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Minor documentation improvements.

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PiperOrigin-RevId: 652064694
Change-Id: I13009410fbd3ce5ac90788f61e32354474a8e19e
This commit is contained in:
Yuval Tassa
2024-07-13 08:35:49 -07:00
committed by Copybara-Service
parent e13ddfa2ab
commit 22a10fd2ff
3 changed files with 41 additions and 37 deletions
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doc/APIreference/APItypes.rst
+16 -12
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@@ -1081,7 +1081,7 @@ is initialized, others change at runtime.
Model Editing Model Editing
^^^^^^^^^^^^^ ^^^^^^^^^^^^^
The strucs below are defined in The structs below are defined in
`mjspec.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjspec.h>`__ and, with the exception of `mjspec.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjspec.h>`__ and, with the exception of
the top level :ref:`mjSpec` struct, begin with the ``mjs`` prefix. For more details, see the :doc:`Model Editing the top level :ref:`mjSpec` struct, begin with the ``mjs`` prefix. For more details, see the :doc:`Model Editing
<../programming/modeledit>` chapter. <../programming/modeledit>` chapter.
@@ -1101,21 +1101,15 @@ Model specification.
mjsElement mjsElement
~~~~~~~~~~ ~~~~~~~~~~
Special type corresponding to any element. Special type corresponding to any element. This struct is the first member of all other elements; in the low-level C++
implementation, it is not included as a member but via class inheritance. Inclusion via inheritance allows the compiler
to ``static_cast`` an ``mjsElement`` to the correct C++ object class. Unlike all other attributes of the structs below,
which are user-settable by design, modifying the contents of an ``mjsElement`` is not allowed and leads to undefined
behavior.
.. mujoco-include:: mjsElement .. mujoco-include:: mjsElement
.. _mjsOrientation:
mjsOrientation
~~~~~~~~~~~~~~
Alternative orientation specifiers.
.. mujoco-include:: mjsOrientation
.. _mjsBody: .. _mjsBody:
mjsBody mjsBody
@@ -1376,6 +1370,16 @@ Plugin specification.
.. mujoco-include:: mjsPlugin .. mujoco-include:: mjsPlugin
.. _mjsOrientation:
mjsOrientation
~~~~~~~~~~~~~~
Alternative orientation specifiers.
.. mujoco-include:: mjsOrientation
.. _ArrayHandles: .. _ArrayHandles:
.. _mjString: .. _mjString:
doc/changelog.rst
+2 -2
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@@ -57,9 +57,9 @@ General
point, as usual. If ``mjUSESINGLE`` is defined, MuJoCo will use single-precision floating point. See :ref:`mjtNum`. point, as usual. If ``mjUSESINGLE`` is defined, MuJoCo will use single-precision floating point. See :ref:`mjtNum`.
Relatedly, fixed various type errors that prevented building with single-precision. Relatedly, fixed various type errors that prevented building with single-precision.
13. Quaternions in ``mjData->qpos`` and ``mjData->mocap_quat`` are no longer normalized in-place by 13. Quaternions in ``mjData.qpos`` and ``mjData.mocap_quat`` are no longer normalized in-place by
:ref:`mj_kinematics`. Instead they are normalized when they are used. After the first step, quaternions in :ref:`mj_kinematics`. Instead they are normalized when they are used. After the first step, quaternions in
``mjData->qpos`` will be normalized. ``mjData.qpos`` will be normalized.
14. Mesh loading in the compiler, which is usually the slowest part of the loading process, is now multi-threaded. 14. Mesh loading in the compiler, which is usually the slowest part of the loading process, is now multi-threaded.
MJX MJX