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Mujoco_WASM/doc/XMLschema.rst
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Yuval Tassa bafe490ea8 Sort assets in schema according to order in docs. 
PiperOrigin-RevId: 607272771
Change-Id: Ifd1220671a59effd0a841babbe746dd23d02eefd
2024-02-15 03:10:43 -08:00

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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| | | .. table:: |
| :ref:`mujoco | ! | :class: mjcf-attributes |
| <mujoco>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`model<mujoco-model>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | .. table:: |
| :ref:`compiler | \* | :class: mjcf-attributes |
| <compiler>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`autolimits<compiler-autolimits>` | :ref:`boundmass<compiler-boundmass>` | :ref:`boundinertia<compiler-boundinertia>` | :ref:`settotalmass<compiler-settotalmass>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`balanceinertia<compiler-balanceinertia>` | :ref:`strippath<compiler-strippath>` | :ref:`coordinate<compiler-coordinate>` | :ref:`angle<compiler-angle>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fitaabb<compiler-fitaabb>` | :ref:`eulerseq<compiler-eulerseq>` | :ref:`meshdir<compiler-meshdir>` | :ref:`texturedir<compiler-texturedir>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`discardvisual<compiler-discardvisual>` | :ref:`convexhull<compiler-convexhull>` | :ref:`usethread<compiler-usethread>` | :ref:`fusestatic<compiler-fusestatic>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`inertiafromgeom<compiler-inertiafromgeom>` | :ref:`inertiagrouprange<compiler-inertiagrouprange>` | :ref:`exactmeshinertia<compiler-exactmeshinertia>` | :ref:`assetdir<compiler-assetdir>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| compiler |br| |_| |L| | | .. table:: |
| :ref:`lengthrange | ? | :class: mjcf-attributes |
| <compiler-lengthrange>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`mode<compiler-lengthrange-mode>` | :ref:`useexisting<compiler-lengthrange-useexisting>` | :ref:`uselimit<compiler-lengthrange-uselimit>` | :ref:`accel<compiler-lengthrange-accel>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`maxforce<compiler-lengthrange-maxforce>` | :ref:`timeconst<compiler-lengthrange-timeconst>` | :ref:`timestep<compiler-lengthrange-timestep>` | :ref:`inttotal<compiler-lengthrange-inttotal>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`interval<compiler-lengthrange-interval>` | :ref:`tolrange<compiler-lengthrange-tolrange>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | .. table:: |
| :ref:`size | \* | :class: mjcf-attributes |
| <size>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`memory<size-memory>` | :ref:`njmax<size-njmax>` | :ref:`nconmax<size-nconmax>` | :ref:`nstack<size-nstack>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`nuserdata<size-nuserdata>` | :ref:`nkey<size-nkey>` | :ref:`nuser_body<size-nuser_body>` | :ref:`nuser_jnt<size-nuser_jnt>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`nuser_geom<size-nuser_geom>` | :ref:`nuser_site<size-nuser_site>` | :ref:`nuser_cam<size-nuser_cam>` | :ref:`nuser_tendon<size-nuser_tendon>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`nuser_actuator<size-nuser_actuator>` | :ref:`nuser_sensor<size-nuser_sensor>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | .. table:: |
| :ref:`statistic | \* | :class: mjcf-attributes |
| <statistic>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`meaninertia<statistic-meaninertia>` | :ref:`meanmass<statistic-meanmass>` | :ref:`meansize<statistic-meansize>` | :ref:`extent<statistic-extent>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`center<statistic-center>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
| :ref:`visual<visual>` | | |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| visual |br| |_| |L| | | .. table:: |
| :ref:`global | ? | :class: mjcf-attributes |
| <visual-global>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fovy<visual-global-fovy>` | :ref:`ipd<visual-global-ipd>` | :ref:`azimuth<visual-global-azimuth>` | :ref:`elevation<visual-global-elevation>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`linewidth<visual-global-linewidth>` | :ref:`glow<visual-global-glow>` | :ref:`offwidth<visual-global-offwidth>` | :ref:`offheight<visual-global-offheight>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`realtime<visual-global-realtime>` | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` | :ref:`bvactive<visual-global-bvactive>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| visual |br| |_| |L| | | .. table:: |
| :ref:`quality | ? | :class: mjcf-attributes |
| <visual-quality>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`shadowsize<visual-quality-shadowsize>` | :ref:`offsamples<visual-quality-offsamples>` | :ref:`numslices<visual-quality-numslices>` | :ref:`numstacks<visual-quality-numstacks>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`numquads<visual-quality-numquads>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| visual |br| |_| |L| | | .. table:: |
| :ref:`headlight | ? | :class: mjcf-attributes |
| <visual-headlight>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ambient<visual-headlight-ambient>` | :ref:`diffuse<visual-headlight-diffuse>` | :ref:`specular<visual-headlight-specular>` | :ref:`active<visual-headlight-active>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| visual |br| |_| |L| | | .. table:: |
| :ref:`map | ? | :class: mjcf-attributes |
| <visual-map>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`stiffness<visual-map-stiffness>` | :ref:`stiffnessrot<visual-map-stiffnessrot>` | :ref:`force<visual-map-force>` | :ref:`torque<visual-map-torque>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`alpha<visual-map-alpha>` | :ref:`fogstart<visual-map-fogstart>` | :ref:`fogend<visual-map-fogend>` | :ref:`znear<visual-map-znear>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`zfar<visual-map-zfar>` | :ref:`haze<visual-map-haze>` | :ref:`shadowclip<visual-map-shadowclip>` | :ref:`shadowscale<visual-map-shadowscale>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`actuatortendon<visual-map-actuatortendon>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| visual |br| |_| |L| | | .. table:: |
| :ref:`scale | ? | :class: mjcf-attributes |
| <visual-scale>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcewidth<visual-scale-forcewidth>` | :ref:`contactwidth<visual-scale-contactwidth>` | :ref:`contactheight<visual-scale-contactheight>` | :ref:`connect<visual-scale-connect>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`com<visual-scale-com>` | :ref:`camera<visual-scale-camera>` | :ref:`light<visual-scale-light>` | :ref:`selectpoint<visual-scale-selectpoint>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`jointlength<visual-scale-jointlength>` | :ref:`jointwidth<visual-scale-jointwidth>` | :ref:`actuatorlength<visual-scale-actuatorlength>` | :ref:`actuatorwidth<visual-scale-actuatorwidth>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`framelength<visual-scale-framelength>` | :ref:`framewidth<visual-scale-framewidth>` | :ref:`constraint<visual-scale-constraint>` | :ref:`slidercrank<visual-scale-slidercrank>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`frustum<visual-scale-frustum>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| visual |br| |_| |L| | | .. table:: |
| :ref:`rgba | ? | :class: mjcf-attributes |
| <visual-rgba>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fog<visual-rgba-fog>` | :ref:`haze<visual-rgba-haze>` | :ref:`force<visual-rgba-force>` | :ref:`inertia<visual-rgba-inertia>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`joint<visual-rgba-joint>` | :ref:`actuator<visual-rgba-actuator>` | :ref:`actuatornegative<visual-rgba-actuatornegative>` | :ref:`actuatorpositive<visual-rgba-actuatorpositive>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`com<visual-rgba-com>` | :ref:`camera<visual-rgba-camera>` | :ref:`light<visual-rgba-light>` | :ref:`selectpoint<visual-rgba-selectpoint>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`connect<visual-rgba-connect>` | :ref:`contactpoint<visual-rgba-contactpoint>` | :ref:`contactforce<visual-rgba-contactforce>` | :ref:`contactfriction<visual-rgba-contactfriction>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`contacttorque<visual-rgba-contacttorque>` | :ref:`contactgap<visual-rgba-contactgap>` | :ref:`rangefinder<visual-rgba-rangefinder>` | :ref:`constraint<visual-rgba-constraint>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`slidercrank<visual-rgba-slidercrank>` | :ref:`crankbroken<visual-rgba-crankbroken>` | :ref:`frustum<visual-rgba-frustum>` | :ref:`bv<visual-rgba-bv>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`bvactive<visual-rgba-bvactive>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
| :ref:`asset<asset>` | | |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| asset |br| |_| |L| | | .. table:: |
| :ref:`mesh | \* | :class: mjcf-attributes |
| <asset-mesh>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<asset-mesh-name>` | :ref:`class<asset-mesh-class>` | :ref:`content_type<asset-mesh-content_type>` | :ref:`file<asset-mesh-file>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`vertex<asset-mesh-vertex>` | :ref:`normal<asset-mesh-normal>` | :ref:`texcoord<asset-mesh-texcoord>` | :ref:`face<asset-mesh-face>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`refpos<asset-mesh-refpos>` | :ref:`refquat<asset-mesh-refquat>` | :ref:`scale<asset-mesh-scale>` | :ref:`smoothnormal<asset-mesh-smoothnormal>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| mesh |br| |_2| |L| | | .. table:: |
| :ref:`plugin | \* | :class: mjcf-attributes |
| <mesh-plugin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`plugin<mesh-plugin-plugin>` | :ref:`instance<mesh-plugin-instance>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_3| plugin |br| |_3| |L| | | .. table:: |
| :ref:`config | \* | :class: mjcf-attributes |
| <plugin-config>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| asset |br| |_| |L| | | .. table:: |
| :ref:`hfield | \* | :class: mjcf-attributes |
| <asset-hfield>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<asset-hfield-name>` | :ref:`content_type<asset-hfield-content_type>` | :ref:`file<asset-hfield-file>` | :ref:`nrow<asset-hfield-nrow>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ncol<asset-hfield-ncol>` | :ref:`size<asset-hfield-size>` | :ref:`elevation<asset-hfield-elevation>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| asset |br| |_| |L| | | .. table:: |
| :ref:`skin | \* | :class: mjcf-attributes |
| <asset-skin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<asset-skin-name>` | :ref:`file<asset-skin-file>` | :ref:`material<asset-skin-material>` | :ref:`rgba<asset-skin-rgba>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`inflate<asset-skin-inflate>` | :ref:`vertex<asset-skin-vertex>` | :ref:`texcoord<asset-skin-texcoord>` | :ref:`face<asset-skin-face>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`group<asset-skin-group>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| skin |br| |_2| |L| | | .. table:: |
| :ref:`bone | \* | :class: mjcf-attributes |
| <skin-bone>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`body<skin-bone-body>` | :ref:`bindpos<skin-bone-bindpos>` | :ref:`bindquat<skin-bone-bindquat>` | :ref:`vertid<skin-bone-vertid>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`vertweight<skin-bone-vertweight>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| asset |br| |_| |L| | | .. table:: |
| :ref:`texture | \* | :class: mjcf-attributes |
| <asset-texture>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<asset-texture-name>` | :ref:`type<asset-texture-type>` | :ref:`content_type<asset-texture-content_type>` | :ref:`file<asset-texture-file>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gridsize<asset-texture-gridsize>` | :ref:`gridlayout<asset-texture-gridlayout>` | :ref:`fileright<asset-texture-fileright>` | :ref:`fileleft<asset-texture-fileleft>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fileup<asset-texture-fileup>` | :ref:`filedown<asset-texture-filedown>` | :ref:`filefront<asset-texture-filefront>` | :ref:`fileback<asset-texture-fileback>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`builtin<asset-texture-builtin>` | :ref:`rgb1<asset-texture-rgb1>` | :ref:`rgb2<asset-texture-rgb2>` | :ref:`mark<asset-texture-mark>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`markrgb<asset-texture-markrgb>` | :ref:`random<asset-texture-random>` | :ref:`width<asset-texture-width>` | :ref:`height<asset-texture-height>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`hflip<asset-texture-hflip>` | :ref:`vflip<asset-texture-vflip>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| asset |br| |_| |L| | | .. table:: |
| :ref:`material | \* | :class: mjcf-attributes |
| <asset-material>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<asset-material-name>` | :ref:`class<asset-material-class>` | :ref:`texture<asset-material-texture>` | :ref:`texrepeat<asset-material-texrepeat>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texuniform<asset-material-texuniform>` | :ref:`emission<asset-material-emission>` | :ref:`specular<asset-material-specular>` | :ref:`shininess<asset-material-shininess>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`reflectance<asset-material-reflectance>` | :ref:`rgba<asset-material-rgba>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | .. table:: |
| :ref:`option | \* | :class: mjcf-attributes |
| <option>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`timestep<option-timestep>` | :ref:`apirate<option-apirate>` | :ref:`impratio<option-impratio>` | :ref:`tolerance<option-tolerance>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ls_tolerance<option-ls_tolerance>` | :ref:`noslip_tolerance<option-noslip_tolerance>` | :ref:`mpr_tolerance<option-mpr_tolerance>` | :ref:`gravity<option-gravity>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`wind<option-wind>` | :ref:`magnetic<option-magnetic>` | :ref:`density<option-density>` | :ref:`viscosity<option-viscosity>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`o_margin<option-o_margin>` | :ref:`o_solref<option-o_solref>` | :ref:`o_solimp<option-o_solimp>` | :ref:`o_friction<option-o_friction>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`integrator<option-integrator>` | :ref:`cone<option-cone>` | :ref:`jacobian<option-jacobian>` | :ref:`solver<option-solver>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`iterations<option-iterations>` | :ref:`ls_iterations<option-ls_iterations>` | :ref:`noslip_iterations<option-noslip_iterations>` | :ref:`mpr_iterations<option-mpr_iterations>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`sdf_iterations<option-sdf_iterations>` | :ref:`sdf_initpoints<option-sdf_initpoints>` | :ref:`actuatorgroupdisable<option-actuatorgroupdisable>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| option |br| |_| |L| | | .. table:: |
| :ref:`flag | ? | :class: mjcf-attributes |
| <option-flag>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`constraint<option-flag-constraint>` | :ref:`equality<option-flag-equality>` | :ref:`frictionloss<option-flag-frictionloss>` | :ref:`limit<option-flag-limit>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`contact<option-flag-contact>` | :ref:`passive<option-flag-passive>` | :ref:`gravity<option-flag-gravity>` | :ref:`clampctrl<option-flag-clampctrl>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`warmstart<option-flag-warmstart>` | :ref:`filterparent<option-flag-filterparent>` | :ref:`actuation<option-flag-actuation>` | :ref:`refsafe<option-flag-refsafe>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`sensor<option-flag-sensor>` | :ref:`midphase<option-flag-midphase>` | :ref:`eulerdamp<option-flag-eulerdamp>` | :ref:`override<option-flag-override>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | :ref:`invdiscrete<option-flag-invdiscrete>` | :ref:`sensornoise<option-flag-sensornoise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`multiccd<option-flag-multiccd>` | :ref:`island<option-flag-island>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | .. table:: |
| :ref:`body | R | :class: mjcf-attributes |
| <body>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<body-name>` | :ref:`childclass<body-childclass>` | :ref:`pos<body-pos>` | :ref:`quat<body-quat>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`mocap<body-mocap>` | :ref:`axisangle<body-axisangle>` | :ref:`xyaxes<body-xyaxes>` | :ref:`zaxis<body-zaxis>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`euler<body-euler>` | :ref:`gravcomp<body-gravcomp>` | :ref:`user<body-user>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
| :ref:`inertial | ? | :class: mjcf-attributes |
| <body-inertial>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`pos<body-inertial-pos>` | :ref:`quat<body-inertial-quat>` | :ref:`mass<body-inertial-mass>` | :ref:`diaginertia<body-inertial-diaginertia>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`axisangle<body-inertial-axisangle>` | :ref:`xyaxes<body-inertial-xyaxes>` | :ref:`zaxis<body-inertial-zaxis>` | :ref:`euler<body-inertial-euler>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fullinertia<body-inertial-fullinertia>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
| :ref:`joint | \* | :class: mjcf-attributes |
| <body-joint>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<body-joint-name>` | :ref:`class<body-joint-class>` | :ref:`type<body-joint-type>` | :ref:`group<body-joint-group>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`pos<body-joint-pos>` | :ref:`axis<body-joint-axis>` | :ref:`springdamper<body-joint-springdamper>` | :ref:`limited<body-joint-limited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`actuatorfrclimited<body-joint-actuatorfrclimited>` | :ref:`solreflimit<body-joint-solreflimit>` | :ref:`solimplimit<body-joint-solimplimit>` | :ref:`solreffriction<body-joint-solreffriction>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimpfriction<body-joint-solimpfriction>` | :ref:`stiffness<body-joint-stiffness>` | :ref:`range<body-joint-range>` | :ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`margin<body-joint-margin>` | :ref:`ref<body-joint-ref>` | :ref:`springref<body-joint-springref>` | :ref:`armature<body-joint-armature>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`damping<body-joint-damping>` | :ref:`frictionloss<body-joint-frictionloss>` | :ref:`user<body-joint-user>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
| :ref:`freejoint | \* | :class: mjcf-attributes |
| <body-freejoint>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<body-freejoint-name>` | :ref:`group<body-freejoint-group>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
| :ref:`geom | \* | :class: mjcf-attributes |
| <body-geom>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<body-geom-name>` | :ref:`class<body-geom-class>` | :ref:`type<body-geom-type>` | :ref:`contype<body-geom-contype>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`conaffinity<body-geom-conaffinity>` | :ref:`condim<body-geom-condim>` | :ref:`group<body-geom-group>` | :ref:`priority<body-geom-priority>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`size<body-geom-size>` | :ref:`material<body-geom-material>` | :ref:`friction<body-geom-friction>` | :ref:`mass<body-geom-mass>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`density<body-geom-density>` | :ref:`shellinertia<body-geom-shellinertia>` | :ref:`solmix<body-geom-solmix>` | :ref:`solref<body-geom-solref>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimp<body-geom-solimp>` | :ref:`margin<body-geom-margin>` | :ref:`gap<body-geom-gap>` | :ref:`fromto<body-geom-fromto>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`pos<body-geom-pos>` | :ref:`quat<body-geom-quat>` | :ref:`axisangle<body-geom-axisangle>` | :ref:`xyaxes<body-geom-xyaxes>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`zaxis<body-geom-zaxis>` | :ref:`euler<body-geom-euler>` | :ref:`hfield<body-geom-hfield>` | :ref:`mesh<body-geom-mesh>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fitscale<body-geom-fitscale>` | :ref:`rgba<body-geom-rgba>` | :ref:`fluidshape<body-geom-fluidshape>` | :ref:`fluidcoef<body-geom-fluidcoef>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<body-geom-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| geom |br| |_2| |L| | | .. table:: |
| :ref:`plugin | \* | :class: mjcf-attributes |
| <geom-plugin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`plugin<geom-plugin-plugin>` | :ref:`instance<geom-plugin-instance>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_3| plugin |br| |_3| |L| | | .. table:: |
| :ref:`config | \* | :class: mjcf-attributes |
| <plugin-config>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
| :ref:`site | \* | :class: mjcf-attributes |
| <body-site>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<body-site-name>` | :ref:`class<body-site-class>` | :ref:`type<body-site-type>` | :ref:`group<body-site-group>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`pos<body-site-pos>` | :ref:`quat<body-site-quat>` | :ref:`material<body-site-material>` | :ref:`size<body-site-size>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fromto<body-site-fromto>` | :ref:`axisangle<body-site-axisangle>` | :ref:`xyaxes<body-site-xyaxes>` | :ref:`zaxis<body-site-zaxis>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`euler<body-site-euler>` | :ref:`rgba<body-site-rgba>` | :ref:`user<body-site-user>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
| :ref:`camera | \* | :class: mjcf-attributes |
| <body-camera>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<body-camera-name>` | :ref:`class<body-camera-class>` | :ref:`fovy<body-camera-fovy>` | :ref:`ipd<body-camera-ipd>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`resolution<body-camera-resolution>` | :ref:`pos<body-camera-pos>` | :ref:`quat<body-camera-quat>` | :ref:`axisangle<body-camera-axisangle>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`xyaxes<body-camera-xyaxes>` | :ref:`zaxis<body-camera-zaxis>` | :ref:`euler<body-camera-euler>` | :ref:`mode<body-camera-mode>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`target<body-camera-target>` | :ref:`focal<body-camera-focal>` | :ref:`focalpixel<body-camera-focalpixel>` | :ref:`principal<body-camera-principal>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`principalpixel<body-camera-principalpixel>` | :ref:`sensorsize<body-camera-sensorsize>` | :ref:`user<body-camera-user>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
| :ref:`light | \* | :class: mjcf-attributes |
| <body-light>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<body-light-name>` | :ref:`class<body-light-class>` | :ref:`directional<body-light-directional>` | :ref:`castshadow<body-light-castshadow>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`active<body-light-active>` | :ref:`pos<body-light-pos>` | :ref:`dir<body-light-dir>` | :ref:`attenuation<body-light-attenuation>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`cutoff<body-light-cutoff>` | :ref:`exponent<body-light-exponent>` | :ref:`ambient<body-light-ambient>` | :ref:`diffuse<body-light-diffuse>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`specular<body-light-specular>` | :ref:`mode<body-light-mode>` | :ref:`target<body-light-target>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
| :ref:`plugin | \* | :class: mjcf-attributes |
| <body-plugin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`plugin<body-plugin-plugin>` | :ref:`instance<body-plugin-instance>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| plugin |br| |_2| |L| | | .. table:: |
| :ref:`config | \* | :class: mjcf-attributes |
| <plugin-config>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
| :ref:`composite | \* | :class: mjcf-attributes |
| <body-composite>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`prefix<body-composite-prefix>` | :ref:`type<body-composite-type>` | :ref:`count<body-composite-count>` | :ref:`spacing<body-composite-spacing>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`offset<body-composite-offset>` | :ref:`flatinertia<body-composite-flatinertia>` | :ref:`solrefsmooth<body-composite-solrefsmooth>` | :ref:`solimpsmooth<body-composite-solimpsmooth>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`vertex<body-composite-vertex>` | :ref:`face<body-composite-face>` | :ref:`initial<body-composite-initial>` | :ref:`curve<body-composite-curve>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`size<body-composite-size>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| composite |br| |_2| |L| | | .. table:: |
| :ref:`joint | \* | :class: mjcf-attributes |
| <composite-joint>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`kind<composite-joint-kind>` | :ref:`group<composite-joint-group>` | :ref:`stiffness<composite-joint-stiffness>` | :ref:`damping<composite-joint-damping>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`armature<composite-joint-armature>` | :ref:`solreffix<composite-joint-solreffix>` | :ref:`solimpfix<composite-joint-solimpfix>` | :ref:`type<composite-joint-type>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`axis<composite-joint-axis>` | :ref:`limited<composite-joint-limited>` | :ref:`range<composite-joint-range>` | :ref:`margin<composite-joint-margin>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solreflimit<composite-joint-solreflimit>` | :ref:`solimplimit<composite-joint-solimplimit>` | :ref:`frictionloss<composite-joint-frictionloss>` | :ref:`solreffriction<composite-joint-solreffriction>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimpfriction<composite-joint-solimpfriction>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| composite |br| |_2| |L| | | .. table:: |
| :ref:`tendon | \* | :class: mjcf-attributes |
| <composite-tendon>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`kind<composite-tendon-kind>` | :ref:`group<composite-tendon-group>` | :ref:`stiffness<composite-tendon-stiffness>` | :ref:`damping<composite-tendon-damping>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solreffix<composite-tendon-solreffix>` | :ref:`solimpfix<composite-tendon-solimpfix>` | :ref:`limited<composite-tendon-limited>` | :ref:`range<composite-tendon-range>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`margin<composite-tendon-margin>` | :ref:`solreflimit<composite-tendon-solreflimit>` | :ref:`solimplimit<composite-tendon-solimplimit>` | :ref:`frictionloss<composite-tendon-frictionloss>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solreffriction<composite-tendon-solreffriction>` | :ref:`solimpfriction<composite-tendon-solimpfriction>` | :ref:`material<composite-tendon-material>` | :ref:`rgba<composite-tendon-rgba>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`width<composite-tendon-width>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| composite |br| |_2| |L| | | .. table:: |
| :ref:`skin | ? | :class: mjcf-attributes |
| <composite-skin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texcoord<composite-skin-texcoord>` | :ref:`material<composite-skin-material>` | :ref:`group<composite-skin-group>` | :ref:`rgba<composite-skin-rgba>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`inflate<composite-skin-inflate>` | :ref:`subgrid<composite-skin-subgrid>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| composite |br| |_2| |L| | | .. table:: |
| :ref:`geom | ? | :class: mjcf-attributes |
| <composite-geom>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`type<composite-geom-type>` | :ref:`contype<composite-geom-contype>` | :ref:`conaffinity<composite-geom-conaffinity>` | :ref:`condim<composite-geom-condim>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`group<composite-geom-group>` | :ref:`priority<composite-geom-priority>` | :ref:`size<composite-geom-size>` | :ref:`material<composite-geom-material>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`rgba<composite-geom-rgba>` | :ref:`friction<composite-geom-friction>` | :ref:`mass<composite-geom-mass>` | :ref:`density<composite-geom-density>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solmix<composite-geom-solmix>` | :ref:`solref<composite-geom-solref>` | :ref:`solimp<composite-geom-solimp>` | :ref:`margin<composite-geom-margin>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gap<composite-geom-gap>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| composite |br| |_2| |L| | | .. table:: |
| :ref:`site | ? | :class: mjcf-attributes |
| <composite-site>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`group<composite-site-group>` | :ref:`size<composite-site-size>` | :ref:`material<composite-site-material>` | :ref:`rgba<composite-site-rgba>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| composite |br| |_2| |L| | | .. table:: |
| :ref:`pin | \* | :class: mjcf-attributes |
| <composite-pin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`coord<composite-pin-coord>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| composite |br| |_2| |L| | | .. table:: |
| :ref:`plugin | \* | :class: mjcf-attributes |
| <composite-plugin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`plugin<composite-plugin-plugin>` | :ref:`instance<composite-plugin-instance>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_3| plugin |br| |_3| |L| | | .. table:: |
| :ref:`config | \* | :class: mjcf-attributes |
| <plugin-config>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
| :ref:`flexcomp | \* | :class: mjcf-attributes |
| <body-flexcomp>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<body-flexcomp-name>` | :ref:`type<body-flexcomp-type>` | :ref:`group<body-flexcomp-group>` | :ref:`dim<body-flexcomp-dim>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`count<body-flexcomp-count>` | :ref:`spacing<body-flexcomp-spacing>` | :ref:`radius<body-flexcomp-radius>` | :ref:`rigid<body-flexcomp-rigid>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`mass<body-flexcomp-mass>` | :ref:`inertiabox<body-flexcomp-inertiabox>` | :ref:`scale<body-flexcomp-scale>` | :ref:`file<body-flexcomp-file>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`point<body-flexcomp-point>` | :ref:`element<body-flexcomp-element>` | :ref:`texcoord<body-flexcomp-texcoord>` | :ref:`material<body-flexcomp-material>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`rgba<body-flexcomp-rgba>` | :ref:`flatskin<body-flexcomp-flatskin>` | :ref:`pos<body-flexcomp-pos>` | :ref:`quat<body-flexcomp-quat>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`axisangle<body-flexcomp-axisangle>` | :ref:`xyaxes<body-flexcomp-xyaxes>` | :ref:`zaxis<body-flexcomp-zaxis>` | :ref:`euler<body-flexcomp-euler>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| flexcomp |br| |_2| |L| | | .. table:: |
| :ref:`edge | ? | :class: mjcf-attributes |
| <flexcomp-edge>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`equality<flexcomp-edge-equality>` | :ref:`solref<flexcomp-edge-solref>` | :ref:`solimp<flexcomp-edge-solimp>` | :ref:`stiffness<flexcomp-edge-stiffness>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`damping<flexcomp-edge-damping>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| flexcomp |br| |_2| |L| | | .. table:: |
| :ref:`contact | ? | :class: mjcf-attributes |
| <flexcomp-contact>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`contype<flexcomp-contact-contype>` | :ref:`conaffinity<flexcomp-contact-conaffinity>` | :ref:`condim<flexcomp-contact-condim>` | :ref:`priority<flexcomp-contact-priority>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`friction<flexcomp-contact-friction>` | :ref:`solmix<flexcomp-contact-solmix>` | :ref:`solref<flexcomp-contact-solref>` | :ref:`solimp<flexcomp-contact-solimp>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`margin<flexcomp-contact-margin>` | :ref:`gap<flexcomp-contact-gap>` | :ref:`internal<flexcomp-contact-internal>` | :ref:`selfcollide<flexcomp-contact-selfcollide>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`activelayers<flexcomp-contact-activelayers>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| flexcomp |br| |_2| |L| | | .. table:: |
| :ref:`pin | \* | :class: mjcf-attributes |
| <flexcomp-pin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`id<flexcomp-pin-id>` | :ref:`range<flexcomp-pin-range>` | :ref:`grid<flexcomp-pin-grid>` | :ref:`gridrange<flexcomp-pin-gridrange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| flexcomp |br| |_2| |L| | | .. table:: |
| :ref:`plugin | \* | :class: mjcf-attributes |
| <flexcomp-plugin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`plugin<flexcomp-plugin-plugin>` | :ref:`instance<flexcomp-plugin-instance>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_3| plugin |br| |_3| |L| | | .. table:: |
| :ref:`config | \* | :class: mjcf-attributes |
| <plugin-config>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
| :ref:`deformable<deformable>` | | |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| deformable |br| |_| |L| | | .. table:: |
| :ref:`flex | \* | :class: mjcf-attributes |
| <deformable-flex>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<deformable-flex-name>` | :ref:`group<deformable-flex-group>` | :ref:`dim<deformable-flex-dim>` | :ref:`radius<deformable-flex-radius>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`material<deformable-flex-material>` | :ref:`rgba<deformable-flex-rgba>` | :ref:`flatskin<deformable-flex-flatskin>` | :ref:`body<deformable-flex-body>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`vertex<deformable-flex-vertex>` | :ref:`element<deformable-flex-element>` | :ref:`texcoord<deformable-flex-texcoord>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| flex |br| |_2| |L| | | .. table:: |
| :ref:`contact | ? | :class: mjcf-attributes |
| <flex-contact>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`contype<flex-contact-contype>` | :ref:`conaffinity<flex-contact-conaffinity>` | :ref:`condim<flex-contact-condim>` | :ref:`priority<flex-contact-priority>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`friction<flex-contact-friction>` | :ref:`solmix<flex-contact-solmix>` | :ref:`solref<flex-contact-solref>` | :ref:`solimp<flex-contact-solimp>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`margin<flex-contact-margin>` | :ref:`gap<flex-contact-gap>` | :ref:`internal<flex-contact-internal>` | :ref:`selfcollide<flex-contact-selfcollide>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`activelayers<flex-contact-activelayers>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| flex |br| |_2| |L| | | .. table:: |
| :ref:`edge | ? | :class: mjcf-attributes |
| <flex-edge>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`stiffness<flex-edge-stiffness>` | :ref:`damping<flex-edge-damping>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| deformable |br| |_| |L| | | .. table:: |
| :ref:`skin | \* | :class: mjcf-attributes |
| <deformable-skin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<deformable-skin-name>` | :ref:`file<deformable-skin-file>` | :ref:`material<deformable-skin-material>` | :ref:`rgba<deformable-skin-rgba>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`inflate<deformable-skin-inflate>` | :ref:`vertex<deformable-skin-vertex>` | :ref:`texcoord<deformable-skin-texcoord>` | :ref:`face<deformable-skin-face>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`group<deformable-skin-group>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| skin |br| |_2| |L| | | .. table:: |
| :ref:`bone | \* | :class: mjcf-attributes |
| <skin-bone>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`body<skin-bone-body>` | :ref:`bindpos<skin-bone-bindpos>` | :ref:`bindquat<skin-bone-bindquat>` | :ref:`vertid<skin-bone-vertid>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`vertweight<skin-bone-vertweight>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
| :ref:`contact<contact>` | | |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| contact |br| |_| |L| | | .. table:: |
| :ref:`pair | \* | :class: mjcf-attributes |
| <contact-pair>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<contact-pair-name>` | :ref:`class<contact-pair-class>` | :ref:`geom1<contact-pair-geom1>` | :ref:`geom2<contact-pair-geom2>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`condim<contact-pair-condim>` | :ref:`friction<contact-pair-friction>` | :ref:`solref<contact-pair-solref>` | :ref:`solreffriction<contact-pair-solreffriction>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimp<contact-pair-solimp>` | :ref:`gap<contact-pair-gap>` | :ref:`margin<contact-pair-margin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| contact |br| |_| |L| | | .. table:: |
| :ref:`exclude | \* | :class: mjcf-attributes |
| <contact-exclude>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<contact-exclude-name>` | :ref:`body1<contact-exclude-body1>` | :ref:`body2<contact-exclude-body2>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
| :ref:`equality<equality>` | | |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| equality |br| |_| |L| | | .. table:: |
| :ref:`connect | \* | :class: mjcf-attributes |
| <equality-connect>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<equality-connect-name>` | :ref:`class<equality-connect-class>` | :ref:`body1<equality-connect-body1>` | :ref:`body2<equality-connect-body2>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`anchor<equality-connect-anchor>` | :ref:`active<equality-connect-active>` | :ref:`solref<equality-connect-solref>` | :ref:`solimp<equality-connect-solimp>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| equality |br| |_| |L| | | .. table:: |
| :ref:`weld | \* | :class: mjcf-attributes |
| <equality-weld>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<equality-weld-name>` | :ref:`class<equality-weld-class>` | :ref:`body1<equality-weld-body1>` | :ref:`body2<equality-weld-body2>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`relpose<equality-weld-relpose>` | :ref:`anchor<equality-weld-anchor>` | :ref:`active<equality-weld-active>` | :ref:`solref<equality-weld-solref>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimp<equality-weld-solimp>` | :ref:`torquescale<equality-weld-torquescale>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| equality |br| |_| |L| | | .. table:: |
| :ref:`joint | \* | :class: mjcf-attributes |
| <equality-joint>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<equality-joint-name>` | :ref:`class<equality-joint-class>` | :ref:`joint1<equality-joint-joint1>` | :ref:`joint2<equality-joint-joint2>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`polycoef<equality-joint-polycoef>` | :ref:`active<equality-joint-active>` | :ref:`solref<equality-joint-solref>` | :ref:`solimp<equality-joint-solimp>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| equality |br| |_| |L| | | .. table:: |
| :ref:`tendon | \* | :class: mjcf-attributes |
| <equality-tendon>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<equality-tendon-name>` | :ref:`class<equality-tendon-class>` | :ref:`tendon1<equality-tendon-tendon1>` | :ref:`tendon2<equality-tendon-tendon2>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`polycoef<equality-tendon-polycoef>` | :ref:`active<equality-tendon-active>` | :ref:`solref<equality-tendon-solref>` | :ref:`solimp<equality-tendon-solimp>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| equality |br| |_| |L| | | .. table:: |
| :ref:`flex | \* | :class: mjcf-attributes |
| <equality-flex>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<equality-flex-name>` | :ref:`class<equality-flex-class>` | :ref:`flex<equality-flex-flex>` | :ref:`active<equality-flex-active>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solref<equality-flex-solref>` | :ref:`solimp<equality-flex-solimp>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
| :ref:`tendon<tendon>` | | |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| tendon |br| |_| |L| | | .. table:: |
| :ref:`spatial | \* | :class: mjcf-attributes |
| <tendon-spatial>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<tendon-spatial-name>` | :ref:`class<tendon-spatial-class>` | :ref:`group<tendon-spatial-group>` | :ref:`limited<tendon-spatial-limited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`range<tendon-spatial-range>` | :ref:`solreflimit<tendon-spatial-solreflimit>` | :ref:`solimplimit<tendon-spatial-solimplimit>` | :ref:`solreffriction<tendon-spatial-solreffriction>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimpfriction<tendon-spatial-solimpfriction>` | :ref:`frictionloss<tendon-spatial-frictionloss>` | :ref:`springlength<tendon-spatial-springlength>` | :ref:`width<tendon-spatial-width>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`material<tendon-spatial-material>` | :ref:`margin<tendon-spatial-margin>` | :ref:`stiffness<tendon-spatial-stiffness>` | :ref:`damping<tendon-spatial-damping>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`rgba<tendon-spatial-rgba>` | :ref:`user<tendon-spatial-user>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| spatial |br| |_2| |L| | | .. table:: |
| :ref:`site | \* | :class: mjcf-attributes |
| <spatial-site>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`site<spatial-site-site>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| spatial |br| |_2| |L| | | .. table:: |
| :ref:`geom | \* | :class: mjcf-attributes |
| <spatial-geom>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`geom<spatial-geom-geom>` | :ref:`sidesite<spatial-geom-sidesite>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| spatial |br| |_2| |L| | | .. table:: |
| :ref:`pulley | \* | :class: mjcf-attributes |
| <spatial-pulley>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`divisor<spatial-pulley-divisor>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| tendon |br| |_| |L| | | .. table:: |
| :ref:`fixed | \* | :class: mjcf-attributes |
| <tendon-fixed>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<tendon-fixed-name>` | :ref:`class<tendon-fixed-class>` | :ref:`group<tendon-fixed-group>` | :ref:`limited<tendon-fixed-limited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`range<tendon-fixed-range>` | :ref:`solreflimit<tendon-fixed-solreflimit>` | :ref:`solimplimit<tendon-fixed-solimplimit>` | :ref:`solreffriction<tendon-fixed-solreffriction>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimpfriction<tendon-fixed-solimpfriction>` | :ref:`frictionloss<tendon-fixed-frictionloss>` | :ref:`springlength<tendon-fixed-springlength>` | :ref:`margin<tendon-fixed-margin>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`stiffness<tendon-fixed-stiffness>` | :ref:`damping<tendon-fixed-damping>` | :ref:`user<tendon-fixed-user>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| fixed |br| |_2| |L| | | .. table:: |
| :ref:`joint | \* | :class: mjcf-attributes |
| <fixed-joint>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`joint<fixed-joint-joint>` | :ref:`coef<fixed-joint-coef>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
| :ref:`actuator<actuator>` | | |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| actuator |br| |_| |L| | | .. table:: |
| :ref:`general | \* | :class: mjcf-attributes |
| <actuator-general>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<actuator-general-name>` | :ref:`class<actuator-general-class>` | :ref:`group<actuator-general-group>` | :ref:`ctrllimited<actuator-general-ctrllimited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcelimited<actuator-general-forcelimited>` | :ref:`actlimited<actuator-general-actlimited>` | :ref:`ctrlrange<actuator-general-ctrlrange>` | :ref:`forcerange<actuator-general-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`actrange<actuator-general-actrange>` | :ref:`lengthrange<actuator-general-lengthrange>` | :ref:`gear<actuator-general-gear>` | :ref:`cranklength<actuator-general-cranklength>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<actuator-general-user>` | :ref:`joint<actuator-general-joint>` | :ref:`jointinparent<actuator-general-jointinparent>` | :ref:`tendon<actuator-general-tendon>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`slidersite<actuator-general-slidersite>` | :ref:`cranksite<actuator-general-cranksite>` | :ref:`site<actuator-general-site>` | :ref:`refsite<actuator-general-refsite>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`body<actuator-general-body>` | :ref:`actdim<actuator-general-actdim>` | :ref:`dyntype<actuator-general-dyntype>` | :ref:`gaintype<actuator-general-gaintype>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`biastype<actuator-general-biastype>` | :ref:`dynprm<actuator-general-dynprm>` | :ref:`gainprm<actuator-general-gainprm>` | :ref:`biasprm<actuator-general-biasprm>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`actearly<actuator-general-actearly>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| actuator |br| |_| |L| | | .. table:: |
| :ref:`motor | \* | :class: mjcf-attributes |
| <actuator-motor>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<actuator-motor-name>` | :ref:`class<actuator-motor-class>` | :ref:`group<actuator-motor-group>` | :ref:`ctrllimited<actuator-motor-ctrllimited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcelimited<actuator-motor-forcelimited>` | :ref:`ctrlrange<actuator-motor-ctrlrange>` | :ref:`forcerange<actuator-motor-forcerange>` | :ref:`lengthrange<actuator-motor-lengthrange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<actuator-motor-gear>` | :ref:`cranklength<actuator-motor-cranklength>` | :ref:`user<actuator-motor-user>` | :ref:`joint<actuator-motor-joint>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`jointinparent<actuator-motor-jointinparent>` | :ref:`tendon<actuator-motor-tendon>` | :ref:`slidersite<actuator-motor-slidersite>` | :ref:`cranksite<actuator-motor-cranksite>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`site<actuator-motor-site>` | :ref:`refsite<actuator-motor-refsite>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| actuator |br| |_| |L| | | .. table:: |
| :ref:`position | \* | :class: mjcf-attributes |
| <actuator-position>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<actuator-position-name>` | :ref:`class<actuator-position-class>` | :ref:`group<actuator-position-group>` | :ref:`ctrllimited<actuator-position-ctrllimited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcelimited<actuator-position-forcelimited>` | :ref:`ctrlrange<actuator-position-ctrlrange>` | :ref:`forcerange<actuator-position-forcerange>` | :ref:`lengthrange<actuator-position-lengthrange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<actuator-position-gear>` | :ref:`cranklength<actuator-position-cranklength>` | :ref:`user<actuator-position-user>` | :ref:`joint<actuator-position-joint>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`jointinparent<actuator-position-jointinparent>` | :ref:`tendon<actuator-position-tendon>` | :ref:`slidersite<actuator-position-slidersite>` | :ref:`cranksite<actuator-position-cranksite>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`site<actuator-position-site>` | :ref:`refsite<actuator-position-refsite>` | :ref:`kp<actuator-position-kp>` | :ref:`kv<actuator-position-kv>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| actuator |br| |_| |L| | | .. table:: |
| :ref:`velocity | \* | :class: mjcf-attributes |
| <actuator-velocity>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<actuator-velocity-name>` | :ref:`class<actuator-velocity-class>` | :ref:`group<actuator-velocity-group>` | :ref:`ctrllimited<actuator-velocity-ctrllimited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcelimited<actuator-velocity-forcelimited>` | :ref:`ctrlrange<actuator-velocity-ctrlrange>` | :ref:`forcerange<actuator-velocity-forcerange>` | :ref:`lengthrange<actuator-velocity-lengthrange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<actuator-velocity-gear>` | :ref:`cranklength<actuator-velocity-cranklength>` | :ref:`user<actuator-velocity-user>` | :ref:`joint<actuator-velocity-joint>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`jointinparent<actuator-velocity-jointinparent>` | :ref:`tendon<actuator-velocity-tendon>` | :ref:`slidersite<actuator-velocity-slidersite>` | :ref:`cranksite<actuator-velocity-cranksite>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`site<actuator-velocity-site>` | :ref:`refsite<actuator-velocity-refsite>` | :ref:`kv<actuator-velocity-kv>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| actuator |br| |_| |L| | | .. table:: |
| :ref:`intvelocity | \* | :class: mjcf-attributes |
| <actuator-intvelocity>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<actuator-intvelocity-name>` | :ref:`class<actuator-intvelocity-class>` | :ref:`group<actuator-intvelocity-group>` | :ref:`ctrllimited<actuator-intvelocity-ctrllimited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcelimited<actuator-intvelocity-forcelimited>` | :ref:`ctrlrange<actuator-intvelocity-ctrlrange>` | :ref:`forcerange<actuator-intvelocity-forcerange>` | :ref:`actrange<actuator-intvelocity-actrange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`lengthrange<actuator-intvelocity-lengthrange>` | :ref:`gear<actuator-intvelocity-gear>` | :ref:`cranklength<actuator-intvelocity-cranklength>` | :ref:`user<actuator-intvelocity-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`joint<actuator-intvelocity-joint>` | :ref:`jointinparent<actuator-intvelocity-jointinparent>` | :ref:`tendon<actuator-intvelocity-tendon>` | :ref:`slidersite<actuator-intvelocity-slidersite>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`cranksite<actuator-intvelocity-cranksite>` | :ref:`site<actuator-intvelocity-site>` | :ref:`refsite<actuator-intvelocity-refsite>` | :ref:`kp<actuator-intvelocity-kp>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`kv<actuator-intvelocity-kv>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| actuator |br| |_| |L| | | .. table:: |
| :ref:`damper | \* | :class: mjcf-attributes |
| <actuator-damper>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<actuator-damper-name>` | :ref:`class<actuator-damper-class>` | :ref:`group<actuator-damper-group>` | :ref:`forcelimited<actuator-damper-forcelimited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrlrange<actuator-damper-ctrlrange>` | :ref:`forcerange<actuator-damper-forcerange>` | :ref:`lengthrange<actuator-damper-lengthrange>` | :ref:`gear<actuator-damper-gear>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`cranklength<actuator-damper-cranklength>` | :ref:`user<actuator-damper-user>` | :ref:`joint<actuator-damper-joint>` | :ref:`jointinparent<actuator-damper-jointinparent>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`tendon<actuator-damper-tendon>` | :ref:`slidersite<actuator-damper-slidersite>` | :ref:`cranksite<actuator-damper-cranksite>` | :ref:`site<actuator-damper-site>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`refsite<actuator-damper-refsite>` | :ref:`kv<actuator-damper-kv>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| actuator |br| |_| |L| | | .. table:: |
| :ref:`cylinder | \* | :class: mjcf-attributes |
| <actuator-cylinder>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<actuator-cylinder-name>` | :ref:`class<actuator-cylinder-class>` | :ref:`group<actuator-cylinder-group>` | :ref:`ctrllimited<actuator-cylinder-ctrllimited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcelimited<actuator-cylinder-forcelimited>` | :ref:`ctrlrange<actuator-cylinder-ctrlrange>` | :ref:`forcerange<actuator-cylinder-forcerange>` | :ref:`lengthrange<actuator-cylinder-lengthrange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<actuator-cylinder-gear>` | :ref:`cranklength<actuator-cylinder-cranklength>` | :ref:`user<actuator-cylinder-user>` | :ref:`joint<actuator-cylinder-joint>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`jointinparent<actuator-cylinder-jointinparent>` | :ref:`tendon<actuator-cylinder-tendon>` | :ref:`slidersite<actuator-cylinder-slidersite>` | :ref:`cranksite<actuator-cylinder-cranksite>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`site<actuator-cylinder-site>` | :ref:`refsite<actuator-cylinder-refsite>` | :ref:`timeconst<actuator-cylinder-timeconst>` | :ref:`area<actuator-cylinder-area>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`diameter<actuator-cylinder-diameter>` | :ref:`bias<actuator-cylinder-bias>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| actuator |br| |_| |L| | | .. table:: |
| :ref:`muscle | \* | :class: mjcf-attributes |
| <actuator-muscle>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<actuator-muscle-name>` | :ref:`class<actuator-muscle-class>` | :ref:`group<actuator-muscle-group>` | :ref:`ctrllimited<actuator-muscle-ctrllimited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcelimited<actuator-muscle-forcelimited>` | :ref:`ctrlrange<actuator-muscle-ctrlrange>` | :ref:`forcerange<actuator-muscle-forcerange>` | :ref:`lengthrange<actuator-muscle-lengthrange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<actuator-muscle-gear>` | :ref:`cranklength<actuator-muscle-cranklength>` | :ref:`user<actuator-muscle-user>` | :ref:`joint<actuator-muscle-joint>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`jointinparent<actuator-muscle-jointinparent>` | :ref:`tendon<actuator-muscle-tendon>` | :ref:`slidersite<actuator-muscle-slidersite>` | :ref:`cranksite<actuator-muscle-cranksite>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`timeconst<actuator-muscle-timeconst>` | :ref:`tausmooth<actuator-muscle-tausmooth>` | :ref:`range<actuator-muscle-range>` | :ref:`force<actuator-muscle-force>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`scale<actuator-muscle-scale>` | :ref:`lmin<actuator-muscle-lmin>` | :ref:`lmax<actuator-muscle-lmax>` | :ref:`vmax<actuator-muscle-vmax>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fpmax<actuator-muscle-fpmax>` | :ref:`fvmax<actuator-muscle-fvmax>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| actuator |br| |_| |L| | | .. table:: |
| :ref:`adhesion | \* | :class: mjcf-attributes |
| <actuator-adhesion>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<actuator-adhesion-name>` | :ref:`class<actuator-adhesion-class>` | :ref:`group<actuator-adhesion-group>` | :ref:`forcelimited<actuator-adhesion-forcelimited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrlrange<actuator-adhesion-ctrlrange>` | :ref:`forcerange<actuator-adhesion-forcerange>` | :ref:`user<actuator-adhesion-user>` | :ref:`body<actuator-adhesion-body>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gain<actuator-adhesion-gain>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| actuator |br| |_| |L| | | .. table:: |
| :ref:`plugin | \* | :class: mjcf-attributes |
| <actuator-plugin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<actuator-plugin-name>` | :ref:`class<actuator-plugin-class>` | :ref:`plugin<actuator-plugin-plugin>` | :ref:`instance<actuator-plugin-instance>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`group<actuator-plugin-group>` | :ref:`ctrllimited<actuator-plugin-ctrllimited>` | :ref:`forcelimited<actuator-plugin-forcelimited>` | :ref:`actlimited<actuator-plugin-actlimited>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrlrange<actuator-plugin-ctrlrange>` | :ref:`forcerange<actuator-plugin-forcerange>` | :ref:`actrange<actuator-plugin-actrange>` | :ref:`lengthrange<actuator-plugin-lengthrange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<actuator-plugin-gear>` | :ref:`cranklength<actuator-plugin-cranklength>` | :ref:`joint<actuator-plugin-joint>` | :ref:`jointinparent<actuator-plugin-jointinparent>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`site<actuator-plugin-site>` | :ref:`dyntype<actuator-plugin-dyntype>` | :ref:`dynprm<actuator-plugin-dynprm>` | :ref:`tendon<actuator-plugin-tendon>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`cranksite<actuator-plugin-cranksite>` | :ref:`slidersite<actuator-plugin-slidersite>` | :ref:`user<actuator-plugin-user>` | :ref:`actearly<actuator-plugin-actearly>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| plugin |br| |_2| |L| | | .. table:: |
| :ref:`config | \* | :class: mjcf-attributes |
| <plugin-config>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
| :ref:`sensor<sensor>` | | |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`touch | \* | :class: mjcf-attributes |
| <sensor-touch>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-touch-name>` | :ref:`site<sensor-touch-site>` | :ref:`cutoff<sensor-touch-cutoff>` | :ref:`noise<sensor-touch-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-touch-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`accelerometer | \* | :class: mjcf-attributes |
| <sensor-accelerometer>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-accelerometer-name>` | :ref:`site<sensor-accelerometer-site>` | :ref:`cutoff<sensor-accelerometer-cutoff>` | :ref:`noise<sensor-accelerometer-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-accelerometer-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`velocimeter | \* | :class: mjcf-attributes |
| <sensor-velocimeter>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-velocimeter-name>` | :ref:`site<sensor-velocimeter-site>` | :ref:`cutoff<sensor-velocimeter-cutoff>` | :ref:`noise<sensor-velocimeter-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-velocimeter-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`gyro | \* | :class: mjcf-attributes |
| <sensor-gyro>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-gyro-name>` | :ref:`site<sensor-gyro-site>` | :ref:`cutoff<sensor-gyro-cutoff>` | :ref:`noise<sensor-gyro-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-gyro-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`force | \* | :class: mjcf-attributes |
| <sensor-force>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-force-name>` | :ref:`site<sensor-force-site>` | :ref:`cutoff<sensor-force-cutoff>` | :ref:`noise<sensor-force-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-force-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`torque | \* | :class: mjcf-attributes |
| <sensor-torque>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-torque-name>` | :ref:`site<sensor-torque-site>` | :ref:`cutoff<sensor-torque-cutoff>` | :ref:`noise<sensor-torque-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-torque-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`magnetometer | \* | :class: mjcf-attributes |
| <sensor-magnetometer>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-magnetometer-name>` | :ref:`site<sensor-magnetometer-site>` | :ref:`cutoff<sensor-magnetometer-cutoff>` | :ref:`noise<sensor-magnetometer-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-magnetometer-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`camprojection | \* | :class: mjcf-attributes |
| <sensor-camprojection>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-camprojection-name>` | :ref:`site<sensor-camprojection-site>` | :ref:`camera<sensor-camprojection-camera>` | :ref:`cutoff<sensor-camprojection-cutoff>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`noise<sensor-camprojection-noise>` | :ref:`user<sensor-camprojection-user>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`rangefinder | \* | :class: mjcf-attributes |
| <sensor-rangefinder>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-rangefinder-name>` | :ref:`site<sensor-rangefinder-site>` | :ref:`cutoff<sensor-rangefinder-cutoff>` | :ref:`noise<sensor-rangefinder-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-rangefinder-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`jointpos | \* | :class: mjcf-attributes |
| <sensor-jointpos>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-jointpos-name>` | :ref:`joint<sensor-jointpos-joint>` | :ref:`cutoff<sensor-jointpos-cutoff>` | :ref:`noise<sensor-jointpos-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-jointpos-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`jointvel | \* | :class: mjcf-attributes |
| <sensor-jointvel>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-jointvel-name>` | :ref:`joint<sensor-jointvel-joint>` | :ref:`cutoff<sensor-jointvel-cutoff>` | :ref:`noise<sensor-jointvel-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-jointvel-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`tendonpos | \* | :class: mjcf-attributes |
| <sensor-tendonpos>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-tendonpos-name>` | :ref:`tendon<sensor-tendonpos-tendon>` | :ref:`cutoff<sensor-tendonpos-cutoff>` | :ref:`noise<sensor-tendonpos-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-tendonpos-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`tendonvel | \* | :class: mjcf-attributes |
| <sensor-tendonvel>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-tendonvel-name>` | :ref:`tendon<sensor-tendonvel-tendon>` | :ref:`cutoff<sensor-tendonvel-cutoff>` | :ref:`noise<sensor-tendonvel-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-tendonvel-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`actuatorpos | \* | :class: mjcf-attributes |
| <sensor-actuatorpos>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-actuatorpos-name>` | :ref:`actuator<sensor-actuatorpos-actuator>` | :ref:`cutoff<sensor-actuatorpos-cutoff>` | :ref:`noise<sensor-actuatorpos-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-actuatorpos-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`actuatorvel | \* | :class: mjcf-attributes |
| <sensor-actuatorvel>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-actuatorvel-name>` | :ref:`actuator<sensor-actuatorvel-actuator>` | :ref:`cutoff<sensor-actuatorvel-cutoff>` | :ref:`noise<sensor-actuatorvel-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-actuatorvel-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`actuatorfrc | \* | :class: mjcf-attributes |
| <sensor-actuatorfrc>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-actuatorfrc-name>` | :ref:`actuator<sensor-actuatorfrc-actuator>` | :ref:`cutoff<sensor-actuatorfrc-cutoff>` | :ref:`noise<sensor-actuatorfrc-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-actuatorfrc-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`jointactuatorfrc | \* | :class: mjcf-attributes |
| <sensor-jointactuatorfrc>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-jointactuatorfrc-name>` | :ref:`joint<sensor-jointactuatorfrc-joint>` | :ref:`cutoff<sensor-jointactuatorfrc-cutoff>` | :ref:`noise<sensor-jointactuatorfrc-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-jointactuatorfrc-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`ballquat | \* | :class: mjcf-attributes |
| <sensor-ballquat>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-ballquat-name>` | :ref:`joint<sensor-ballquat-joint>` | :ref:`cutoff<sensor-ballquat-cutoff>` | :ref:`noise<sensor-ballquat-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-ballquat-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`ballangvel | \* | :class: mjcf-attributes |
| <sensor-ballangvel>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-ballangvel-name>` | :ref:`joint<sensor-ballangvel-joint>` | :ref:`cutoff<sensor-ballangvel-cutoff>` | :ref:`noise<sensor-ballangvel-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-ballangvel-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`jointlimitpos | \* | :class: mjcf-attributes |
| <sensor-jointlimitpos>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-jointlimitpos-name>` | :ref:`joint<sensor-jointlimitpos-joint>` | :ref:`cutoff<sensor-jointlimitpos-cutoff>` | :ref:`noise<sensor-jointlimitpos-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-jointlimitpos-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`jointlimitvel | \* | :class: mjcf-attributes |
| <sensor-jointlimitvel>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-jointlimitvel-name>` | :ref:`joint<sensor-jointlimitvel-joint>` | :ref:`cutoff<sensor-jointlimitvel-cutoff>` | :ref:`noise<sensor-jointlimitvel-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-jointlimitvel-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`jointlimitfrc | \* | :class: mjcf-attributes |
| <sensor-jointlimitfrc>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-jointlimitfrc-name>` | :ref:`joint<sensor-jointlimitfrc-joint>` | :ref:`cutoff<sensor-jointlimitfrc-cutoff>` | :ref:`noise<sensor-jointlimitfrc-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-jointlimitfrc-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`tendonlimitpos | \* | :class: mjcf-attributes |
| <sensor-tendonlimitpos>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-tendonlimitpos-name>` | :ref:`tendon<sensor-tendonlimitpos-tendon>` | :ref:`cutoff<sensor-tendonlimitpos-cutoff>` | :ref:`noise<sensor-tendonlimitpos-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-tendonlimitpos-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`tendonlimitvel | \* | :class: mjcf-attributes |
| <sensor-tendonlimitvel>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-tendonlimitvel-name>` | :ref:`tendon<sensor-tendonlimitvel-tendon>` | :ref:`cutoff<sensor-tendonlimitvel-cutoff>` | :ref:`noise<sensor-tendonlimitvel-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-tendonlimitvel-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`tendonlimitfrc | \* | :class: mjcf-attributes |
| <sensor-tendonlimitfrc>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-tendonlimitfrc-name>` | :ref:`tendon<sensor-tendonlimitfrc-tendon>` | :ref:`cutoff<sensor-tendonlimitfrc-cutoff>` | :ref:`noise<sensor-tendonlimitfrc-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-tendonlimitfrc-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`framepos | \* | :class: mjcf-attributes |
| <sensor-framepos>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-framepos-name>` | :ref:`objtype<sensor-framepos-objtype>` | :ref:`objname<sensor-framepos-objname>` | :ref:`reftype<sensor-framepos-reftype>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`refname<sensor-framepos-refname>` | :ref:`cutoff<sensor-framepos-cutoff>` | :ref:`noise<sensor-framepos-noise>` | :ref:`user<sensor-framepos-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`framequat | \* | :class: mjcf-attributes |
| <sensor-framequat>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-framequat-name>` | :ref:`objtype<sensor-framequat-objtype>` | :ref:`objname<sensor-framequat-objname>` | :ref:`reftype<sensor-framequat-reftype>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`refname<sensor-framequat-refname>` | :ref:`cutoff<sensor-framequat-cutoff>` | :ref:`noise<sensor-framequat-noise>` | :ref:`user<sensor-framequat-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`framexaxis | \* | :class: mjcf-attributes |
| <sensor-framexaxis>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-framexaxis-name>` | :ref:`objtype<sensor-framexaxis-objtype>` | :ref:`objname<sensor-framexaxis-objname>` | :ref:`reftype<sensor-framexaxis-reftype>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`refname<sensor-framexaxis-refname>` | :ref:`cutoff<sensor-framexaxis-cutoff>` | :ref:`noise<sensor-framexaxis-noise>` | :ref:`user<sensor-framexaxis-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`frameyaxis | \* | :class: mjcf-attributes |
| <sensor-frameyaxis>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-frameyaxis-name>` | :ref:`objtype<sensor-frameyaxis-objtype>` | :ref:`objname<sensor-frameyaxis-objname>` | :ref:`reftype<sensor-frameyaxis-reftype>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`refname<sensor-frameyaxis-refname>` | :ref:`cutoff<sensor-frameyaxis-cutoff>` | :ref:`noise<sensor-frameyaxis-noise>` | :ref:`user<sensor-frameyaxis-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`framezaxis | \* | :class: mjcf-attributes |
| <sensor-framezaxis>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-framezaxis-name>` | :ref:`objtype<sensor-framezaxis-objtype>` | :ref:`objname<sensor-framezaxis-objname>` | :ref:`reftype<sensor-framezaxis-reftype>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`refname<sensor-framezaxis-refname>` | :ref:`cutoff<sensor-framezaxis-cutoff>` | :ref:`noise<sensor-framezaxis-noise>` | :ref:`user<sensor-framezaxis-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`framelinvel | \* | :class: mjcf-attributes |
| <sensor-framelinvel>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-framelinvel-name>` | :ref:`objtype<sensor-framelinvel-objtype>` | :ref:`objname<sensor-framelinvel-objname>` | :ref:`reftype<sensor-framelinvel-reftype>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`refname<sensor-framelinvel-refname>` | :ref:`cutoff<sensor-framelinvel-cutoff>` | :ref:`noise<sensor-framelinvel-noise>` | :ref:`user<sensor-framelinvel-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`frameangvel | \* | :class: mjcf-attributes |
| <sensor-frameangvel>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-frameangvel-name>` | :ref:`objtype<sensor-frameangvel-objtype>` | :ref:`objname<sensor-frameangvel-objname>` | :ref:`reftype<sensor-frameangvel-reftype>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`refname<sensor-frameangvel-refname>` | :ref:`cutoff<sensor-frameangvel-cutoff>` | :ref:`noise<sensor-frameangvel-noise>` | :ref:`user<sensor-frameangvel-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`framelinacc | \* | :class: mjcf-attributes |
| <sensor-framelinacc>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-framelinacc-name>` | :ref:`objtype<sensor-framelinacc-objtype>` | :ref:`objname<sensor-framelinacc-objname>` | :ref:`cutoff<sensor-framelinacc-cutoff>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`noise<sensor-framelinacc-noise>` | :ref:`user<sensor-framelinacc-user>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`frameangacc | \* | :class: mjcf-attributes |
| <sensor-frameangacc>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-frameangacc-name>` | :ref:`objtype<sensor-frameangacc-objtype>` | :ref:`objname<sensor-frameangacc-objname>` | :ref:`cutoff<sensor-frameangacc-cutoff>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`noise<sensor-frameangacc-noise>` | :ref:`user<sensor-frameangacc-user>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`subtreecom | \* | :class: mjcf-attributes |
| <sensor-subtreecom>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-subtreecom-name>` | :ref:`body<sensor-subtreecom-body>` | :ref:`cutoff<sensor-subtreecom-cutoff>` | :ref:`noise<sensor-subtreecom-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-subtreecom-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`subtreelinvel | \* | :class: mjcf-attributes |
| <sensor-subtreelinvel>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-subtreelinvel-name>` | :ref:`body<sensor-subtreelinvel-body>` | :ref:`cutoff<sensor-subtreelinvel-cutoff>` | :ref:`noise<sensor-subtreelinvel-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-subtreelinvel-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`subtreeangmom | \* | :class: mjcf-attributes |
| <sensor-subtreeangmom>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-subtreeangmom-name>` | :ref:`body<sensor-subtreeangmom-body>` | :ref:`cutoff<sensor-subtreeangmom-cutoff>` | :ref:`noise<sensor-subtreeangmom-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-subtreeangmom-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`clock | \* | :class: mjcf-attributes |
| <sensor-clock>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-clock-name>` | :ref:`cutoff<sensor-clock-cutoff>` | :ref:`noise<sensor-clock-noise>` | :ref:`user<sensor-clock-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`user | \* | :class: mjcf-attributes |
| <sensor-user>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-user-name>` | :ref:`objtype<sensor-user-objtype>` | :ref:`objname<sensor-user-objname>` | :ref:`datatype<sensor-user-datatype>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`needstage<sensor-user-needstage>` | :ref:`dim<sensor-user-dim>` | :ref:`cutoff<sensor-user-cutoff>` | :ref:`noise<sensor-user-noise>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-user-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`plugin | \* | :class: mjcf-attributes |
| <sensor-plugin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-plugin-name>` | :ref:`plugin<sensor-plugin-plugin>` | :ref:`instance<sensor-plugin-instance>` | :ref:`cutoff<sensor-plugin-cutoff>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`objtype<sensor-plugin-objtype>` | :ref:`objname<sensor-plugin-objname>` | :ref:`reftype<sensor-plugin-reftype>` | :ref:`refname<sensor-plugin-refname>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<sensor-plugin-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| plugin |br| |_2| |L| | | .. table:: |
| :ref:`config | \* | :class: mjcf-attributes |
| <plugin-config>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
| :ref:`keyframe<keyframe>` | | |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| keyframe |br| |_| |L| | | .. table:: |
| :ref:`key | \* | :class: mjcf-attributes |
| <keyframe-key>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<keyframe-key-name>` | :ref:`time<keyframe-key-time>` | :ref:`qpos<keyframe-key-qpos>` | :ref:`qvel<keyframe-key-qvel>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`act<keyframe-key-act>` | :ref:`mpos<keyframe-key-mpos>` | :ref:`mquat<keyframe-key-mquat>` | :ref:`ctrl<keyframe-key-ctrl>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | .. table:: |
| :ref:`default | R | :class: mjcf-attributes |
| <default>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`class<default-class>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`mesh | ? | :class: mjcf-attributes |
| <default-mesh>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`scale<default-mesh-scale>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`material | ? | :class: mjcf-attributes |
| <default-material>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<default-material-texture>` | :ref:`emission<default-material-emission>` | :ref:`specular<default-material-specular>` | :ref:`shininess<default-material-shininess>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`reflectance<default-material-reflectance>` | :ref:`rgba<default-material-rgba>` | :ref:`texrepeat<default-material-texrepeat>` | :ref:`texuniform<default-material-texuniform>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`joint | ? | :class: mjcf-attributes |
| <default-joint>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`type<default-joint-type>` | :ref:`group<default-joint-group>` | :ref:`pos<default-joint-pos>` | :ref:`axis<default-joint-axis>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`springdamper<default-joint-springdamper>` | :ref:`limited<default-joint-limited>` | :ref:`actuatorfrclimited<default-joint-actuatorfrclimited>` | :ref:`solreflimit<default-joint-solreflimit>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimplimit<default-joint-solimplimit>` | :ref:`solreffriction<default-joint-solreffriction>` | :ref:`solimpfriction<default-joint-solimpfriction>` | :ref:`stiffness<default-joint-stiffness>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`range<default-joint-range>` | :ref:`actuatorfrcrange<default-joint-actuatorfrcrange>` | :ref:`margin<default-joint-margin>` | :ref:`ref<default-joint-ref>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`springref<default-joint-springref>` | :ref:`armature<default-joint-armature>` | :ref:`damping<default-joint-damping>` | :ref:`frictionloss<default-joint-frictionloss>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<default-joint-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`geom | ? | :class: mjcf-attributes |
| <default-geom>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`type<default-geom-type>` | :ref:`pos<default-geom-pos>` | :ref:`quat<default-geom-quat>` | :ref:`contype<default-geom-contype>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`conaffinity<default-geom-conaffinity>` | :ref:`condim<default-geom-condim>` | :ref:`group<default-geom-group>` | :ref:`priority<default-geom-priority>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`size<default-geom-size>` | :ref:`material<default-geom-material>` | :ref:`friction<default-geom-friction>` | :ref:`mass<default-geom-mass>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`density<default-geom-density>` | :ref:`shellinertia<default-geom-shellinertia>` | :ref:`solmix<default-geom-solmix>` | :ref:`solref<default-geom-solref>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimp<default-geom-solimp>` | :ref:`margin<default-geom-margin>` | :ref:`gap<default-geom-gap>` | :ref:`fromto<default-geom-fromto>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`axisangle<default-geom-axisangle>` | :ref:`xyaxes<default-geom-xyaxes>` | :ref:`zaxis<default-geom-zaxis>` | :ref:`euler<default-geom-euler>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`hfield<default-geom-hfield>` | :ref:`mesh<default-geom-mesh>` | :ref:`fitscale<default-geom-fitscale>` | :ref:`rgba<default-geom-rgba>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fluidshape<default-geom-fluidshape>` | :ref:`fluidcoef<default-geom-fluidcoef>` | :ref:`user<default-geom-user>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`site | ? | :class: mjcf-attributes |
| <default-site>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`type<default-site-type>` | :ref:`group<default-site-group>` | :ref:`pos<default-site-pos>` | :ref:`quat<default-site-quat>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`material<default-site-material>` | :ref:`size<default-site-size>` | :ref:`fromto<default-site-fromto>` | :ref:`axisangle<default-site-axisangle>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`xyaxes<default-site-xyaxes>` | :ref:`zaxis<default-site-zaxis>` | :ref:`euler<default-site-euler>` | :ref:`rgba<default-site-rgba>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<default-site-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`camera | ? | :class: mjcf-attributes |
| <default-camera>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fovy<default-camera-fovy>` | :ref:`ipd<default-camera-ipd>` | :ref:`resolution<default-camera-resolution>` | :ref:`pos<default-camera-pos>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`quat<default-camera-quat>` | :ref:`axisangle<default-camera-axisangle>` | :ref:`xyaxes<default-camera-xyaxes>` | :ref:`zaxis<default-camera-zaxis>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`euler<default-camera-euler>` | :ref:`mode<default-camera-mode>` | :ref:`focal<default-camera-focal>` | :ref:`focalpixel<default-camera-focalpixel>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`principal<default-camera-principal>` | :ref:`principalpixel<default-camera-principalpixel>` | :ref:`sensorsize<default-camera-sensorsize>` | :ref:`user<default-camera-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`light | ? | :class: mjcf-attributes |
| <default-light>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`pos<default-light-pos>` | :ref:`dir<default-light-dir>` | :ref:`directional<default-light-directional>` | :ref:`castshadow<default-light-castshadow>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`active<default-light-active>` | :ref:`attenuation<default-light-attenuation>` | :ref:`cutoff<default-light-cutoff>` | :ref:`exponent<default-light-exponent>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ambient<default-light-ambient>` | :ref:`diffuse<default-light-diffuse>` | :ref:`specular<default-light-specular>` | :ref:`mode<default-light-mode>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`pair | ? | :class: mjcf-attributes |
| <default-pair>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`condim<default-pair-condim>` | :ref:`friction<default-pair-friction>` | :ref:`solref<default-pair-solref>` | :ref:`solreffriction<default-pair-solreffriction>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimp<default-pair-solimp>` | :ref:`gap<default-pair-gap>` | :ref:`margin<default-pair-margin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`equality | ? | :class: mjcf-attributes |
| <default-equality>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`active<default-equality-active>` | :ref:`solref<default-equality-solref>` | :ref:`solimp<default-equality-solimp>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`tendon | ? | :class: mjcf-attributes |
| <default-tendon>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`group<default-tendon-group>` | :ref:`limited<default-tendon-limited>` | :ref:`range<default-tendon-range>` | :ref:`solreflimit<default-tendon-solreflimit>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`solimplimit<default-tendon-solimplimit>` | :ref:`solreffriction<default-tendon-solreffriction>` | :ref:`solimpfriction<default-tendon-solimpfriction>` | :ref:`frictionloss<default-tendon-frictionloss>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`springlength<default-tendon-springlength>` | :ref:`width<default-tendon-width>` | :ref:`material<default-tendon-material>` | :ref:`margin<default-tendon-margin>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`stiffness<default-tendon-stiffness>` | :ref:`damping<default-tendon-damping>` | :ref:`rgba<default-tendon-rgba>` | :ref:`user<default-tendon-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`general | ? | :class: mjcf-attributes |
| <default-general>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-general-ctrllimited>` | :ref:`forcelimited<default-general-forcelimited>` | :ref:`actlimited<default-general-actlimited>` | :ref:`ctrlrange<default-general-ctrlrange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcerange<default-general-forcerange>` | :ref:`actrange<default-general-actrange>` | :ref:`gear<default-general-gear>` | :ref:`cranklength<default-general-cranklength>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<default-general-user>` | :ref:`group<default-general-group>` | :ref:`actdim<default-general-actdim>` | :ref:`dyntype<default-general-dyntype>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gaintype<default-general-gaintype>` | :ref:`biastype<default-general-biastype>` | :ref:`dynprm<default-general-dynprm>` | :ref:`gainprm<default-general-gainprm>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`biasprm<default-general-biasprm>` | :ref:`actearly<default-general-actearly>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`motor | ? | :class: mjcf-attributes |
| <default-motor>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-motor-ctrllimited>` | :ref:`forcelimited<default-motor-forcelimited>` | :ref:`ctrlrange<default-motor-ctrlrange>` | :ref:`forcerange<default-motor-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<default-motor-gear>` | :ref:`cranklength<default-motor-cranklength>` | :ref:`user<default-motor-user>` | :ref:`group<default-motor-group>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`position | ? | :class: mjcf-attributes |
| <default-position>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-position-ctrllimited>` | :ref:`forcelimited<default-position-forcelimited>` | :ref:`ctrlrange<default-position-ctrlrange>` | :ref:`forcerange<default-position-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<default-position-gear>` | :ref:`cranklength<default-position-cranklength>` | :ref:`user<default-position-user>` | :ref:`group<default-position-group>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`kp<default-position-kp>` | :ref:`kv<default-position-kv>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`velocity | ? | :class: mjcf-attributes |
| <default-velocity>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-velocity-ctrllimited>` | :ref:`forcelimited<default-velocity-forcelimited>` | :ref:`ctrlrange<default-velocity-ctrlrange>` | :ref:`forcerange<default-velocity-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<default-velocity-gear>` | :ref:`cranklength<default-velocity-cranklength>` | :ref:`user<default-velocity-user>` | :ref:`group<default-velocity-group>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`kv<default-velocity-kv>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`intvelocity | ? | :class: mjcf-attributes |
| <default-intvelocity>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-intvelocity-ctrllimited>` | :ref:`forcelimited<default-intvelocity-forcelimited>` | :ref:`ctrlrange<default-intvelocity-ctrlrange>` | :ref:`forcerange<default-intvelocity-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`actrange<default-intvelocity-actrange>` | :ref:`gear<default-intvelocity-gear>` | :ref:`cranklength<default-intvelocity-cranklength>` | :ref:`user<default-intvelocity-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`group<default-intvelocity-group>` | :ref:`kp<default-intvelocity-kp>` | :ref:`kv<default-intvelocity-kv>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`damper | ? | :class: mjcf-attributes |
| <default-damper>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcelimited<default-damper-forcelimited>` | :ref:`ctrlrange<default-damper-ctrlrange>` | :ref:`forcerange<default-damper-forcerange>` | :ref:`gear<default-damper-gear>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`cranklength<default-damper-cranklength>` | :ref:`user<default-damper-user>` | :ref:`group<default-damper-group>` | :ref:`kv<default-damper-kv>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`cylinder | ? | :class: mjcf-attributes |
| <default-cylinder>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-cylinder-ctrllimited>` | :ref:`forcelimited<default-cylinder-forcelimited>` | :ref:`ctrlrange<default-cylinder-ctrlrange>` | :ref:`forcerange<default-cylinder-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<default-cylinder-gear>` | :ref:`cranklength<default-cylinder-cranklength>` | :ref:`user<default-cylinder-user>` | :ref:`group<default-cylinder-group>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`timeconst<default-cylinder-timeconst>` | :ref:`area<default-cylinder-area>` | :ref:`diameter<default-cylinder-diameter>` | :ref:`bias<default-cylinder-bias>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`muscle | ? | :class: mjcf-attributes |
| <default-muscle>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`ctrllimited<default-muscle-ctrllimited>` | :ref:`forcelimited<default-muscle-forcelimited>` | :ref:`ctrlrange<default-muscle-ctrlrange>` | :ref:`forcerange<default-muscle-forcerange>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gear<default-muscle-gear>` | :ref:`cranklength<default-muscle-cranklength>` | :ref:`user<default-muscle-user>` | :ref:`group<default-muscle-group>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`timeconst<default-muscle-timeconst>` | :ref:`range<default-muscle-range>` | :ref:`force<default-muscle-force>` | :ref:`scale<default-muscle-scale>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`lmin<default-muscle-lmin>` | :ref:`lmax<default-muscle-lmax>` | :ref:`vmax<default-muscle-vmax>` | :ref:`fpmax<default-muscle-fpmax>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fvmax<default-muscle-fvmax>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`adhesion | ? | :class: mjcf-attributes |
| <default-adhesion>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`forcelimited<default-adhesion-forcelimited>` | :ref:`ctrlrange<default-adhesion-ctrlrange>` | :ref:`forcerange<default-adhesion-forcerange>` | :ref:`gain<default-adhesion-gain>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<default-adhesion-user>` | :ref:`group<default-adhesion-group>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
| :ref:`custom<custom>` | | |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| custom |br| |_| |L| | | .. table:: |
| :ref:`numeric | \* | :class: mjcf-attributes |
| <custom-numeric>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<custom-numeric-name>` | :ref:`size<custom-numeric-size>` | :ref:`data<custom-numeric-data>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| custom |br| |_| |L| | | .. table:: |
| :ref:`text | \* | :class: mjcf-attributes |
| <custom-text>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<custom-text-name>` | :ref:`data<custom-text-data>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| custom |br| |_| |L| | | .. table:: |
| :ref:`tuple | \* | :class: mjcf-attributes |
| <custom-tuple>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<custom-tuple-name>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| tuple |br| |_2| |L| | | .. table:: |
| :ref:`element | \* | :class: mjcf-attributes |
| <tuple-element>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`objtype<tuple-element-objtype>` | :ref:`objname<tuple-element-objname>` | :ref:`prm<tuple-element-prm>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
| :ref:`extension<extension>` | | |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| extension |br| |_| |L| | | .. table:: |
| :ref:`plugin | \* | :class: mjcf-attributes |
| <extension-plugin>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`plugin<extension-plugin-plugin>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| plugin |br| |_2| |L| | | .. table:: |
| :ref:`instance | \* | :class: mjcf-attributes |
| <plugin-instance>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<plugin-instance-name>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_3| instance |br| |_3| |L| | | .. table:: |
| :ref:`config | \* | :class: mjcf-attributes |
| <instance-config>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`key<instance-config-key>` | :ref:`value<instance-config-value>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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