From fae5e822c002bc4c05c004dc8f4c2e07052a5c1e Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Sat, 18 Mar 2023 07:06:18 -0700 Subject: [PATCH] Add links to default attributes. PiperOrigin-RevId: 517639045 Change-Id: I45f766bda8ce5bd182ba2669c4121c21896d40c1 --- doc/XMLreference.rst | 434 ++++++++++++++++++++++++++++++++++++++++++- doc/XMLschema.rst | 156 ++++++++-------- 2 files changed, 510 insertions(+), 80 deletions(-) diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst index bc7217a5..758e3335 100644 --- a/doc/XMLreference.rst +++ b/doc/XMLreference.rst @@ -1366,15 +1366,33 @@ if omitted. .. _default-mesh: +.. _default-mesh-scale: + :el-prefix:`default/` |-| **mesh** (?) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | This element sets the attributes of the dummy :ref:`mesh ` element of the defaults class. -| The only mesh attribute available here is: **scale**. +| The only mesh attribute available here is: :ref:`scale `. .. _default-material: +.. _default-material-texture: + +.. _default-material-emission: + +.. _default-material-specular: + +.. _default-material-shininess: + +.. _default-material-reflectance: + +.. _default-material-rgba: + +.. _default-material-texrepeat: + +.. _default-material-texuniform: + :el-prefix:`default/` |-| **material** (?) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -1384,6 +1402,44 @@ if omitted. .. _default-joint: +.. _default-joint-type: + +.. _default-joint-group: + +.. _default-joint-pos: + +.. _default-joint-axis: + +.. _default-joint-springdamper: + +.. _default-joint-limited: + +.. _default-joint-solreflimit: + +.. _default-joint-solimplimit: + +.. _default-joint-solreffriction: + +.. _default-joint-solimpfriction: + +.. _default-joint-stiffness: + +.. _default-joint-range: + +.. _default-joint-margin: + +.. _default-joint-ref: + +.. _default-joint-springref: + +.. _default-joint-armature: + +.. _default-joint-damping: + +.. _default-joint-frictionloss: + +.. _default-joint-user: + :el-prefix:`default/` |-| **joint** (?) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -1393,6 +1449,68 @@ if omitted. .. _default-geom: +.. _default-geom-type: + +.. _default-geom-pos: + +.. _default-geom-quat: + +.. _default-geom-contype: + +.. _default-geom-conaffinity: + +.. _default-geom-condim: + +.. _default-geom-group: + +.. _default-geom-priority: + +.. _default-geom-size: + +.. _default-geom-material: + +.. _default-geom-friction: + +.. _default-geom-mass: + +.. _default-geom-density: + +.. _default-geom-shellinertia: + +.. _default-geom-solmix: + +.. _default-geom-solref: + +.. _default-geom-solimp: + +.. _default-geom-margin: + +.. _default-geom-gap: + +.. _default-geom-fromto: + +.. _default-geom-axisangle: + +.. _default-geom-xyaxes: + +.. _default-geom-zaxis: + +.. _default-geom-euler: + +.. _default-geom-hfield: + +.. _default-geom-mesh: + +.. _default-geom-fitscale: + +.. _default-geom-rgba: + +.. _default-geom-fluidshape: + +.. _default-geom-fluidcoef: + +.. _default-geom-user: + :el-prefix:`default/` |-| **geom** (?) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -1402,6 +1520,32 @@ if omitted. .. _default-site: +.. _default-site-type: + +.. _default-site-group: + +.. _default-site-pos: + +.. _default-site-quat: + +.. _default-site-material: + +.. _default-site-size: + +.. _default-site-fromto: + +.. _default-site-axisangle: + +.. _default-site-xyaxes: + +.. _default-site-zaxis: + +.. _default-site-euler: + +.. _default-site-rgba: + +.. _default-site-user: + :el-prefix:`default/` |-| **site** (?) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -1411,6 +1555,26 @@ if omitted. .. _default-camera: +.. _default-camera-fovy: + +.. _default-camera-ipd: + +.. _default-camera-pos: + +.. _default-camera-quat: + +.. _default-camera-axisangle: + +.. _default-camera-xyaxes: + +.. _default-camera-zaxis: + +.. _default-camera-euler: + +.. _default-camera-mode: + +.. _default-camera-user: + :el-prefix:`default/` |-| **camera** (?) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -1420,6 +1584,30 @@ if omitted. .. _default-light: +.. _default-light-pos: + +.. _default-light-dir: + +.. _default-light-directional: + +.. _default-light-castshadow: + +.. _default-light-active: + +.. _default-light-attenuation: + +.. _default-light-cutoff: + +.. _default-light-exponent: + +.. _default-light-ambient: + +.. _default-light-diffuse: + +.. _default-light-specular: + +.. _default-light-mode: + :el-prefix:`default/` |-| **light** (?) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -1429,6 +1617,18 @@ if omitted. .. _default-pair: +.. _default-pair-condim: + +.. _default-pair-friction: + +.. _default-pair-solref: + +.. _default-pair-solimp: + +.. _default-pair-gap: + +.. _default-pair-margin: + :el-prefix:`default/` |-| **pair** (?) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -1438,17 +1638,55 @@ if omitted. .. _default-equality: +.. _default-equality-active: + +.. _default-equality-solref: + +.. _default-equality-solimp: + :el-prefix:`default/` |-| **equality** (?) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | This element sets the attributes of the dummy :ref:`equality ` element of the defaults class. The actual equality constraints have types depending on the sub-element used to define them. However here we are setting attributes common to all equality constraint types, which is why we do not make a distinction between types. -| The equality sub-element attributes available here are: **active, solref, solimp**. +| The equality sub-element attributes available here are: :at:`active`, :at:`solref`, :at:`solimp`. .. _default-tendon: +.. _default-tendon-group: + +.. _default-tendon-limited: + +.. _default-tendon-range: + +.. _default-tendon-solreflimit: + +.. _default-tendon-solimplimit: + +.. _default-tendon-solreffriction: + +.. _default-tendon-solimpfriction: + +.. _default-tendon-frictionloss: + +.. _default-tendon-springlength: + +.. _default-tendon-width: + +.. _default-tendon-material: + +.. _default-tendon-margin: + +.. _default-tendon-stiffness: + +.. _default-tendon-damping: + +.. _default-tendon-rgba: + +.. _default-tendon-user: + :el-prefix:`default/` |-| **tendon** (?) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -1459,6 +1697,40 @@ if omitted. .. _default-general: +.. _default-general-ctrllimited: + +.. _default-general-forcelimited: + +.. _default-general-actlimited: + +.. _default-general-ctrlrange: + +.. _default-general-forcerange: + +.. _default-general-actrange: + +.. _default-general-gear: + +.. _default-general-cranklength: + +.. _default-general-user: + +.. _default-general-group: + +.. _default-general-actdim: + +.. _default-general-dyntype: + +.. _default-general-gaintype: + +.. _default-general-biastype: + +.. _default-general-dynprm: + +.. _default-general-gainprm: + +.. _default-general-biasprm: + :el-prefix:`default/` |-| **general** (?) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -1469,6 +1741,22 @@ if omitted. .. _default-motor: +.. _default-motor-ctrllimited: + +.. _default-motor-forcelimited: + +.. _default-motor-ctrlrange: + +.. _default-motor-forcerange: + +.. _default-motor-gear: + +.. _default-motor-cranklength: + +.. _default-motor-user: + +.. _default-motor-group: + :el-prefix:`default/` |-| **motor** (?) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -1481,6 +1769,24 @@ slidersite, cranksite. .. _default-position: +.. _default-position-ctrllimited: + +.. _default-position-forcelimited: + +.. _default-position-ctrlrange: + +.. _default-position-forcerange: + +.. _default-position-gear: + +.. _default-position-cranklength: + +.. _default-position-user: + +.. _default-position-group: + +.. _default-position-kp: + :el-prefix:`default/` |-| **position** (?) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -1490,6 +1796,24 @@ tendon, slidersite, cranksite. .. _default-velocity: +.. _default-velocity-ctrllimited: + +.. _default-velocity-forcelimited: + +.. _default-velocity-ctrlrange: + +.. _default-velocity-forcerange: + +.. _default-velocity-gear: + +.. _default-velocity-cranklength: + +.. _default-velocity-user: + +.. _default-velocity-group: + +.. _default-velocity-kv: + :el-prefix:`default/` |-| **velocity** (?) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -1499,6 +1823,26 @@ tendon, slidersite, cranksite. .. _default-intvelocity: +.. _default-intvelocity-ctrllimited: + +.. _default-intvelocity-forcelimited: + +.. _default-intvelocity-ctrlrange: + +.. _default-intvelocity-forcerange: + +.. _default-intvelocity-actrange: + +.. _default-intvelocity-gear: + +.. _default-intvelocity-cranklength: + +.. _default-intvelocity-user: + +.. _default-intvelocity-group: + +.. _default-intvelocity-kp: + :el-prefix:`default/` |-| **intvelocity** (?) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -1508,6 +1852,22 @@ site, tendon, slidersite, cranksite. .. _default-damper: +.. _default-damper-forcelimited: + +.. _default-damper-ctrlrange: + +.. _default-damper-forcerange: + +.. _default-damper-gear: + +.. _default-damper-cranklength: + +.. _default-damper-user: + +.. _default-damper-group: + +.. _default-damper-kv: + :el-prefix:`default/` |-| **damper** (?) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -1517,6 +1877,30 @@ tendon, slidersite, cranksite. .. _default-cylinder: +.. _default-cylinder-ctrllimited: + +.. _default-cylinder-forcelimited: + +.. _default-cylinder-ctrlrange: + +.. _default-cylinder-forcerange: + +.. _default-cylinder-gear: + +.. _default-cylinder-cranklength: + +.. _default-cylinder-user: + +.. _default-cylinder-group: + +.. _default-cylinder-timeconst: + +.. _default-cylinder-area: + +.. _default-cylinder-diameter: + +.. _default-cylinder-bias: + :el-prefix:`default/` |-| **cylinder** (?) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -1526,6 +1910,40 @@ tendon, slidersite, cranksite. .. _default-muscle: +.. _default-muscle-ctrllimited: + +.. _default-muscle-forcelimited: + +.. _default-muscle-ctrlrange: + +.. _default-muscle-forcerange: + +.. _default-muscle-gear: + +.. _default-muscle-cranklength: + +.. _default-muscle-user: + +.. _default-muscle-group: + +.. _default-muscle-timeconst: + +.. _default-muscle-range: + +.. _default-muscle-force: + +.. _default-muscle-scale: + +.. _default-muscle-lmin: + +.. _default-muscle-lmax: + +.. _default-muscle-vmax: + +.. _default-muscle-fpmax: + +.. _default-muscle-fvmax: + :el-prefix:`default/` |-| **muscle** (?) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -1535,6 +1953,18 @@ tendon, slidersite, cranksite. .. _default-adhesion: +.. _default-adhesion-forcelimited: + +.. _default-adhesion-ctrlrange: + +.. _default-adhesion-forcerange: + +.. _default-adhesion-gain: + +.. _default-adhesion-user: + +.. _default-adhesion-group: + :el-prefix:`default/` |-| **adhesion** (?) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst index 46379830..2660f18b 100644 --- a/doc/XMLschema.rst +++ b/doc/XMLschema.rst @@ -196,251 +196,251 @@ | :ref:`mesh | ? | :class: mjcf-attributes | | ` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`scale` | | | | +| | | | :ref:`scale` | | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | |_| default |br| |_| |L| | | .. table:: | | :ref:`material | ? | :class: mjcf-attributes | | ` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`texture` | :at:`emission` | :at:`specular` | | +| | | | :ref:`texture` | :ref:`emission` | :ref:`specular` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`shininess` | :at:`reflectance` | :at:`rgba` | | +| | | | :ref:`shininess` | :ref:`reflectance` | :ref:`rgba` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`texrepeat` | :at:`texuniform` | | | +| | | | :ref:`texrepeat` | :ref:`texuniform` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | |_| default |br| |_| |L| | | .. table:: | | :ref:`joint | ? | :class: mjcf-attributes | | ` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`type` | :at:`group` | :at:`pos` | | +| | | | :ref:`type` | :ref:`group` | :ref:`pos` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`axis` | :at:`springdamper` | :at:`limited` | | +| | | | :ref:`axis` | :ref:`springdamper` | :ref:`limited` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`solreflimit` | :at:`solimplimit` | :at:`solreffriction` | | +| | | | :ref:`solreflimit` | :ref:`solimplimit` | :ref:`solreffriction` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`solimpfriction` | :at:`stiffness` | :at:`range` | | +| | | | :ref:`solimpfriction` | :ref:`stiffness` | :ref:`range` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`margin` | :at:`ref` | :at:`springref` | | +| | | | :ref:`margin` | :ref:`ref` | :ref:`springref` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`armature` | :at:`damping` | :at:`frictionloss` | | +| | | | :ref:`armature` | :ref:`damping` | :ref:`frictionloss` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`user` | | | | +| | | | :ref:`user` | | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | |_| default |br| |_| |L| | | .. table:: | | :ref:`geom | ? | :class: mjcf-attributes | | ` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`type` | :at:`pos` | :at:`quat` | | +| | | | :ref:`type` | :ref:`pos` | :ref:`quat` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`contype` | :at:`conaffinity` | :at:`condim` | | +| | | | :ref:`contype` | :ref:`conaffinity` | :ref:`condim` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`group` | :at:`priority` | :at:`size` | | +| | | | :ref:`group` | :ref:`priority` | :ref:`size` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`material` | :at:`friction` | :at:`mass` | | +| | | | :ref:`material` | :ref:`friction` | :ref:`mass` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`density` | :at:`shellinertia` | :at:`solmix` | | +| | | | :ref:`density` | :ref:`shellinertia` | :ref:`solmix` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`solref` | :at:`solimp` | :at:`margin` | | +| | | | :ref:`solref` | :ref:`solimp` | :ref:`margin` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`gap` | :at:`fromto` | :at:`axisangle` | | +| | | | :ref:`gap` | :ref:`fromto` | :ref:`axisangle` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`xyaxes` | :at:`zaxis` | :at:`euler` | | +| | | | :ref:`xyaxes` | :ref:`zaxis` | :ref:`euler` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`hfield` | :at:`mesh` | :at:`fitscale` | | +| | | | :ref:`hfield` | :ref:`mesh` | :ref:`fitscale` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`rgba` | :at:`fluidshape` | :at:`fluidcoef` | | +| | | | :ref:`rgba` | :ref:`fluidshape` | :ref:`fluidcoef` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`user` | | | | +| | | | :ref:`user` | | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | |_| default |br| |_| |L| | | .. table:: | | :ref:`site | ? | :class: mjcf-attributes | | ` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`type` | :at:`group` | :at:`pos` | | +| | | | :ref:`type` | :ref:`group` | :ref:`pos` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`quat` | :at:`material` | :at:`size` | | +| | | | :ref:`quat` | :ref:`material` | :ref:`size` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`fromto` | :at:`axisangle` | :at:`xyaxes` | | +| | | | :ref:`fromto` | :ref:`axisangle` | :ref:`xyaxes` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`zaxis` | :at:`euler` | :at:`rgba` | | +| | | | :ref:`zaxis` | :ref:`euler` | :ref:`rgba` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`user` | | | | +| | | | :ref:`user` | | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | |_| default |br| |_| |L| | | .. table:: | | :ref:`camera | ? | :class: mjcf-attributes | | ` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`fovy` | :at:`ipd` | :at:`pos` | | +| | | | :ref:`fovy` | :ref:`ipd` | :ref:`pos` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`quat` | :at:`axisangle` | :at:`xyaxes` | | +| | | | :ref:`quat` | :ref:`axisangle` | :ref:`xyaxes` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`zaxis` | :at:`euler` | :at:`mode` | | +| | | | :ref:`zaxis` | :ref:`euler` | :ref:`mode` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`user` | | | | +| | | | :ref:`user` | | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | |_| default |br| |_| |L| | | .. table:: | | :ref:`light | ? | :class: mjcf-attributes | | ` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`pos` | :at:`dir` | :at:`directional` | | +| | | | :ref:`pos` | :ref:`dir` | :ref:`directional` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`castshadow` | :at:`active` | :at:`attenuation` | | +| | | | :ref:`castshadow` | :ref:`active` | :ref:`attenuation` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`cutoff` | :at:`exponent` | :at:`ambient` | | +| | | | :ref:`cutoff` | :ref:`exponent` | :ref:`ambient` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`diffuse` | :at:`specular` | :at:`mode` | | +| | | | :ref:`diffuse` | :ref:`specular` | :ref:`mode` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | |_| default |br| |_| |L| | | .. table:: | | :ref:`pair | ? | :class: mjcf-attributes | | ` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`condim` | :at:`friction` | :at:`solref` | | +| | | | :ref:`condim` | :ref:`friction` | :ref:`solref` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`solimp` | :at:`gap` | :at:`margin` | | +| | | | :ref:`solimp` | :ref:`gap` | :ref:`margin` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | |_| default |br| |_| |L| | | .. table:: | | :ref:`equality | ? | :class: mjcf-attributes | | ` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`active` | :at:`solref` | :at:`solimp` | | +| | | | :ref:`active` | :ref:`solref` | :ref:`solimp` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | |_| default |br| |_| |L| | | .. table:: | | :ref:`tendon | ? | :class: mjcf-attributes | | ` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`group` | :at:`limited` | :at:`range` | | +| | | | :ref:`group` | :ref:`limited` | :ref:`range` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`solreflimit` | :at:`solimplimit` | :at:`solreffriction` | | +| | | | :ref:`solreflimit` | :ref:`solimplimit` | :ref:`solreffriction` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`solimpfriction` | :at:`frictionloss` | :at:`springlength` | | +| | | | :ref:`solimpfriction` | :ref:`frictionloss` | :ref:`springlength` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`width` | :at:`material` | :at:`margin` | | +| | | | :ref:`width` | :ref:`material` | :ref:`margin` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`stiffness` | :at:`damping` | :at:`rgba` | | +| | | | :ref:`stiffness` | :ref:`damping` | :ref:`rgba` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`user` | | | | +| | | | :ref:`user` | | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | |_| default |br| |_| |L| | | .. table:: | | :ref:`general | ? | :class: mjcf-attributes | | ` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`actlimited` | | +| | | | :ref:`ctrllimited` | :ref:`forcelimited` | :ref:`actlimited` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`ctrlrange` | :at:`forcerange` | :at:`actrange` | | +| | | | :ref:`ctrlrange` | :ref:`forcerange` | :ref:`actrange` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`gear` | :at:`cranklength` | :at:`user` | | +| | | | :ref:`gear` | :ref:`cranklength` | :ref:`user` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`group` | :at:`actdim` | :at:`dyntype` | | +| | | | :ref:`group` | :ref:`actdim` | :ref:`dyntype` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`gaintype` | :at:`biastype` | :at:`dynprm` | | +| | | | :ref:`gaintype` | :ref:`biastype` | :ref:`dynprm` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`gainprm` | :at:`biasprm` | | | +| | | | :ref:`gainprm` | :ref:`biasprm` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | |_| default |br| |_| |L| | | .. table:: | | :ref:`motor | ? | :class: mjcf-attributes | | ` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | | +| | | | :ref:`ctrllimited` | :ref:`forcelimited` | :ref:`ctrlrange` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | | +| | | | :ref:`forcerange` | :ref:`gear` | :ref:`cranklength` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`user` | :at:`group` | | | +| | | | :ref:`user` | :ref:`group` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | |_| default |br| |_| |L| | | .. table:: | | :ref:`position | ? | :class: mjcf-attributes | | ` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | | +| | | | :ref:`ctrllimited` | :ref:`forcelimited` | :ref:`ctrlrange` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | | +| | | | :ref:`forcerange` | :ref:`gear` | :ref:`cranklength` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`user` | :at:`group` | :at:`kp` | | +| | | | :ref:`user` | :ref:`group` | :ref:`kp` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | |_| default |br| |_| |L| | | .. table:: | | :ref:`velocity | ? | :class: mjcf-attributes | | ` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | | +| | | | :ref:`ctrllimited` | :ref:`forcelimited` | :ref:`ctrlrange` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | | +| | | | :ref:`forcerange` | :ref:`gear` | :ref:`cranklength` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`user` | :at:`group` | :at:`kv` | | +| | | | :ref:`user` | :ref:`group` | :ref:`kv` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | |_| default |br| |_| |L| | | .. table:: | | :ref:`intvelocity | ? | :class: mjcf-attributes | | ` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | | +| | | | :ref:`ctrllimited` | :ref:`forcelimited` | :ref:`ctrlrange` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`forcerange` | :at:`actrange` | :at:`gear` | | +| | | | :ref:`forcerange` | :ref:`actrange` | :ref:`gear` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`cranklength` | :at:`user` | :at:`group` | | +| | | | :ref:`cranklength` | :ref:`user` | :ref:`group` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`kp` | | | | +| | | | :ref:`kp` | | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | |_| default |br| |_| |L| | | .. table:: | | :ref:`damper | ? | :class: mjcf-attributes | | ` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`forcelimited` | :at:`ctrlrange` | :at:`forcerange` | | +| | | | :ref:`forcelimited` | :ref:`ctrlrange` | :ref:`forcerange` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`gear` | :at:`cranklength` | :at:`user` | | +| | | | :ref:`gear` | :ref:`cranklength` | :ref:`user` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`group` | :at:`kv` | | | +| | | | :ref:`group` | :ref:`kv` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | |_| default |br| |_| |L| | | .. table:: | | :ref:`cylinder | ? | :class: mjcf-attributes | | ` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | | +| | | | :ref:`ctrllimited` | :ref:`forcelimited` | :ref:`ctrlrange` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | | +| | | | :ref:`forcerange` | :ref:`gear` | :ref:`cranklength` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`user` | :at:`group` | :at:`timeconst` | | +| | | | :ref:`user` | :ref:`group` | :ref:`timeconst` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`area` | :at:`diameter` | :at:`bias` | | +| | | | :ref:`area` | :ref:`diameter` | :ref:`bias` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | |_| default |br| |_| |L| | | .. table:: | | :ref:`muscle | ? | :class: mjcf-attributes | | ` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | | +| | | | :ref:`ctrllimited` | :ref:`forcelimited` | :ref:`ctrlrange` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | | +| | | | :ref:`forcerange` | :ref:`gear` | :ref:`cranklength` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`user` | :at:`group` | :at:`timeconst` | | +| | | | :ref:`user` | :ref:`group` | :ref:`timeconst` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`range` | :at:`force` | :at:`scale` | | +| | | | :ref:`range` | :ref:`force` | :ref:`scale` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`lmin` | :at:`lmax` | :at:`vmax` | | +| | | | :ref:`lmin` | :ref:`lmax` | :ref:`vmax` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`fpmax` | :at:`fvmax` | | | +| | | | :ref:`fpmax` | :ref:`fvmax` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | |_| default |br| |_| |L| | | .. table:: | | :ref:`adhesion | ? | :class: mjcf-attributes | | ` | | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`forcelimited` | :at:`ctrlrange` | :at:`forcerange` | | +| | | | :ref:`forcelimited` | :ref:`ctrlrange` | :ref:`forcerange` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | -| | | | :at:`gain` | :at:`user` | :at:`group` | | +| | | | :ref:`gain` | :ref:`user` | :ref:`group` | | | | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ | +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | mujoco |br| |L| | | *no attributes* |