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Mujoco_WASM/doc/XMLschema.rst
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Alessio Quaglino 52c415eb80 Move schema from XMLReference to the new XMLschema RST file. 
PiperOrigin-RevId: 478436495
Change-Id: Ib1db879eef2720f897360810eccb198bb9946f72
2022-10-03 01:18:57 -07:00

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+--------------------------+----+------------------------------------------------------------------------------------+
| :el:`mujoco` | ! | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`model` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:el:`compiler` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`boundmass` | :at:`boundinertia` | :at:`settotalmass` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`balanceinertia` | :at:`strippath` | :at:`coordinate` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`angle` | :at:`fitaabb` | :at:`eulerseq` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`meshdir` | :at:`texturedir` | :at:`discardvisual` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`convexhull` | :at:`usethread` | :at:`fusestatic` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`inertiafromgeom` | :at:`inertiagrouprange` | :at:`exactmeshinertia` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`autolimits` | :at:`assetdir` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`lengthrange` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`mode` | :at:`useexisting` | :at:`uselimit` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`accel` | :at:`maxforce` | :at:`timeconst` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`timestep` | :at:`inttotal` | :at:`inteval` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`tolrange` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:el:`option` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`timestep` | :at:`apirate` | :at:`impratio` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`tolerance` | :at:`noslip_tolerance` | :at:`mpr_tolerance` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`gravity` | :at:`wind` | :at:`magnetic` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`density` | :at:`viscosity` | :at:`o_margin` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`o_solref` | :at:`o_solimp` | :at:`integrator` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`collision` | :at:`cone` | :at:`jacobian` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solver` | :at:`iterations` | :at:`noslip_iterations` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`mpr_iterations` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`flag` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`constraint` | :at:`equality` | :at:`frictionloss` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`limit` | :at:`contact` | :at:`passive` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`gravity` | :at:`clampctrl` | :at:`warmstart` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`filterparent` | :at:`actuation` | :at:`refsafe` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`sensor` | :at:`override` | :at:`energy` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`fwdinv` | :at:`sensornoise` | :at:`multiccd` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:el:`size` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`njmax` | :at:`nconmax` | :at:`nstack` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`nuserdata` | :at:`nkey` | :at:`nuser_body` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`nuser_jnt` | :at:`nuser_geom` | :at:`nuser_site` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`nuser_cam` | :at:`nuser_tendon` | :at:`nuser_actuator` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`nuser_sensor` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:el:`visual` | \* | *no attribute* |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`global` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`fovy` | :at:`ipd` | :at:`azimuth` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`elevation` | :at:`linewidth` | :at:`glow` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`offwidth` | :at:`offheight` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`quality` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`shadowsize` | :at:`offsamples` | :at:`numslices` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`numstacks` | :at:`numquads` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`headlight` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ambient` | :at:`diffuse` | :at:`specular` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`active` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`map` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`stiffness` | :at:`stiffnessrot` | :at:`force` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`torque` | :at:`alpha` | :at:`fogstart` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`fogend` | :at:`znear` | :at:`zfar` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`haze` | :at:`shadowclip` | :at:`shadowscale` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`actuatortendon` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`scale` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcewidth` | :at:`contactwidth` | :at:`contactheight` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`connect` | :at:`com` | :at:`camera` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`light` | :at:`selectpoint` | :at:`jointlength` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`jointwidth` | :at:`actuatorlength` | :at:`actuatorwidth` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`framelength` | :at:`framewidth` | :at:`constraint` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`slidercrank` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`rgba` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`fog` | :at:`haze` | :at:`force` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`inertia` | :at:`joint` | :at:`actuator` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`actuatornegative` | :at:`actuatorpositive` | :at:`com` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`camera` | :at:`light` | :at:`selectpoint` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`connect` | :at:`contactpoint` | :at:`contactforce` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`contactfriction` | :at:`contacttorque` | :at:`contactgap` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`rangefinder` | :at:`constraint` | :at:`slidercrank` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`crankbroken` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:el:`statistic` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`meaninertia` | :at:`meanmass` | :at:`meansize` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`extent` | :at:`center` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:el:`default` | R | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`class` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`mesh` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`scale` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`material` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`texture` | :at:`emission` | :at:`specular` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`shininess` | :at:`reflectance` | :at:`rgba` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`texrepeat` | :at:`texuniform` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`joint` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`type` | :at:`group` | :at:`pos` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`axis` | :at:`springdamper` | :at:`limited` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solreflimit` | :at:`solimplimit` | :at:`solreffriction` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solimpfriction` | :at:`stiffness` | :at:`range` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`margin` | :at:`ref` | :at:`springref` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`armature` | :at:`damping` | :at:`frictionloss` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`geom` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`type` | :at:`pos` | :at:`quat` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`contype` | :at:`conaffinity` | :at:`condim` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`group` | :at:`priority` | :at:`size` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`material` | :at:`friction` | :at:`mass` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`density` | :at:`solmix` | :at:`solref` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solimp` | :at:`margin` | :at:`gap` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`fromto` | :at:`axisangle` | :at:`xyaxes` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`zaxis` | :at:`euler` | :at:`hfield` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`mesh` | :at:`fitscale` | :at:`rgba` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | :at:`fluidshape` | :at:`fluidcoef` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`shellinertia` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`site` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`type` | :at:`group` | :at:`pos` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`quat` | :at:`material` | :at:`size` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`fromto` | :at:`axisangle` | :at:`xyaxes` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`zaxis` | :at:`euler` | :at:`rgba` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`camera` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`fovy` | :at:`ipd` | :at:`pos` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`quat` | :at:`axisangle` | :at:`xyaxes` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`zaxis` | :at:`euler` | :at:`mode` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`light` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`pos` | :at:`dir` | :at:`directional` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`castshadow` | :at:`active` | :at:`attenuation` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cutoff` | :at:`exponent` | :at:`ambient` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`diffuse` | :at:`specular` | :at:`mode` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`pair` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`condim` | :at:`friction` | :at:`solref` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solimp` | :at:`gap` | :at:`margin` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`equality` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`active` | :at:`solref` | :at:`solimp` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`tendon` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`group` | :at:`limited` | :at:`range` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solreflimit` | :at:`solimplimit` | :at:`solreffriction` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solimpfriction` | :at:`frictionloss` | :at:`springlength` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`width` | :at:`material` | :at:`margin` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`stiffness` | :at:`damping` | :at:`rgba` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`general` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`actlimited` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrlrange` | :at:`forcerange` | :at:`actrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`gear` | :at:`cranklength` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | :at:`group` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`dyntype` | :at:`gaintype` | :at:`biastype` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`dynprm` | :at:`gainprm` | :at:`biasprm` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`motor` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | :at:`group` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`position` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | :at:`group` | :at:`kp` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`velocity` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | :at:`group` | :at:`kv` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`intvelocity` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | :at:`group` | :at:`kp` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`actrange` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`damper` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | :at:`group` | :at:`kv` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`cylinder` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | :at:`group` | :at:`timeconst` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`area` | :at:`diameter` | :at:`bias` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`muscle` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | :at:`group` | :at:`timeconst` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`range` | :at:`force` | :at:`scale` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`lmin` | :at:`lmax` | :at:`vmax` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`fpmax` | :at:`fvmax` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:el:`custom` | \* | *no attribute* |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`numeric` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`size` | :at:`data` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`text` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`data` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`tuple` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`element` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`objtype` | :at:`objname` | :at:`prm` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:el:`asset` | \* | *no attribute* |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`texture` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`type` | :at:`file` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`gridsize` | :at:`gridlayout` | :at:`fileright` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`fileleft` | :at:`fileup` | :at:`filedown` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`filefront` | :at:`fileback` | :at:`builtin` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`rgb1` | :at:`rgb2` | :at:`mark` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`markrgb` | :at:`random` | :at:`width` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`height` | :at:`hflip` | :at:`vflip` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`hfield` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`file` | :at:`nrow` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ncol` | :at:`size` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`mesh` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`file` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`vertex` | :at:`normal` | :at:`texcoord` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`face` | :at:`refpos` | :at:`refquat` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`scale` | :at:`smoothnormal` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`skin` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`file` | :at:`material` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`rgba` | :at:`inflate` | :at:`vertex` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`texcoord` | :at:`face` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`bone` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`body` | :at:`bindpos` | :at:`bindquat` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`vertid` | :at:`vertweight` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`material` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`texture` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`texrepeat` | :at:`texuniform` | :at:`emission` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`specular` | :at:`shininess` | :at:`reflectance` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`rgba` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:el:`(world)body` | R | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`childclass` | :at:`pos` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`quat` | :at:`mocap` | :at:`axisangle` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`xyaxes` | :at:`zaxis` | :at:`euler` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`inertial` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`pos` | :at:`quat` | :at:`mass` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`diaginertia` | :at:`axisangle` | :at:`xyaxes` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`zaxis` | :at:`euler` | :at:`fullinertia` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`joint` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`type` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`group` | :at:`pos` | :at:`axis` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`springdamper` | :at:`limited` | :at:`solreflimit` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solimplimit` | :at:`solreffriction` | :at:`solimpfriction` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`stiffness` | :at:`range` | :at:`margin` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ref` | :at:`springref` | :at:`armature` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`damping` | :at:`frictionloss` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`freejoint` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`group` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`geom` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`type` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`contype` | :at:`conaffinity` | :at:`condim` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`group` | :at:`priority` | :at:`size` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`material` | :at:`friction` | :at:`mass` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`density` | :at:`solmix` | :at:`solref` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solimp` | :at:`margin` | :at:`gap` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`fromto` | :at:`pos` | :at:`quat` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`axisangle` | :at:`xyaxes` | :at:`zaxis` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`euler` | :at:`hfield` | :at:`mesh` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`fitscale` | :at:`rgba` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`fluidshape` | :at:`fluidcoef` | :at:`shellinertia` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`site` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`type` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`group` | :at:`pos` | :at:`quat` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`material` | :at:`size` | :at:`fromto` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`axisangle` | :at:`xyaxes` | :at:`zaxis` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`euler` | :at:`rgba` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`camera` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`fovy` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ipd` | :at:`pos` | :at:`quat` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`axisangle` | :at:`xyaxes` | :at:`zaxis` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`euler` | :at:`mode` | :at:`target` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`light` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`directional` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`castshadow` | :at:`active` | :at:`pos` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`dir` | :at:`attenuation` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`exponent` | :at:`ambient` | :at:`diffuse` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`specular` | :at:`mode` | :at:`target` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`composite` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`prefix` | :at:`type` | :at:`count` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`spacing` | :at:`offset` | :at:`flatinertia` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solrefsmooth` | :at:`solimpsmooth` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`joint` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`kind` | :at:`group` | :at:`stiffness` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`damping` | :at:`armature` | :at:`solreffix` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solimpfix` | :at:`limited` | :at:`range` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`margin` | :at:`solreflimit` | :at:`solimplimit` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`frictionloss` | :at:`solreffriction` | :at:`solimpfriction` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`tendon` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`kind` | :at:`group` | :at:`stiffness` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`damping` | :at:`solreffix` | :at:`solimpfix` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`limited` | :at:`range` | :at:`margin` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solreflimit` | :at:`solimplimit` | :at:`frictionloss` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solreffriction` | :at:`solimpfriction` | :at:`material` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`rgba` | :at:`width` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`skin` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`texcoord` | :at:`material` | :at:`rgba` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`inflate` | :at:`subgrid` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`geom` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`type` | :at:`contype` | :at:`conaffinity` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`condim` | :at:`group` | :at:`priority` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`size` | :at:`material` | :at:`rgba` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`friction` | :at:`mass` | :at:`density` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solmix` | :at:`solref` | :at:`solimp` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`margin` | :at:`gap` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`site` | ? | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`group` | :at:`size` | :at:`material` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`rgba` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`pin` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`coord` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:el:`contact` | \* | *no attribute* |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`pair` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`geom1` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`geom2` | :at:`condim` | :at:`friction` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solref` | :at:`solimp` | :at:`gap` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`margin` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`exclude` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`body1` | :at:`body2` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:el:`equality` | \* | *no attribute* |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`connect` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`body1` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`body2` | :at:`anchor` | :at:`active` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solref` | :at:`solimp` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`weld` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`body1` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`body2` | :at:`relpose` | :at:`active` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solref` | :at:`solimp` | :at:`anchor` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`torquescale` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`joint` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`joint1` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`joint2` | :at:`polycoef` | :at:`active` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solref` | :at:`solimp` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`tendon` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`tendon1` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`tendon2` | :at:`polycoef` | :at:`active` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solref` | :at:`solimp` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`distance` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`geom1` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`geom2` | :at:`distance` | :at:`active` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solref` | :at:`solimp` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:el:`tendon` | \* | *no attribute* |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`spatial` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`group` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`limited` | :at:`range` | :at:`solreflimit` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solimplimit` | :at:`solreffriction` | :at:`solimpfriction` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`frictionloss` | :at:`springlength` | :at:`width` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`material` | :at:`margin` | :at:`stiffness` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`damping` | :at:`rgba` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`site` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`site` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`geom` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`geom` | :at:`sidesite` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`pulley` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`divisor` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`fixed` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`group` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`limited` | :at:`range` | :at:`solreflimit` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solimplimit` | :at:`solreffriction` | :at:`solimpfriction` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`frictionloss` | :at:`springlength` | :at:`margin` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`stiffness` | :at:`damping` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`joint` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`joint` | :at:`coef` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:el:`actuator` | \* | *no attribute* |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`general` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`group` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`actlimited` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrlrange` | :at:`forcerange` | :at:`actrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`joint` | :at:`tendon` | :at:`site` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`lengthrange` | :at:`gear` | :at:`jointinparent` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cranklength` | :at:`cranksite` | :at:`slidersite` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`dyntype` | :at:`gaintype` | :at:`biastype` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`dynprm` | :at:`gainprm` | :at:`biasprm` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`motor` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`group` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`lengthrange` | :at:`gear` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cranklength` | :at:`user` | :at:`joint` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`jointinparent` | :at:`tendon` | :at:`slidersite` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cranksite` | :at:`site` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`position` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`group` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`lengthrange` | :at:`gear` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cranklength` | :at:`user` | :at:`joint` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`jointinparent` | :at:`tendon` | :at:`slidersite` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cranksite` | :at:`site` | :at:`kp` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`velocity` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`group` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`lengthrange` | :at:`gear` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cranklength` | :at:`user` | :at:`joint` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`jointinparent` | :at:`tendon` | :at:`slidersite` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cranksite` | :at:`site` | :at:`kv` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`intvelocity` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`group` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`lengthrange` | :at:`actrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`gear` | :at:`cranklength` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`joint` | :at:`jointinparent` | :at:`tendon` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`slidersite` | :at:`cranksite` | :at:`site` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`kp` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`damper` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`group` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`lengthrange` | :at:`gear` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cranklength` | :at:`user` | :at:`joint` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`jointinparent` | :at:`tendon` | :at:`slidersite` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cranksite` | :at:`site` | :at:`kv` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`cylinder` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`group` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`lengthrange` | :at:`gear` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cranklength` | :at:`user` | :at:`joint` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`jointinparent` | :at:`tendon` | :at:`slidersite` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cranksite` | :at:`site` | :at:`timeconst` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`area` | :at:`diameter` | :at:`bias` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`muscle` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`group` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`lengthrange` | :at:`gear` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cranklength` | :at:`user` | :at:`joint` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`jointinparent` | :at:`tendon` | :at:`slidersite` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cranksite` | :at:`timeconst` | :at:`range` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`force` | :at:`scale` | :at:`lmin` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`lmax` | :at:`vmax` | :at:`fpmax` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`fvmax` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:el:`sensor` | \* | *no attribute* |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`touch` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`site` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`accelerometer` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`site` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`velocimeter` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`site` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`gyro` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`site` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`force` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`site` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`torque` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`site` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`magnetometer` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`site` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`rangefinder` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`site` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`jointpos` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`joint` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`jointvel` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`joint` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`tendonpos` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`tendon` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`tendonvel` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`tendon` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`actuatorpos` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`actuator` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`actuatorvel` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`actuator` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`actuatorfrc` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`actuator` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`ballquat` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`joint` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`ballangvel` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`joint` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`jointlimitpos` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`joint` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`jointlimitvel` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`joint` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`jointlimitfrc` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`joint` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`tendonlimitpos` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`tendon` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`tendonlimitvel` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`tendon` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`tendonlimitfrc` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`tendon` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`framepos` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cutoff` | :at:`noise` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`reftype` | :at:`refname` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`framequat` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cutoff` | :at:`noise` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`reftype` | :at:`refname` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`framexaxis` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cutoff` | :at:`noise` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`reftype` | :at:`refname` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`frameyaxis` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cutoff` | :at:`noise` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`reftype` | :at:`refname` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`framezaxis` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cutoff` | :at:`noise` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`reftype` | :at:`refname` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`framelinvel` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cutoff` | :at:`noise` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`reftype` | :at:`refname` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`frameangvel` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cutoff` | :at:`noise` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`reftype` | :at:`refname` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`framelinacc` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cutoff` | :at:`noise` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`frameangacc` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cutoff` | :at:`noise` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`subtreecom` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`body` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`subtreelinvel` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`body` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`subtreeangmom` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`body` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`user` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`datatype` | :at:`needstage` | :at:`dim` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cutoff` | :at:`noise` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:el:`keyframe` | \* | *no attribute* |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`key` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`time` | :at:`qpos` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`qvel` | :at:`act` | :at:`ctrl` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`mpos` | :at:`mquat` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
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