Improvements to API TOC
PiperOrigin-RevId: 520284861 Change-Id: Iac8c05d6d18f1e7f89728c5c5f5aa6395d0a1899
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Yuval Tassa
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Copybara-Service
Copybara-Service
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@@ -5,20 +5,20 @@ Types
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MuJoCo defines a large number of types:
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- Two :ref:`primitive types<tyPrimitive>`.
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- C enums used to define categorical values. These can be classified according to their use in:
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- :ref:`C enum types<tyEnums>` used to define categorical values. These can be classified as:
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- :ref:`mjModel<tyModelEnums>`.
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- :ref:`mjData<tyDataEnums>`.
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- Abstract :ref:`visualization<tyVisEnums>`.
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- The :ref:`openGL renderer<tyRenderEnums>`.
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- The :ref:`mjUI<tyUIEnums>` user interface package.
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- Enums used in :ref:`mjModel<tyModelEnums>`.
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- Enums used in :ref:`mjData<tyDataEnums>`.
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- Abstract :ref:`visualization enums<tyVisEnums>`.
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- Enums used by the :ref:`openGL renderer<tyRenderEnums>`.
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- Enums used by the :ref:`mjUI<tyUIEnums>` user interface package.
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Note that the API does not use these enum types directly. Instead it uses ints, and the documentation/comments state
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that certain ints correspond to certain enum types. This is because we want the API to be compiler-independent, and
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the C standard does not dictate how many bytes must be used to represent an enum type. Nevertheless, for improved
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readiblity, we recommend using these types when calling API functions which take them as arguments.
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- C struct types. These can be classified as:
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- :ref:`C struct types<tyStructure>`. These can be classified as:
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- :ref:`Main struct types<tyMainStructure>`. These are :ref:`mjModel`, :ref:`mjOption` and :ref:`mjData`.
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- :ref:`Auxillary struct types<tyAuxStructure>`, also used by the engine.
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@@ -29,17 +29,19 @@ MuJoCo defines a large number of types:
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- Several :ref:`tyFunction` for user-defined callbacks.
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.. _tyPrimitive:
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Primitive types
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^^^^^^^^^^^^^^^
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---------------
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The two types below are defined in `mjtnum.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`_.
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.. _mjtNum:
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mjtNum
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~~~~~~
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^^^^^^
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This is the floating-point type used throughout the simulator. If the symbol ``mjUSEDOUBLE`` is defined in
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``mjmodel.h``, this type is defined as ``double``, otherwise it is defined as ``float``. Currently only the
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@@ -65,7 +67,7 @@ changed by the user.
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.. _mjtByte:
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mjtByte
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~~~~~~~
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^^^^^^^
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Byte type used to represent boolean variables.
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@@ -74,11 +76,16 @@ Byte type used to represent boolean variables.
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typedef unsigned char mjtByte;
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.. _tyEnums:
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Enum types
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----------
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.. _tyModelEnums:
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Model enums
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^^^^^^^^^^^
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Model
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^^^^^
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The enums below are defined in `mjmodel.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`_.
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@@ -327,8 +334,8 @@ These are the possible sensor data types, used in ``mjData.sensor_datatype``.
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.. _tyDataEnums:
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Data enums
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^^^^^^^^^^
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Data
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^^^^
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The enums below are defined in `mjmdata.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjmdata.h>`_.
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@@ -358,8 +365,8 @@ Timer types. The number of timer types is given by ``mjNTIMER`` which is also th
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.. _tyVisEnums:
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Visualization enums
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^^^^^^^^^^^^^^^^^^^
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Visualization
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^^^^^^^^^^^^^
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The enums below are defined in `mjvisualize.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
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@@ -462,8 +469,8 @@ These are the possible stereo rendering types. They are used in ``mjvScene.stere
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.. _tyRenderEnums:
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Rendering enums
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^^^^^^^^^^^^^^^
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Rendering
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^^^^^^^^^
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The enums below are defined in `mjrender.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjrender.h>`_.
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@@ -512,8 +519,8 @@ These are the possible font types.
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.. _tyUIEnums:
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User Interface enums
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^^^^^^^^^^^^^^^^^^^^
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User Interface
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^^^^^^^^^^^^^^
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The enums below are defined in `mjui.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
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@@ -549,10 +556,17 @@ Item types used in the UI framework.
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.. _tyStructure:
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Struct types
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------------
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.. _tyMainStructure:
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Main structs
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^^^^^^^^^^^^
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Main
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^^^^
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The three central struct types for physics simulation are :ref:`mjModel`, :ref:`mjOption` (embedded in :ref:`mjModel`)
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and :ref:`mjData`. An introductory discussion of these strucures can be found in the Overview under :ref:`Separation of
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model and data<Features>`.
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@@ -593,8 +607,9 @@ modifiable inputs and write their outputs.
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.. _tyAuxStructure:
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Auxillary structs
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^^^^^^^^^^^^^^^^^
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Auxillary
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^^^^^^^^^
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These struct types are used in the engine and their names are prefixed with ``mj``. :ref:`mjVisual`
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and :ref:`mjStatistic` are embedded in :ref:`mjModel`, :ref:`mjContact` is embedded in :ref:`mjData`, and :ref:`mjVFS`
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is a library-level struct used for loading assets.
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@@ -658,8 +673,9 @@ Options for configuring the automatic :ref:`actuator length-range computation<CL
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.. _tyStatStructure:
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Sim statistics structs
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^^^^^^^^^^^^^^^^^^^^^^
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Sim statistics
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^^^^^^^^^^^^^^
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These structs are all embedded in :ref:`mjData`, and collect simulation-related statistics.
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@@ -700,8 +716,9 @@ of solver iterations is given by ``mjData.solver_iter``.
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.. _tyVisStructure:
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Visualisation structs
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^^^^^^^^^^^^^^^^^^^^^
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Visualisation
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^^^^^^^^^^^^^
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The names of these struct types are prefixed with ``mjv``.
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.. _mjvPerturb:
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@@ -789,8 +806,9 @@ data structure as an argument.
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.. _tyRenderStructure:
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Rendering structs
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^^^^^^^^^^^^^^^^^
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Rendering
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^^^^^^^^^
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The names of these struct types are prefixed with ``mjr``.
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.. _mjrRect:
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@@ -815,8 +833,9 @@ This structure contains the custom OpenGL rendering context, with the ids of all
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.. _tyUIStructure:
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User Interface structs
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^^^^^^^^^^^^^^^^^^^^^^
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User Interface
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^^^^^^^^^^^^^^
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The names of these struct types are prefixed with ``mjui``.
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.. _mjuiState:
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@@ -893,7 +912,7 @@ This structure defines one entry in the definition table used for simplified UI
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.. _tyFunction:
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Function types
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^^^^^^^^^^^^^^
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--------------
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MuJoCo callbacks have corresponding function types. They are defined in `mjdata.h
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<https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjdata.h>`_ and in `mjui.h
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@@ -904,7 +923,7 @@ in the :doc:`globals<APIglobals>` page.
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.. _mjfGeneric:
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mjfGeneric
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~~~~~~~~~~
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^^^^^^^^^^
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.. code-block:: C
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@@ -916,7 +935,7 @@ This is the function type of the callbacks :ref:`mjcb_passive` and :ref:`mjcb_co
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.. _mjfConFilt:
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mjfConFilt
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~~~~~~~~~~
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^^^^^^^^^^
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.. code-block:: C
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@@ -929,7 +948,7 @@ This is the function type of the callback :ref:`mjcb_contactfilter`. The return
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.. _mjfSensor:
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mjfSensor
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~~~~~~~~~
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^^^^^^^^^
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.. code-block:: C
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@@ -941,7 +960,7 @@ This is the function type of the callback :ref:`mjcb_sensor`.
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.. _mjfTime:
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mjfTime
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~~~~~~~
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^^^^^^^
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.. code-block:: C
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@@ -953,7 +972,7 @@ This is the function type of the callback :ref:`mjcb_time`.
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.. _mjfAct:
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mjfAct
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~~~~~~
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^^^^^^
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.. code-block:: C
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@@ -965,7 +984,7 @@ This is the function type of the callbacks :ref:`mjcb_act_dyn`, :ref:`mjcb_act_g
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.. _mjfCollision:
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mjfCollision
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~~~~~~~~~~~~
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^^^^^^^^^^^^
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.. code-block:: C
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@@ -978,7 +997,7 @@ This is the function type of the callbacks in the collision table :ref:`mjCOLLIS
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.. _mjfItemEnable:
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mjfItemEnable
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~~~~~~~~~~~~~
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^^^^^^^^^^^^^
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.. code-block:: C
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@@ -7,9 +7,14 @@ API Reference
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This chapter is the reference manual for the MuJoCo API. It is automatically kept in sync with MuJoCo's header files,
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but also contains additional information not available in the headers. The API is composed of 3 categories:
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.. toctree::
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:maxdepth: 1
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.. table::
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:class: aligntop
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APItypes
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APIglobals
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APIfunctions
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+--------------------+--------------------+--------------------+
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| | | |
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| .. toctree:: | .. toctree:: | .. toctree:: |
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| :maxdepth: 3 | :maxdepth: 2 | :maxdepth: 2 |
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| | | |
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| APItypes | APIfunctions | APIglobals |
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+--------------------+--------------------+--------------------+
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@@ -161,6 +161,12 @@ html.writer-html5 .rst-content table.docutils th>p {
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border: none;
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}
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/* Table with top-aligned cell contents. */
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table.aligntop > tbody {
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vertical-align: top;
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}
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/* Alternate row colors. */
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table.docutils:not(.mjcf-attributes) > tbody > tr.row-odd {
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background-color: var(--row-odd-background-color);
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