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Documentation improvements.

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Fixes #598 #691 #1071 #1072

PiperOrigin-RevId: 579816915
Change-Id: Ica5e62516e2888d47030b0f44619efa2621f329a
This commit is contained in:
Yuval Tassa
2023-11-06 05:55:15 -08:00
committed by Copybara-Service
parent 5a9239e11c
commit 0f37deca0d
5 changed files with 100 additions and 22 deletions
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doc/APIreference/functions.rst
+26 -6
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@@ -392,7 +392,9 @@ mj_objectAcceleration
.. mujoco-include:: mj_objectAcceleration
Compute object 6D acceleration (rot:lin) in object-centered frame, world/local orientation.
Compute object 6D acceleration (rot:lin) in object-centered frame, world/local orientation. If acceleration or force
sensors are not present in the model, :ref:`mj_rnePostConstraint` must be manually called in order to calculate
:ref:`mjData`.cacc -- the total body acceleration, including contributions from the constraint solver.
.. _mj_contactForce:
@@ -812,7 +814,10 @@ mj_subtreeVel
.. mujoco-include:: mj_subtreeVel
Sub-tree linear velocity and angular momentum: compute subtree_linvel, subtree_angmom.
Sub-tree linear velocity and angular momentum: compute ``subtree_linvel``, ``subtree_angmom``.
This function is triggered automatically if the subtree :ref:`velocity<sensor-subtreelinvel>` or
:ref:`momentum<sensor-subtreeangmom>` sensors are present in the model.
It is also triggered for :ref:`user sensors<sensor-user>` of :ref:`stage<sensor-user-needstage>` "vel".
.. _mj_rne:
@@ -821,7 +826,8 @@ mj_rne
.. mujoco-include:: mj_rne
RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term.
Recursive Newton Euler: compute :math:`M(q) \ddot q + C(q,\dot q)`. ``flg_acc=0`` removes the inertial term (i.e.
assumes :math:`\ddot q = 0`).
.. _mj_rnePostConstraint:
@@ -830,7 +836,21 @@ mj_rnePostConstraint
.. mujoco-include:: mj_rnePostConstraint
RNE with complete data: compute cacc, cfrc_ext, cfrc_int.
Recursive Newton Euler with final computed forces and accelerations.
Computes three body-level ``nv x 6`` arrays, all defined in the subtreecom-based
:ref:`c-frame<tyNotesCom>` and arranged in ``[rotation(3), translation(3)]`` order.
- ``cacc``: Body acceleration, required for :ref:`mj_objectAcceleration`.
- ``cfrc_int``: Interaction force with the parent body.
- ``cfrc_ext``: External force acting on the body.
This function is triggered automatically if the following sensors are present in the model:
:ref:`accelerometer<sensor-accelerometer>`, :ref:`force<sensor-force>`, :ref:`torque<sensor-torque>`,
:ref:`framelinacc<sensor-framelinacc>`, :ref:`frameangacc<sensor-frameangacc>`.
It is also triggered for :ref:`user sensors<sensor-user>` of :ref:`stage<sensor-user-needstage>` "acc".
The computed force arrays ``cfrc_int`` and ``cfrc_ext`` currently suffer from a know bug, they do not take into account
the effect of spatial tendons, see :github:issue:`832`.
.. _mj_collision:
@@ -884,8 +904,8 @@ mj_constraintUpdate
.. mujoco-include:: mj_constraintUpdate
Compute efc_state, efc_force, qfrc_constraint, and (optionally) cone Hessians. If cost is not NULL, set \*cost = s(jar)
where jar = Jac*qacc-aref.
Compute ``efc_state``, ``efc_force``, ``qfrc_constraint``, and (optionally) cone Hessians.
If ``cost`` is not ``NULL``, set ``*cost = s(jar)`` where ``jar = Jac*qacc - aref``.
.. _Raycollisions:
doc/APIreference/functions_override.rst
+38 -6
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@@ -2,10 +2,6 @@
This file contains each section text along with function doc overrides. By default the docs use the function doc
pulled from the header files.
.. _Activation:
The functions in this section are maintained for backward compatibility with the now-removed activation mechanism.
.. _Virtualfilesystem:
Virtual file system (VFS) enables the user to load all necessary files in memory, including MJB binary model files, XML
@@ -90,10 +86,40 @@ Solve linear system :math:`M x = y` using factorization: :math:`x = (L^T D L)^{-
Half of linear solve: :math:`x = \sqrt{D^{-1}} (L^T)^{-1} y`
.. _mj_subtreeVel:
Sub-tree linear velocity and angular momentum: compute ``subtree_linvel``, ``subtree_angmom``.
This function is triggered automatically if the subtree :ref:`velocity<sensor-subtreelinvel>` or
:ref:`momentum<sensor-subtreeangmom>` sensors are present in the model.
It is also triggered for :ref:`user sensors<sensor-user>` of :ref:`stage<sensor-user-needstage>` "vel".
.. _mj_rne:
Recursive Newton Euler: compute :math:`M(q) \ddot q + C(q,\dot q)`. ``flg_acc=0`` removes the inertial term (i.e.
assumes :math:`\ddot q = 0`).
.. _mj_rnePostConstraint:
Recursive Newton Euler with final computed forces and accelerations.
Computes three body-level ``nv x 6`` arrays, all defined in the subtreecom-based
:ref:`c-frame<tyNotesCom>` and arranged in ``[rotation(3), translation(3)]`` order.
- ``cacc``: Body acceleration, required for :ref:`mj_objectAcceleration`.
- ``cfrc_int``: Interaction force with the parent body.
- ``cfrc_ext``: External force acting on the body.
This function is triggered automatically if the following sensors are present in the model:
:ref:`accelerometer<sensor-accelerometer>`, :ref:`force<sensor-force>`, :ref:`torque<sensor-torque>`,
:ref:`framelinacc<sensor-framelinacc>`, :ref:`frameangacc<sensor-frameangacc>`.
It is also triggered for :ref:`user sensors<sensor-user>` of :ref:`stage<sensor-user-needstage>` "acc".
The computed force arrays ``cfrc_int`` and ``cfrc_ext`` currently suffer from a know bug, they do not take into account
the effect of spatial tendons, see :github:issue:`832`.
.. _mj_constraintUpdate:
Compute efc_state, efc_force, qfrc_constraint, and (optionally) cone Hessians. If cost is not NULL, set \*cost = s(jar)
where jar = Jac*qacc-aref.
Compute ``efc_state``, ``efc_force``, ``qfrc_constraint``, and (optionally) cone Hessians.
If ``cost`` is not ``NULL``, set ``*cost = s(jar)`` where ``jar = Jac*qacc - aref``.
.. _Support:
@@ -154,6 +180,12 @@ This function can be used to apply a Cartesian force and torque to a point on a
mjData.qfrc_applied of all applied forces. Note that the function requires a pointer to this vector, because sometimes
we want to add the result to a different vector.
.. _mj_objectAcceleration:
Compute object 6D acceleration (rot:lin) in object-centered frame, world/local orientation. If acceleration or force
sensors are not present in the model, :ref:`mj_rnePostConstraint` must be manually called in order to calculate
mjData.cacc -- the total body acceleration, including contributions from the constraint solver.
.. _mj_differentiatePos:
This function subtracts two vectors in the format of qpos (and divides the result by dt), while respecting the