Add links to default attributes.
PiperOrigin-RevId: 517639045 Change-Id: I45f766bda8ce5bd182ba2669c4121c21896d40c1
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
c34826ef1a
commit
fae5e822c0
+432
-2
@@ -1366,15 +1366,33 @@ if omitted.
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.. _default-mesh:
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.. _default-mesh-scale:
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:el-prefix:`default/` |-| **mesh** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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| This element sets the attributes of the dummy :ref:`mesh <asset-mesh>` element of the defaults class.
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| The only mesh attribute available here is: **scale**.
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| The only mesh attribute available here is: :ref:`scale <asset-mesh-scale>`.
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.. _default-material:
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.. _default-material-texture:
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.. _default-material-emission:
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.. _default-material-specular:
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.. _default-material-shininess:
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.. _default-material-reflectance:
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.. _default-material-rgba:
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.. _default-material-texrepeat:
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.. _default-material-texuniform:
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:el-prefix:`default/` |-| **material** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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@@ -1384,6 +1402,44 @@ if omitted.
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.. _default-joint:
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.. _default-joint-type:
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.. _default-joint-group:
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.. _default-joint-pos:
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.. _default-joint-axis:
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.. _default-joint-springdamper:
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.. _default-joint-limited:
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.. _default-joint-solreflimit:
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.. _default-joint-solimplimit:
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.. _default-joint-solreffriction:
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.. _default-joint-solimpfriction:
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.. _default-joint-stiffness:
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.. _default-joint-range:
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.. _default-joint-margin:
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.. _default-joint-ref:
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.. _default-joint-springref:
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.. _default-joint-armature:
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.. _default-joint-damping:
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.. _default-joint-frictionloss:
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.. _default-joint-user:
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:el-prefix:`default/` |-| **joint** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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@@ -1393,6 +1449,68 @@ if omitted.
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.. _default-geom:
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.. _default-geom-type:
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.. _default-geom-pos:
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.. _default-geom-quat:
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.. _default-geom-contype:
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.. _default-geom-conaffinity:
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.. _default-geom-condim:
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.. _default-geom-group:
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.. _default-geom-priority:
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.. _default-geom-size:
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.. _default-geom-material:
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.. _default-geom-friction:
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.. _default-geom-mass:
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.. _default-geom-density:
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.. _default-geom-shellinertia:
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.. _default-geom-solmix:
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.. _default-geom-solref:
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.. _default-geom-solimp:
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.. _default-geom-margin:
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.. _default-geom-gap:
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.. _default-geom-fromto:
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.. _default-geom-axisangle:
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.. _default-geom-xyaxes:
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.. _default-geom-zaxis:
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.. _default-geom-euler:
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.. _default-geom-hfield:
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.. _default-geom-mesh:
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.. _default-geom-fitscale:
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.. _default-geom-rgba:
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.. _default-geom-fluidshape:
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.. _default-geom-fluidcoef:
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.. _default-geom-user:
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:el-prefix:`default/` |-| **geom** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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@@ -1402,6 +1520,32 @@ if omitted.
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.. _default-site:
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.. _default-site-type:
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.. _default-site-group:
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.. _default-site-pos:
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.. _default-site-quat:
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.. _default-site-material:
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.. _default-site-size:
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.. _default-site-fromto:
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.. _default-site-axisangle:
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.. _default-site-xyaxes:
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.. _default-site-zaxis:
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.. _default-site-euler:
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.. _default-site-rgba:
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.. _default-site-user:
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:el-prefix:`default/` |-| **site** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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@@ -1411,6 +1555,26 @@ if omitted.
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.. _default-camera:
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.. _default-camera-fovy:
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.. _default-camera-ipd:
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.. _default-camera-pos:
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.. _default-camera-quat:
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.. _default-camera-axisangle:
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.. _default-camera-xyaxes:
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.. _default-camera-zaxis:
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.. _default-camera-euler:
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.. _default-camera-mode:
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.. _default-camera-user:
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:el-prefix:`default/` |-| **camera** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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@@ -1420,6 +1584,30 @@ if omitted.
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.. _default-light:
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.. _default-light-pos:
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.. _default-light-dir:
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.. _default-light-directional:
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.. _default-light-castshadow:
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.. _default-light-active:
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.. _default-light-attenuation:
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.. _default-light-cutoff:
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.. _default-light-exponent:
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.. _default-light-ambient:
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.. _default-light-diffuse:
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.. _default-light-specular:
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.. _default-light-mode:
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:el-prefix:`default/` |-| **light** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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@@ -1429,6 +1617,18 @@ if omitted.
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.. _default-pair:
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.. _default-pair-condim:
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.. _default-pair-friction:
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.. _default-pair-solref:
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.. _default-pair-solimp:
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.. _default-pair-gap:
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.. _default-pair-margin:
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:el-prefix:`default/` |-| **pair** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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@@ -1438,17 +1638,55 @@ if omitted.
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.. _default-equality:
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.. _default-equality-active:
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.. _default-equality-solref:
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.. _default-equality-solimp:
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:el-prefix:`default/` |-| **equality** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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| This element sets the attributes of the dummy :ref:`equality <equality>` element of the defaults class. The actual
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equality constraints have types depending on the sub-element used to define them. However here we are setting
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attributes common to all equality constraint types, which is why we do not make a distinction between types.
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| The equality sub-element attributes available here are: **active, solref, solimp**.
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| The equality sub-element attributes available here are: :at:`active`, :at:`solref`, :at:`solimp`.
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.. _default-tendon:
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.. _default-tendon-group:
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.. _default-tendon-limited:
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.. _default-tendon-range:
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.. _default-tendon-solreflimit:
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.. _default-tendon-solimplimit:
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.. _default-tendon-solreffriction:
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.. _default-tendon-solimpfriction:
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.. _default-tendon-frictionloss:
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.. _default-tendon-springlength:
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.. _default-tendon-width:
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.. _default-tendon-material:
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.. _default-tendon-margin:
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.. _default-tendon-stiffness:
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.. _default-tendon-damping:
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.. _default-tendon-rgba:
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.. _default-tendon-user:
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:el-prefix:`default/` |-| **tendon** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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@@ -1459,6 +1697,40 @@ if omitted.
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.. _default-general:
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.. _default-general-ctrllimited:
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.. _default-general-forcelimited:
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.. _default-general-actlimited:
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.. _default-general-ctrlrange:
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.. _default-general-forcerange:
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.. _default-general-actrange:
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.. _default-general-gear:
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.. _default-general-cranklength:
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.. _default-general-user:
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.. _default-general-group:
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.. _default-general-actdim:
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.. _default-general-dyntype:
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.. _default-general-gaintype:
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.. _default-general-biastype:
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.. _default-general-dynprm:
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.. _default-general-gainprm:
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.. _default-general-biasprm:
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:el-prefix:`default/` |-| **general** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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@@ -1469,6 +1741,22 @@ if omitted.
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.. _default-motor:
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.. _default-motor-ctrllimited:
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.. _default-motor-forcelimited:
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.. _default-motor-ctrlrange:
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.. _default-motor-forcerange:
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.. _default-motor-gear:
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.. _default-motor-cranklength:
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.. _default-motor-user:
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.. _default-motor-group:
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:el-prefix:`default/` |-| **motor** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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@@ -1481,6 +1769,24 @@ slidersite, cranksite.
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.. _default-position:
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.. _default-position-ctrllimited:
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.. _default-position-forcelimited:
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.. _default-position-ctrlrange:
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.. _default-position-forcerange:
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.. _default-position-gear:
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.. _default-position-cranklength:
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.. _default-position-user:
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.. _default-position-group:
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.. _default-position-kp:
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:el-prefix:`default/` |-| **position** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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@@ -1490,6 +1796,24 @@ tendon, slidersite, cranksite.
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.. _default-velocity:
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.. _default-velocity-ctrllimited:
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.. _default-velocity-forcelimited:
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.. _default-velocity-ctrlrange:
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.. _default-velocity-forcerange:
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.. _default-velocity-gear:
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.. _default-velocity-cranklength:
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.. _default-velocity-user:
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.. _default-velocity-group:
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.. _default-velocity-kv:
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:el-prefix:`default/` |-| **velocity** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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@@ -1499,6 +1823,26 @@ tendon, slidersite, cranksite.
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.. _default-intvelocity:
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.. _default-intvelocity-ctrllimited:
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.. _default-intvelocity-forcelimited:
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.. _default-intvelocity-ctrlrange:
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.. _default-intvelocity-forcerange:
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.. _default-intvelocity-actrange:
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.. _default-intvelocity-gear:
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.. _default-intvelocity-cranklength:
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.. _default-intvelocity-user:
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.. _default-intvelocity-group:
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.. _default-intvelocity-kp:
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:el-prefix:`default/` |-| **intvelocity** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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@@ -1508,6 +1852,22 @@ site, tendon, slidersite, cranksite.
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.. _default-damper:
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.. _default-damper-forcelimited:
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.. _default-damper-ctrlrange:
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.. _default-damper-forcerange:
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.. _default-damper-gear:
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.. _default-damper-cranklength:
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.. _default-damper-user:
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.. _default-damper-group:
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.. _default-damper-kv:
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:el-prefix:`default/` |-| **damper** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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@@ -1517,6 +1877,30 @@ tendon, slidersite, cranksite.
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.. _default-cylinder:
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.. _default-cylinder-ctrllimited:
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.. _default-cylinder-forcelimited:
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.. _default-cylinder-ctrlrange:
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.. _default-cylinder-forcerange:
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.. _default-cylinder-gear:
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.. _default-cylinder-cranklength:
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.. _default-cylinder-user:
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.. _default-cylinder-group:
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.. _default-cylinder-timeconst:
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.. _default-cylinder-area:
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.. _default-cylinder-diameter:
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.. _default-cylinder-bias:
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:el-prefix:`default/` |-| **cylinder** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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@@ -1526,6 +1910,40 @@ tendon, slidersite, cranksite.
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.. _default-muscle:
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.. _default-muscle-ctrllimited:
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.. _default-muscle-forcelimited:
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.. _default-muscle-ctrlrange:
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.. _default-muscle-forcerange:
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.. _default-muscle-gear:
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.. _default-muscle-cranklength:
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.. _default-muscle-user:
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.. _default-muscle-group:
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.. _default-muscle-timeconst:
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.. _default-muscle-range:
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.. _default-muscle-force:
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.. _default-muscle-scale:
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.. _default-muscle-lmin:
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.. _default-muscle-lmax:
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.. _default-muscle-vmax:
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.. _default-muscle-fpmax:
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.. _default-muscle-fvmax:
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:el-prefix:`default/` |-| **muscle** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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@@ -1535,6 +1953,18 @@ tendon, slidersite, cranksite.
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.. _default-adhesion:
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.. _default-adhesion-forcelimited:
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.. _default-adhesion-ctrlrange:
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.. _default-adhesion-forcerange:
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.. _default-adhesion-gain:
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.. _default-adhesion-user:
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.. _default-adhesion-group:
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:el-prefix:`default/` |-| **adhesion** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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+78
-78
@@ -196,251 +196,251 @@
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| :ref:`mesh | ? | :class: mjcf-attributes |
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| <default-mesh>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :at:`scale` | | | |
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| | | | :ref:`scale<default-mesh-scale>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| default |br| |_| |L| | | .. table:: |
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| :ref:`material | ? | :class: mjcf-attributes |
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| <default-material>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`texture` | :at:`emission` | :at:`specular` | |
|
||||
| | | | :ref:`texture<default-material-texture>` | :ref:`emission<default-material-emission>` | :ref:`specular<default-material-specular>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`shininess` | :at:`reflectance` | :at:`rgba` | |
|
||||
| | | | :ref:`shininess<default-material-shininess>` | :ref:`reflectance<default-material-reflectance>` | :ref:`rgba<default-material-rgba>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`texrepeat` | :at:`texuniform` | | |
|
||||
| | | | :ref:`texrepeat<default-material-texrepeat>` | :ref:`texuniform<default-material-texuniform>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| default |br| |_| |L| | | .. table:: |
|
||||
| :ref:`joint | ? | :class: mjcf-attributes |
|
||||
| <default-joint>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`type` | :at:`group` | :at:`pos` | |
|
||||
| | | | :ref:`type<default-joint-type>` | :ref:`group<default-joint-group>` | :ref:`pos<default-joint-pos>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`axis` | :at:`springdamper` | :at:`limited` | |
|
||||
| | | | :ref:`axis<default-joint-axis>` | :ref:`springdamper<default-joint-springdamper>` | :ref:`limited<default-joint-limited>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`solreflimit` | :at:`solimplimit` | :at:`solreffriction` | |
|
||||
| | | | :ref:`solreflimit<default-joint-solreflimit>` | :ref:`solimplimit<default-joint-solimplimit>` | :ref:`solreffriction<default-joint-solreffriction>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`solimpfriction` | :at:`stiffness` | :at:`range` | |
|
||||
| | | | :ref:`solimpfriction<default-joint-solimpfriction>` | :ref:`stiffness<default-joint-stiffness>` | :ref:`range<default-joint-range>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`margin` | :at:`ref` | :at:`springref` | |
|
||||
| | | | :ref:`margin<default-joint-margin>` | :ref:`ref<default-joint-ref>` | :ref:`springref<default-joint-springref>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`armature` | :at:`damping` | :at:`frictionloss` | |
|
||||
| | | | :ref:`armature<default-joint-armature>` | :ref:`damping<default-joint-damping>` | :ref:`frictionloss<default-joint-frictionloss>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`user` | | | |
|
||||
| | | | :ref:`user<default-joint-user>` | | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| default |br| |_| |L| | | .. table:: |
|
||||
| :ref:`geom | ? | :class: mjcf-attributes |
|
||||
| <default-geom>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`type` | :at:`pos` | :at:`quat` | |
|
||||
| | | | :ref:`type<default-geom-type>` | :ref:`pos<default-geom-pos>` | :ref:`quat<default-geom-quat>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`contype` | :at:`conaffinity` | :at:`condim` | |
|
||||
| | | | :ref:`contype<default-geom-contype>` | :ref:`conaffinity<default-geom-conaffinity>` | :ref:`condim<default-geom-condim>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`group` | :at:`priority` | :at:`size` | |
|
||||
| | | | :ref:`group<default-geom-group>` | :ref:`priority<default-geom-priority>` | :ref:`size<default-geom-size>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`material` | :at:`friction` | :at:`mass` | |
|
||||
| | | | :ref:`material<default-geom-material>` | :ref:`friction<default-geom-friction>` | :ref:`mass<default-geom-mass>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`density` | :at:`shellinertia` | :at:`solmix` | |
|
||||
| | | | :ref:`density<default-geom-density>` | :ref:`shellinertia<default-geom-shellinertia>` | :ref:`solmix<default-geom-solmix>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`solref` | :at:`solimp` | :at:`margin` | |
|
||||
| | | | :ref:`solref<default-geom-solref>` | :ref:`solimp<default-geom-solimp>` | :ref:`margin<default-geom-margin>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`gap` | :at:`fromto` | :at:`axisangle` | |
|
||||
| | | | :ref:`gap<default-geom-gap>` | :ref:`fromto<default-geom-fromto>` | :ref:`axisangle<default-geom-axisangle>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`xyaxes` | :at:`zaxis` | :at:`euler` | |
|
||||
| | | | :ref:`xyaxes<default-geom-xyaxes>` | :ref:`zaxis<default-geom-zaxis>` | :ref:`euler<default-geom-euler>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`hfield` | :at:`mesh` | :at:`fitscale` | |
|
||||
| | | | :ref:`hfield<default-geom-hfield>` | :ref:`mesh<default-geom-mesh>` | :ref:`fitscale<default-geom-fitscale>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`rgba` | :at:`fluidshape` | :at:`fluidcoef` | |
|
||||
| | | | :ref:`rgba<default-geom-rgba>` | :ref:`fluidshape<default-geom-fluidshape>` | :ref:`fluidcoef<default-geom-fluidcoef>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`user` | | | |
|
||||
| | | | :ref:`user<default-geom-user>` | | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| default |br| |_| |L| | | .. table:: |
|
||||
| :ref:`site | ? | :class: mjcf-attributes |
|
||||
| <default-site>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`type` | :at:`group` | :at:`pos` | |
|
||||
| | | | :ref:`type<default-site-type>` | :ref:`group<default-site-group>` | :ref:`pos<default-site-pos>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`quat` | :at:`material` | :at:`size` | |
|
||||
| | | | :ref:`quat<default-site-quat>` | :ref:`material<default-site-material>` | :ref:`size<default-site-size>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`fromto` | :at:`axisangle` | :at:`xyaxes` | |
|
||||
| | | | :ref:`fromto<default-site-fromto>` | :ref:`axisangle<default-site-axisangle>` | :ref:`xyaxes<default-site-xyaxes>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`zaxis` | :at:`euler` | :at:`rgba` | |
|
||||
| | | | :ref:`zaxis<default-site-zaxis>` | :ref:`euler<default-site-euler>` | :ref:`rgba<default-site-rgba>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`user` | | | |
|
||||
| | | | :ref:`user<default-site-user>` | | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| default |br| |_| |L| | | .. table:: |
|
||||
| :ref:`camera | ? | :class: mjcf-attributes |
|
||||
| <default-camera>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`fovy` | :at:`ipd` | :at:`pos` | |
|
||||
| | | | :ref:`fovy<default-camera-fovy>` | :ref:`ipd<default-camera-ipd>` | :ref:`pos<default-camera-pos>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`quat` | :at:`axisangle` | :at:`xyaxes` | |
|
||||
| | | | :ref:`quat<default-camera-quat>` | :ref:`axisangle<default-camera-axisangle>` | :ref:`xyaxes<default-camera-xyaxes>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`zaxis` | :at:`euler` | :at:`mode` | |
|
||||
| | | | :ref:`zaxis<default-camera-zaxis>` | :ref:`euler<default-camera-euler>` | :ref:`mode<default-camera-mode>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`user` | | | |
|
||||
| | | | :ref:`user<default-camera-user>` | | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| default |br| |_| |L| | | .. table:: |
|
||||
| :ref:`light | ? | :class: mjcf-attributes |
|
||||
| <default-light>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`pos` | :at:`dir` | :at:`directional` | |
|
||||
| | | | :ref:`pos<default-light-pos>` | :ref:`dir<default-light-dir>` | :ref:`directional<default-light-directional>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`castshadow` | :at:`active` | :at:`attenuation` | |
|
||||
| | | | :ref:`castshadow<default-light-castshadow>` | :ref:`active<default-light-active>` | :ref:`attenuation<default-light-attenuation>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`cutoff` | :at:`exponent` | :at:`ambient` | |
|
||||
| | | | :ref:`cutoff<default-light-cutoff>` | :ref:`exponent<default-light-exponent>` | :ref:`ambient<default-light-ambient>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`diffuse` | :at:`specular` | :at:`mode` | |
|
||||
| | | | :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>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`condim` | :at:`friction` | :at:`solref` | |
|
||||
| | | | :ref:`condim<default-pair-condim>` | :ref:`friction<default-pair-friction>` | :ref:`solref<default-pair-solref>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`solimp` | :at:`gap` | :at:`margin` | |
|
||||
| | | | :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>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`active` | :at:`solref` | :at:`solimp` | |
|
||||
| | | | :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>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`group` | :at:`limited` | :at:`range` | |
|
||||
| | | | :ref:`group<default-tendon-group>` | :ref:`limited<default-tendon-limited>` | :ref:`range<default-tendon-range>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`solreflimit` | :at:`solimplimit` | :at:`solreffriction` | |
|
||||
| | | | :ref:`solreflimit<default-tendon-solreflimit>` | :ref:`solimplimit<default-tendon-solimplimit>` | :ref:`solreffriction<default-tendon-solreffriction>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`solimpfriction` | :at:`frictionloss` | :at:`springlength` | |
|
||||
| | | | :ref:`solimpfriction<default-tendon-solimpfriction>` | :ref:`frictionloss<default-tendon-frictionloss>` | :ref:`springlength<default-tendon-springlength>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`width` | :at:`material` | :at:`margin` | |
|
||||
| | | | :ref:`width<default-tendon-width>` | :ref:`material<default-tendon-material>` | :ref:`margin<default-tendon-margin>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`stiffness` | :at:`damping` | :at:`rgba` | |
|
||||
| | | | :ref:`stiffness<default-tendon-stiffness>` | :ref:`damping<default-tendon-damping>` | :ref:`rgba<default-tendon-rgba>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`user` | | | |
|
||||
| | | | :ref:`user<default-tendon-user>` | | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| default |br| |_| |L| | | .. table:: |
|
||||
| :ref:`general | ? | :class: mjcf-attributes |
|
||||
| <default-general>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`actlimited` | |
|
||||
| | | | :ref:`ctrllimited<default-general-ctrllimited>` | :ref:`forcelimited<default-general-forcelimited>` | :ref:`actlimited<default-general-actlimited>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`ctrlrange` | :at:`forcerange` | :at:`actrange` | |
|
||||
| | | | :ref:`ctrlrange<default-general-ctrlrange>` | :ref:`forcerange<default-general-forcerange>` | :ref:`actrange<default-general-actrange>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`gear` | :at:`cranklength` | :at:`user` | |
|
||||
| | | | :ref:`gear<default-general-gear>` | :ref:`cranklength<default-general-cranklength>` | :ref:`user<default-general-user>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`group` | :at:`actdim` | :at:`dyntype` | |
|
||||
| | | | :ref:`group<default-general-group>` | :ref:`actdim<default-general-actdim>` | :ref:`dyntype<default-general-dyntype>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`gaintype` | :at:`biastype` | :at:`dynprm` | |
|
||||
| | | | :ref:`gaintype<default-general-gaintype>` | :ref:`biastype<default-general-biastype>` | :ref:`dynprm<default-general-dynprm>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`gainprm` | :at:`biasprm` | | |
|
||||
| | | | :ref:`gainprm<default-general-gainprm>` | :ref:`biasprm<default-general-biasprm>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| default |br| |_| |L| | | .. table:: |
|
||||
| :ref:`motor | ? | :class: mjcf-attributes |
|
||||
| <default-motor>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
|
||||
| | | | :ref:`ctrllimited<default-motor-ctrllimited>` | :ref:`forcelimited<default-motor-forcelimited>` | :ref:`ctrlrange<default-motor-ctrlrange>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | |
|
||||
| | | | :ref:`forcerange<default-motor-forcerange>` | :ref:`gear<default-motor-gear>` | :ref:`cranklength<default-motor-cranklength>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`user` | :at:`group` | | |
|
||||
| | | | :ref:`user<default-motor-user>` | :ref:`group<default-motor-group>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| default |br| |_| |L| | | .. table:: |
|
||||
| :ref:`position | ? | :class: mjcf-attributes |
|
||||
| <default-position>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
|
||||
| | | | :ref:`ctrllimited<default-position-ctrllimited>` | :ref:`forcelimited<default-position-forcelimited>` | :ref:`ctrlrange<default-position-ctrlrange>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | |
|
||||
| | | | :ref:`forcerange<default-position-forcerange>` | :ref:`gear<default-position-gear>` | :ref:`cranklength<default-position-cranklength>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`user` | :at:`group` | :at:`kp` | |
|
||||
| | | | :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>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
|
||||
| | | | :ref:`ctrllimited<default-velocity-ctrllimited>` | :ref:`forcelimited<default-velocity-forcelimited>` | :ref:`ctrlrange<default-velocity-ctrlrange>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | |
|
||||
| | | | :ref:`forcerange<default-velocity-forcerange>` | :ref:`gear<default-velocity-gear>` | :ref:`cranklength<default-velocity-cranklength>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`user` | :at:`group` | :at:`kv` | |
|
||||
| | | | :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>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
|
||||
| | | | :ref:`ctrllimited<default-intvelocity-ctrllimited>` | :ref:`forcelimited<default-intvelocity-forcelimited>` | :ref:`ctrlrange<default-intvelocity-ctrlrange>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`forcerange` | :at:`actrange` | :at:`gear` | |
|
||||
| | | | :ref:`forcerange<default-intvelocity-forcerange>` | :ref:`actrange<default-intvelocity-actrange>` | :ref:`gear<default-intvelocity-gear>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`cranklength` | :at:`user` | :at:`group` | |
|
||||
| | | | :ref:`cranklength<default-intvelocity-cranklength>` | :ref:`user<default-intvelocity-user>` | :ref:`group<default-intvelocity-group>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`kp` | | | |
|
||||
| | | | :ref:`kp<default-intvelocity-kp>` | | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| default |br| |_| |L| | | .. table:: |
|
||||
| :ref:`damper | ? | :class: mjcf-attributes |
|
||||
| <default-damper>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`forcelimited` | :at:`ctrlrange` | :at:`forcerange` | |
|
||||
| | | | :ref:`forcelimited<default-damper-forcelimited>` | :ref:`ctrlrange<default-damper-ctrlrange>` | :ref:`forcerange<default-damper-forcerange>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`gear` | :at:`cranklength` | :at:`user` | |
|
||||
| | | | :ref:`gear<default-damper-gear>` | :ref:`cranklength<default-damper-cranklength>` | :ref:`user<default-damper-user>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`group` | :at:`kv` | | |
|
||||
| | | | :ref:`group<default-damper-group>` | :ref:`kv<default-damper-kv>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| default |br| |_| |L| | | .. table:: |
|
||||
| :ref:`cylinder | ? | :class: mjcf-attributes |
|
||||
| <default-cylinder>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
|
||||
| | | | :ref:`ctrllimited<default-cylinder-ctrllimited>` | :ref:`forcelimited<default-cylinder-forcelimited>` | :ref:`ctrlrange<default-cylinder-ctrlrange>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | |
|
||||
| | | | :ref:`forcerange<default-cylinder-forcerange>` | :ref:`gear<default-cylinder-gear>` | :ref:`cranklength<default-cylinder-cranklength>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`user` | :at:`group` | :at:`timeconst` | |
|
||||
| | | | :ref:`user<default-cylinder-user>` | :ref:`group<default-cylinder-group>` | :ref:`timeconst<default-cylinder-timeconst>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`area` | :at:`diameter` | :at:`bias` | |
|
||||
| | | | :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>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
|
||||
| | | | :ref:`ctrllimited<default-muscle-ctrllimited>` | :ref:`forcelimited<default-muscle-forcelimited>` | :ref:`ctrlrange<default-muscle-ctrlrange>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | |
|
||||
| | | | :ref:`forcerange<default-muscle-forcerange>` | :ref:`gear<default-muscle-gear>` | :ref:`cranklength<default-muscle-cranklength>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`user` | :at:`group` | :at:`timeconst` | |
|
||||
| | | | :ref:`user<default-muscle-user>` | :ref:`group<default-muscle-group>` | :ref:`timeconst<default-muscle-timeconst>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`range` | :at:`force` | :at:`scale` | |
|
||||
| | | | :ref:`range<default-muscle-range>` | :ref:`force<default-muscle-force>` | :ref:`scale<default-muscle-scale>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`lmin` | :at:`lmax` | :at:`vmax` | |
|
||||
| | | | :ref:`lmin<default-muscle-lmin>` | :ref:`lmax<default-muscle-lmax>` | :ref:`vmax<default-muscle-vmax>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`fpmax` | :at:`fvmax` | | |
|
||||
| | | | :ref:`fpmax<default-muscle-fpmax>` | :ref:`fvmax<default-muscle-fvmax>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| default |br| |_| |L| | | .. table:: |
|
||||
| :ref:`adhesion | ? | :class: mjcf-attributes |
|
||||
| <default-adhesion>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`forcelimited` | :at:`ctrlrange` | :at:`forcerange` | |
|
||||
| | | | :ref:`forcelimited<default-adhesion-forcelimited>` | :ref:`ctrlrange<default-adhesion-ctrlrange>` | :ref:`forcerange<default-adhesion-forcerange>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :at:`gain` | :at:`user` | :at:`group` | |
|
||||
| | | | :ref:`gain<default-adhesion-gain>` | :ref:`user<default-adhesion-user>` | :ref:`group<default-adhesion-group>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| mujoco |br| |L| | | *no attributes* |
|
||||
|
||||
Reference in New Issue
Block a user