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Improve sorting of samples in documentation.

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PiperOrigin-RevId: 579847239
Change-Id: I392cd87b9a3e5616fcb10657db4ac81a38e430ed
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Yuval Tassa
2023-11-06 08:11:36 -08:00
committed by Copybara-Service
parent 8a5e2b19a8
commit 1881c2d881
1 changed files with 28 additions and 27 deletions
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doc/programming/samples.rst
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@@ -73,33 +73,6 @@ Where the command line arguments are
`start /affinity <https://learn.microsoft.com/en-us/windows-server/administration/windows-commands/start>`__ `start /affinity <https://learn.microsoft.com/en-us/windows-server/administration/windows-commands/start>`__
command on Windows (processor affinity cannot be specified through documented API means on macOS). command on Windows (processor affinity cannot be specified through documented API means on macOS).
.. _saCompile:
`compile <https://github.com/google-deepmind/mujoco/blob/main/sample/compile.cc>`_
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
This code sample evokes the built-in parser and compiler. It implements all possible model conversions from (MJCF, URDF,
MJB) format to (MJCF, MJB, TXT) format. Models saved as MJCF use a canonical subset of our format as described in the
:doc:`../modeling` chapter, and therefore MJCF-to-MJCF conversion will generally result in a different file.
The TXT format is a human-readable road-map to the model. It cannot be loaded by MuJoCo, but can be a very useful aid
during model development. It is in one-to-one correspondence with the compiled mjModel. Note also that one can use the
function :ref:`mj_printData` to create a text file which is in one-to-one correspondence
with mjData, although this is not done by the code sample.
.. _saBasic:
`basic <https://github.com/google-deepmind/mujoco/blob/main/sample/basic.cc>`_
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
This code sample is a minimal interactive simulator. The model file must be provided as command-line argument. It
opens an OpenGL window using the platform-independent GLFW library, and renders the simulation state at 60 fps while
advancing the simulation in real-time. Press Backspace to reset the simulation. The mouse can be used to control the
camera: left drag to rotate, right drag to translate in the vertical plane, shift right drag to translate in the
horizontal plane, scroll or middle drag to zoom.
The :ref:`Visualization` programming guide below explains how visualization works. This code sample is a minimal
illustration of the concepts in that guide.
.. _saSimulate: .. _saSimulate:
`simulate <https://github.com/google-deepmind/mujoco/blob/main/simulate>`_ `simulate <https://github.com/google-deepmind/mujoco/blob/main/simulate>`_
@@ -112,6 +85,7 @@ functionality. This code sample uses the native UI to render various controls, a
illustration of how the new UI framework is intended to be used. Below is a screen-capture of ``simulate`` in action: illustration of how the new UI framework is intended to be used. Below is a screen-capture of ``simulate`` in action:
.. youtube:: 0ORsj_E17B0 .. youtube:: 0ORsj_E17B0
:width: 95%
:align: center :align: center
Interaction is done with the mouse; built-in help with a summary of available commands is available by pressing the Interaction is done with the mouse; built-in help with a summary of available commands is available by pressing the
@@ -140,6 +114,33 @@ power settings, the OS may reduce the CPU frequency; this is because :ref:`simul
the time in order to slow down to realtime. This results in inaccurate timings. To avoid this problem, change the the time in order to slow down to realtime. This results in inaccurate timings. To avoid this problem, change the
Windows power plan so that the minimum processor state is 100%. Windows power plan so that the minimum processor state is 100%.
.. _saCompile:
`compile <https://github.com/google-deepmind/mujoco/blob/main/sample/compile.cc>`_
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
This code sample evokes the built-in parser and compiler. It implements all possible model conversions from (MJCF, URDF,
MJB) format to (MJCF, MJB, TXT) format. Models saved as MJCF use a canonical subset of our format as described in the
:doc:`../modeling` chapter, and therefore MJCF-to-MJCF conversion will generally result in a different file.
The TXT format is a human-readable road-map to the model. It cannot be loaded by MuJoCo, but can be a very useful aid
during model development. It is in one-to-one correspondence with the compiled mjModel. Note also that one can use the
function :ref:`mj_printData` to create a text file which is in one-to-one correspondence
with mjData, although this is not done by the code sample.
.. _saBasic:
`basic <https://github.com/google-deepmind/mujoco/blob/main/sample/basic.cc>`_
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
This code sample is a minimal interactive simulator. The model file must be provided as command-line argument. It
opens an OpenGL window using the platform-independent GLFW library, and renders the simulation state at 60 fps while
advancing the simulation in real-time. Press Backspace to reset the simulation. The mouse can be used to control the
camera: left drag to rotate, right drag to translate in the vertical plane, shift right drag to translate in the
horizontal plane, scroll or middle drag to zoom.
The :ref:`Visualization` programming guide below explains how visualization works. This code sample is a minimal
illustration of the concepts in that guide.
.. _saRecord: .. _saRecord:
`record <https://github.com/google-deepmind/mujoco/blob/main/sample/record.cc>`_ `record <https://github.com/google-deepmind/mujoco/blob/main/sample/record.cc>`_