| :ref:`plugin | \* | :class: mjcf-attributes |
| <body-plugin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`plugin<body-plugin-plugin>` | :ref:`instance<body-plugin-instance>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| plugin |br| |_2| |L| | | .. table:: |
| :ref:`config | \* | :class: mjcf-attributes |
| <plugin-config>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
| :ref:`inertial | ? | :class: mjcf-attributes |
| <body-inertial>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
@@ -385,6 +371,20 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
| :ref:`plugin | \* | :class: mjcf-attributes |
| <body-plugin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`plugin<body-plugin-plugin>` | :ref:`instance<body-plugin-instance>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| plugin |br| |_2| |L| | | .. table:: |
| :ref:`config | \* | :class: mjcf-attributes |
| <plugin-config>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
| :ref:`composite | \* | :class: mjcf-attributes |
| <body-composite>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
@@ -398,20 +398,6 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| composite |br| |_2| |L| | | .. table:: |
| :ref:`plugin | \* | :class: mjcf-attributes |
| <composite-plugin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`plugin<composite-plugin-plugin>` | :ref:`instance<composite-plugin-instance>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_3| plugin |br| |_3| |L| | | .. table:: |
| :ref:`config | \* | :class: mjcf-attributes |
| <plugin-config>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| composite |br| |_2| |L| | | .. table:: |
| :ref:`joint | \* | :class: mjcf-attributes |
| <composite-joint>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
@@ -479,6 +465,20 @@
| | | | :ref:`coord<composite-pin-coord>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| composite |br| |_2| |L| | | .. table:: |
| :ref:`plugin | \* | :class: mjcf-attributes |
| <composite-plugin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`plugin<composite-plugin-plugin>` | :ref:`instance<composite-plugin-instance>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_3| plugin |br| |_3| |L| | | .. table:: |
| :ref:`config | \* | :class: mjcf-attributes |
| <plugin-config>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
| :ref:`contact<contact>` | | |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
src/xml/xml_native_reader.cc
+8 -8
View File
@@ -239,10 +239,6 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"body", "R", "11", "name", "childclass", "pos", "quat", "mocap",
"axisangle", "xyaxes", "zaxis", "euler", "gravcomp", "user"},
{"<"},
{"plugin", "*", "2", "plugin", "instance"},
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
{"inertial", "?", "9", "pos", "quat", "mass", "diaginertia",
"axisangle", "xyaxes", "zaxis", "euler", "fullinertia"},
{"joint", "*", "23", "name", "class", "type", "group", "pos", "axis",
@@ -270,14 +266,14 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"light", "*", "15", "name", "class", "directional", "castshadow", "active",
"pos", "dir", "attenuation", "cutoff", "exponent", "ambient", "diffuse", "specular",
"mode", "target"},
{"plugin", "*", "2", "plugin", "instance"},
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
{"composite", "*", "13", "prefix", "type", "count", "spacing", "offset",
"flatinertia", "solrefsmooth", "solimpsmooth", "vertex", "face",
"initial", "curve", "size"},
{"<"},
{"plugin", "*", "2", "plugin", "instance"},
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
{"joint", "*", "17", "kind", "group", "stiffness", "damping", "armature",
"solreffix", "solimpfix", "type", "axis",
"limited", "range", "margin", "solreflimit", "solimplimit",
@@ -293,6 +289,10 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"density", "solmix", "solref", "solimp", "margin", "gap"},
{"site", "?", "4", "group", "size", "material", "rgba"},
{"pin", "*", "1", "coord"},
{"plugin", "*", "2", "plugin", "instance"},
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
{">"},
{">"},