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Mujoco_WASM/doc/XMLschema.rst
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Alessio Quaglino 3b89b0fd30 Particles with arbitrary geoms and joints. 
Fixes #553

PiperOrigin-RevId: 486614769
Change-Id: I9a09bf73da97b6b9746800a72ac6c97cce2efa92
2022-11-07 03:22:25 -08:00

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+--------------------------+----+------------------------------------------------------------------------------------+
| :ref:`mujoco | ! | .. table:: |
| <mujoco>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`model` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`compiler | \* | .. table:: |
| <compiler>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`autolimits` | :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:`assetdir` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`lengthrange | ? | .. table:: |
| <compiler-lengthrange>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`mode` | :at:`useexisting` | :at:`uselimit` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`accel` | :at:`maxforce` | :at:`timeconst` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`timestep` | :at:`inttotal` | :at:`inteval` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`tolrange` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`option | \* | .. table:: |
| <option>` | | :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|:ref:`flag | ? | .. table:: |
| <option-flag>` | | :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` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`size | \* | .. table:: |
| <size>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`memory` | :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` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`visual | \* | *no attribute* |
| <visual>` | | |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`global | ? | .. table:: |
| <visual-global>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`fovy` | :at:`ipd` | :at:`azimuth` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`elevation` | :at:`linewidth` | :at:`glow` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`offwidth` | :at:`offheight` | :at:`realtime` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`quality | ? | .. table:: |
| <visual-quality>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`shadowsize` | :at:`offsamples` | :at:`numslices` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`numstacks` | :at:`numquads` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`headlight | ? | .. table:: |
| <visual-headlight>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ambient` | :at:`diffuse` | :at:`specular` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`active` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`map | ? | .. table:: |
| <visual-map>` | | :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|:ref:`scale | ? | .. table:: |
| <visual-scale>` | | :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|:ref:`rgba | ? | .. table:: |
| <visual-rgba>` | | :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` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`statistic | \* | .. table:: |
| <statistic>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`meaninertia` | :at:`meanmass` | :at:`meansize` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`extent` | :at:`center` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`default | R | .. table:: |
| <default>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`class` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`mesh | ? | .. table:: |
| <default-mesh>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`scale` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`material | ? | .. table:: |
| <default-material>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`texture` | :at:`emission` | :at:`specular` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`shininess` | :at:`reflectance` | :at:`rgba` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`texrepeat` | :at:`texuniform` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`joint | ? | .. table:: |
| <default-joint>` | | :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|:ref:`geom | ? | .. table:: |
| <default-geom>` | | :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:`shellinertia` | :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:`fluidshape` | :at:`fluidcoef` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`site | ? | .. table:: |
| <default-site>` | | :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|:ref:`camera | ? | .. table:: |
| <default-camera>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`fovy` | :at:`ipd` | :at:`pos` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`quat` | :at:`axisangle` | :at:`xyaxes` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`zaxis` | :at:`euler` | :at:`mode` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`light | ? | .. table:: |
| <default-light>` | | :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|:ref:`pair | ? | .. table:: |
| <default-pair>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`condim` | :at:`friction` | :at:`solref` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solimp` | :at:`gap` | :at:`margin` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`equality | ? | .. table:: |
| <default-equality>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`active` | :at:`solref` | :at:`solimp` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`tendon | ? | .. table:: |
| <default-tendon>` | | :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|:ref:`general | ? | .. table:: |
| <default-general>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`actlimited` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrlrange` | :at:`forcerange` | :at:`actrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`gear` | :at:`cranklength` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`group` | :at:`actdim` | :at:`dyntype` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`gaintype` | :at:`biastype` | :at:`dynprm` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`gainprm` | :at:`biasprm` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`motor | ? | .. table:: |
| <default-motor>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | :at:`group` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`position | ? | .. table:: |
| <default-position>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | :at:`group` | :at:`kp` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`velocity | ? | .. table:: |
| <default-velocity>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`gear` | :at:`cranklength` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | :at:`group` | :at:`kv` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`intvelocity | ? | .. table:: |
| <default-intvelocity>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`actrange` | :at:`gear` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cranklength` | :at:`user` | :at:`group` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`kp` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`damper | ? | .. table:: |
| <default-damper>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcelimited` | :at:`ctrlrange` | :at:`forcerange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`gear` | :at:`cranklength` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`group` | :at:`kv` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`cylinder | ? | .. table:: |
| <default-cylinder>` | | :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|:ref:`muscle | ? | .. table:: |
| <default-muscle>` | | :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` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`adhesion | ? | .. table:: |
| <default-adhesion>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcelimited` | :at:`ctrlrange` | :at:`forcerange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`gain` | :at:`user` | :at:`group` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:el:`extension` | \* | *no attribute* |
| | | |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`required` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`plugin` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`instance` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_4|:el:`config` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`key` | :at:`value` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`custom | \* | *no attribute* |
| <custom>` | | |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`numeric | \* | .. table:: |
| <custom-numeric>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`size` | :at:`data` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`text | \* | .. table:: |
| <custom-text>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`data` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`tuple | \* | .. table:: |
| <custom-tuple>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`element | \* | .. table:: |
| <tuple-element>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`objtype` | :at:`objname` | :at:`prm` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`asset | \* | *no attribute* |
| <asset>` | | |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`texture | \* | .. table:: |
| <asset-texture>` | | :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|:ref:`hfield | \* | .. table:: |
| <asset-hfield>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`file` | :at:`nrow` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ncol` | :at:`size` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`mesh | \* | .. table:: |
| <asset-mesh>` | | :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|:ref:`skin | \* | .. table:: |
| <asset-skin>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`file` | :at:`material` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`rgba` | :at:`inflate` | :at:`vertex` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`texcoord` | :at:`face` | :at:`group` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`bone | \* | .. table:: |
| <skin-bone>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`body` | :at:`bindpos` | :at:`bindquat` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`vertid` | :at:`vertweight` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`material | \* | .. table:: |
| <asset-material>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`texture` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`texrepeat` | :at:`texuniform` | :at:`emission` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`specular` | :at:`shininess` | :at:`reflectance` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`rgba` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`body | R | .. table:: |
| <body>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`childclass` | :at:`pos` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`quat` | :at:`mocap` | :at:`axisangle` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`xyaxes` | :at:`zaxis` | :at:`euler` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`gravcomp` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`plugin` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`plugin` | :at:`instance` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`config` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`key` | :at:`value` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`inertial | ? | .. table:: |
| <body-inertial>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`pos` | :at:`quat` | :at:`mass` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`diaginertia` | :at:`axisangle` | :at:`xyaxes` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`zaxis` | :at:`euler` | :at:`fullinertia` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`joint | \* | .. table:: |
| <body-joint>` | | :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|:ref:`freejoint | \* | .. table:: |
| <body-freejoint>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`group` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`geom | \* | .. table:: |
| <body-geom>` | | :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:`shellinertia` | :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:`fluidshape` | :at:`fluidcoef` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`site | \* | .. table:: |
| <body-site>` | | :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|:ref:`camera | \* | .. table:: |
| <body-camera>` | | :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|:ref:`light | \* | .. table:: |
| <body-light>` | | :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|:ref:`composite | \* | .. table:: |
| <body-composite>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`prefix` | :at:`type` | :at:`count` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`spacing` | :at:`offset` | :at:`flatinertia` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solrefsmooth` | :at:`solimpsmooth` | :at:`vertex` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`initial` | :at:`curve` | :at:`size` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`plugin` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`plugin` | :at:`instance` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_4|:el:`config` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`key` | :at:`value` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`joint | \* | .. table:: |
| <composite-joint>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`kind` | :at:`group` | :at:`stiffness` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`damping` | :at:`armature` | :at:`solreffix` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solimpfix` | :at:`type` | :at:`axis` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`limited` | :at:`range` | :at:`margin` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solreflimit` | :at:`solimplimit` | :at:`frictionloss` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solreffriction` | :at:`solimpfriction` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`tendon | \* | .. table:: |
| <composite-tendon>` | | :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|:ref:`skin | ? | .. table:: |
| <composite-skin>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`texcoord` | :at:`material` | :at:`group` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`rgba` | :at:`inflate` | :at:`subgrid` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`geom | ? | .. table:: |
| <composite-geom>` | | :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|:ref:`site | ? | .. table:: |
| <composite-site>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`group` | :at:`size` | :at:`material` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`rgba` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`pin | \* | .. table:: |
| <composite-pin>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`coord` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`contact | \* | *no attribute* |
| <contact>` | | |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`pair | \* | .. table:: |
| <contact-pair>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`geom1` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`geom2` | :at:`condim` | :at:`friction` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solref` | :at:`solimp` | :at:`gap` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`margin` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`exclude | \* | .. table:: |
| <contact-exclude>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`body1` | :at:`body2` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`equality | \* | *no attribute* |
| <equality>` | | |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`connect | \* | .. table:: |
| <equality-connect>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`body1` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`body2` | :at:`anchor` | :at:`active` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solref` | :at:`solimp` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`weld | \* | .. table:: |
| <equality-weld>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`body1` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`body2` | :at:`relpose` | :at:`anchor` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`active` | :at:`solref` | :at:`solimp` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`torquescale` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`joint | \* | .. table:: |
| <equality-joint>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`joint1` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`joint2` | :at:`polycoef` | :at:`active` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solref` | :at:`solimp` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`tendon | \* | .. table:: |
| <equality-tendon>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`tendon1` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`tendon2` | :at:`polycoef` | :at:`active` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solref` | :at:`solimp` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`distance | \* | .. table:: |
| <equality-distance>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`geom1` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`geom2` | :at:`distance` | :at:`active` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`solref` | :at:`solimp` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`tendon | \* | *no attribute* |
| <tendon>` | | |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`spatial | \* | .. table:: |
| <tendon-spatial>` | | :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|:ref:`site | \* | .. table:: |
| <spatial-site>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`site` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`geom | \* | .. table:: |
| <spatial-geom>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`geom` | :at:`sidesite` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:ref:`pulley | \* | .. table:: |
| <spatial-pulley>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`divisor` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`fixed | \* | .. table:: |
| <tendon-fixed>` | | :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|:ref:`joint | \* | .. table:: |
| <fixed-joint>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`joint` | :at:`coef` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`actuator | \* | *no attribute* |
| <actuator>` | | |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`general | \* | .. table:: |
| <actuator-general>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`group` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`actlimited` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrlrange` | :at:`forcerange` | :at:`actrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`lengthrange` | :at:`gear` | :at:`cranklength` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | :at:`joint` | :at:`jointinparent` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`tendon` | :at:`slidersite` | :at:`cranksite` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`site` | :at:`refsite` | :at:`body` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`actdim` | :at:`dyntype` | :at:`gaintype` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`biastype` | :at:`dynprm` | :at:`gainprm` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`biasprm` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`motor | \* | .. table:: |
| <actuator-motor>` | | :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:`refsite` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`position | \* | .. table:: |
| <actuator-position>` | | :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:`refsite` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`kp` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`velocity | \* | .. table:: |
| <actuator-velocity>` | | :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:`refsite` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`kv` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`intvelocity | \* | .. table:: |
| <actuator-intvelocity>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`group` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`ctrllimited` | :at:`forcelimited` | :at:`ctrlrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcerange` | :at:`actrange` | :at:`lengthrange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`gear` | :at:`cranklength` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`joint` | :at:`jointinparent` | :at:`tendon` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`slidersite` | :at:`cranksite` | :at:`site` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`refsite` | :at:`kp` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`damper | \* | .. table:: |
| <actuator-damper>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`group` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :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:`refsite` | :at:`kv` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`cylinder | \* | .. table:: |
| <actuator-cylinder>` | | :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:`refsite` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`timeconst` | :at:`area` | :at:`diameter` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`bias` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`muscle | \* | .. table:: |
| <actuator-muscle>` | | :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` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`adhesion | \* | .. table:: |
| <actuator-adhesion>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`group` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcelimited` | :at:`ctrlrange` | :at:`forcerange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | :at:`body` | :at:`gain` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`plugin` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`class` | :at:`plugin` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`instance` | :at:`group` | :at:`ctrllimited` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`forcelimited` | :at:`ctrlrange` | :at:`forcerange` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`lengthrange` | :at:`gear` | :at:`cranklength` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`joint` | :at:`jointinparent` | :at:`site` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`tendon` | :at:`cranksite` | :at:`slidersite` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`config` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`key` | :at:`value` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`sensor | \* | *no attribute* |
| <sensor>` | | |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`touch | \* | .. table:: |
| <sensor-touch>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`site` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`accelerometer | \* | .. table:: |
| <sensor-accelerometer>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`site` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`velocimeter | \* | .. table:: |
| <sensor-velocimeter>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`site` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`gyro | \* | .. table:: |
| <sensor-gyro>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`site` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`force | \* | .. table:: |
| <sensor-force>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`site` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`torque | \* | .. table:: |
| <sensor-torque>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`site` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`magnetometer | \* | .. table:: |
| <sensor-magnetometer>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`site` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`rangefinder | \* | .. table:: |
| <sensor-rangefinder>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`site` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`jointpos | \* | .. table:: |
| <sensor-jointpos>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`joint` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`jointvel | \* | .. table:: |
| <sensor-jointvel>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`joint` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`tendonpos | \* | .. table:: |
| <sensor-tendonpos>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`tendon` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`tendonvel | \* | .. table:: |
| <sensor-tendonvel>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`tendon` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`actuatorpos | \* | .. table:: |
| <sensor-actuatorpos>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`actuator` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`actuatorvel | \* | .. table:: |
| <sensor-actuatorvel>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`actuator` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`actuatorfrc | \* | .. table:: |
| <sensor-actuatorfrc>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`actuator` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`ballquat | \* | .. table:: |
| <sensor-ballquat>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`joint` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`ballangvel | \* | .. table:: |
| <sensor-ballangvel>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`joint` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`jointlimitpos | \* | .. table:: |
| <sensor-jointlimitpos>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`joint` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`jointlimitvel | \* | .. table:: |
| <sensor-jointlimitvel>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`joint` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`jointlimitfrc | \* | .. table:: |
| <sensor-jointlimitfrc>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`joint` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`tendonlimitpos | \* | .. table:: |
| <sensor-tendonlimitpos>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`tendon` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`tendonlimitvel | \* | .. table:: |
| <sensor-tendonlimitvel>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`tendon` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`tendonlimitfrc | \* | .. table:: |
| <sensor-tendonlimitfrc>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`tendon` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`framepos | \* | .. table:: |
| <sensor-framepos>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`reftype` | :at:`refname` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`framequat | \* | .. table:: |
| <sensor-framequat>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`reftype` | :at:`refname` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`framexaxis | \* | .. table:: |
| <sensor-framexaxis>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`reftype` | :at:`refname` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`frameyaxis | \* | .. table:: |
| <sensor-frameyaxis>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`reftype` | :at:`refname` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`framezaxis | \* | .. table:: |
| <sensor-framezaxis>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`reftype` | :at:`refname` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`framelinvel | \* | .. table:: |
| <sensor-framelinvel>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`reftype` | :at:`refname` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`frameangvel | \* | .. table:: |
| <sensor-frameangvel>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`reftype` | :at:`refname` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`framelinacc | \* | .. table:: |
| <sensor-framelinacc>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cutoff` | :at:`noise` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`frameangacc | \* | .. table:: |
| <sensor-frameangacc>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cutoff` | :at:`noise` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`subtreecom | \* | .. table:: |
| <sensor-subtreecom>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`body` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`subtreelinvel | \* | .. table:: |
| <sensor-subtreelinvel>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`body` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`subtreeangmom | \* | .. table:: |
| <sensor-subtreeangmom>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`body` | :at:`cutoff` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`noise` | :at:`user` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`clock | \* | .. table:: |
| <sensor-clock>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`cutoff` | :at:`noise` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`user` | | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`user | \* | .. table:: |
| <sensor-user>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`datatype` | :at:`needstage` | :at:`dim` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cutoff` | :at:`noise` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:el:`plugin` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`plugin` | :at:`instance` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`cutoff` | :at:`objtype` | :at:`objname` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`reftype` | :at:`refname` | :at:`user` | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_3|:el:`config` | \* | .. table:: |
| | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`key` | :at:`value` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_|:ref:`keyframe | \* | *no attribute* |
| <keyframe>` | | |
+--------------------------+----+------------------------------------------------------------------------------------+
| |_2|:ref:`key | \* | .. table:: |
| <keyframe-key>` | | :class: mjcf-attributes |
| | | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`time` | :at:`qpos` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`qvel` | :at:`act` | :at:`mpos` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`mquat` | :at:`ctrl` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
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