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Improve <statistic meansize/> documentation.

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PiperOrigin-RevId: 466002484
Change-Id: I83edfa4f49e0129c85a2558ecc7bbdef8725ff13
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Yuval Tassa
2022-08-08 03:47:42 -07:00
committed by Copybara-Service
parent 50976a2a1f
commit 1e41bf5076
1 changed files with 7 additions and 5 deletions
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doc/XMLreference.rst
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@@ -2218,11 +2218,13 @@ parameters.
computed value is the average diagonal element of the joint-space inertia matrix when the model is in qpos0. At
runtime this value scales the solver cost and gradient used for early termination.
:at:`meansize`: :at-val:`real, optional`
If this attribute is specified, it replaces the value of mjModel.stat.meansize computed by the compiler. The computed
value is heuristic representing the average body radius. This is not easily determined because bodies may not have
geoms with spatial properties. The heuristic is based on the geoms sizes when present, the distances between joints
when present, and the sizes of the body equivalent inertia boxes. At runtime this value is multiplied by the
attributes of the :ref:`scale <scale>` element above.
If this attribute is specified, it replaces the value of ``mjModel.stat.meansize`` computed by the compiler. At
runtime this value multiplies the attributes of the :ref:`scale <scale>` element above, and acts as their length
unit. If specific lengths are desired, it can be convenient to set :at:`meansize` to a round number like 1 or 0.01 so
that :ref:`scale <scale>` values are in recognized length units. This is the only semantic of :at:`meansize` and
setting it has no other side-effect. The automatically computed value is heuristic, representing the average body
radius. The heuristic is based on geom sizes when present, the distances between joints when present, and the sizes
of the body equivalent inertia boxes.
:at:`extent`: :at-val:`real, optional`
If this attribute is specified, it replaces the value of mjModel.stat.extent computed by the compiler. The computed
value is half the side of the bounding box of the model in the initial configuration. At runtime this value is