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Minor updates to documentation across multiple sections.

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PiperOrigin-RevId: 898652783
Change-Id: Idb671910c18ed3406722b8a1307f97ae9a194139
This commit is contained in:
Yuval Tassa
2026-04-12 13:59:58 -07:00
committed by Copybara-Service
parent c08d181d52
commit 239aa1f856
11 changed files with 322 additions and 333 deletions
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doc/programming/index.rst
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@@ -31,9 +31,9 @@ OpenGL renderer
state-of-the-art rendering engines (and can be replaced with such an engine if desired) but nevertheless it provides
efficient and informative 3D rendering.
Thread
The Threading framework (new in MuJoCo 3.0) is written in C++ and exposed in C. It provides a ThreadPool interface
to process Tasks asynchronously. To enable use in MuJoCo, create a ThreadPool and assign it to the thread_pool field
in mjData.
The threading framework is written in C++ and exposed in C. It provides a :ref:`mjThreadPool<mjThreadPool>` interface
to process tasks asynchronously. To enable use in MuJoCo, create a thread pool and assign it to the
``mjData.threadpool`` field.
UI framework
The UI framework is written in C. UI elements are rendered in OpenGL. It has its own event
mechanism and abstract hooks for keyboard and mouse input. The code samples use it with GLFW, but it can also be used
@@ -80,7 +80,7 @@ working development environment. We provide a cross-platform `CMake
applications independently of the MuJoCo library itself.
On macOS, the DMG disk image contains ``MuJoCo.app``, which you can double-click to launch the ``simulate`` GUI. You can
also drag ``MuJoCo.app`` into the ``/Application`` on your system, as you would to install any other app. As well as the
also drag ``MuJoCo.app`` into the ``/Applications`` on your system, as you would to install any other app. As well as the
``MuJoCo.app`` `Application Bundle <https://developer.apple.com/go/?id=bundle-
structure>`__, the DMG includes the ``mujoco.framework`` subdirectory containing the MuJoCo dynamic library and all of
its public headers. If you are using Xcode, you can import it as a framework dependency on your project. (This also
@@ -94,7 +94,7 @@ Building from source
To build MuJoCo from source, you will need CMake and a working C++17 compiler installed. The steps are:
#. Clone the ``mujoco`` repository: ``git clone https://github.com/deepmind/mujoco.git``
#. Clone the ``mujoco`` repository: ``git clone https://github.com/google-deepmind/mujoco.git``
#. Create a new build directory and ``cd`` into it.
#. Run :shell:`cmake $PATH_TO_CLONED_REPO` to configure the build.
#. Run ``cmake --build .`` to build.
@@ -109,7 +109,7 @@ section of the documentation.
Additionally, the CMake setup also implements an installation phase which will copy and organize the output files to a
target directory.
5. Select the directory: :shell:`cmake $PATH_TO_CLONED_REPO -DCMAKE_INSTALL_PREFIX=<my_install_dir>`
#. Select the directory: :shell:`cmake $PATH_TO_CLONED_REPO -DCMAKE_INSTALL_PREFIX=<my_install_dir>`
#. After building, install with ``cmake --install .``
#. If desired, proceed to building the Python bindings - see
:ref:`PyBuild`.
@@ -132,7 +132,7 @@ Building the docs
If you wish to build the documentation locally, for example to test pull-requests that improve it, do:
1. Clone the ``mujoco`` repository: ``git clone https://github.com/deepmind/mujoco.git``
1. Clone the ``mujoco`` repository: ``git clone https://github.com/google-deepmind/mujoco.git``
2. Go to the ``doc/`` directory: ``cd mujoco/doc``
3. Install the dependencies: ``pip install -r requirements.txt``
|br| Note that the MuJoCo Warp API documentation is autogenerated and requires additional dependencies.
@@ -238,7 +238,7 @@ to which the symbol belongs. First we list the prefixes corresponding to type de
``mjui``
Data structure related to UI framework, for example :ref:`mjuiSection`.
``mjs``
Data structure related :doc:`procedural model editing <modeledit>`, for example :ref:`mjsJoint`.
Data structure related to :doc:`procedural model editing <modeledit>`, for example :ref:`mjsJoint`.
Next we list the prefixes corresponding to function definitions. Note that function prefixes always end with underscore.
@@ -280,11 +280,6 @@ thread. On Windows and macOS, there is a canonical OpenGL library provided by th
currently supports GLX for rendering to an X11 window, OSMesa for headless software rendering, and EGL for hardware
accelerated headless rendering.
Before version 2.1.4, MuJoCo used GLEW rather than GLAD to manage OpenGL symbols, which required linking against
different GLEW libraries at build time depending on the GL implementation used. In order to avoid having manage OpenGL
dependency when no rendering was required, "nogl" builds of the library was made available. Since OpenGL symbols are
now lazily resolved at runtime after the switch to GLAD, the "nogl" libraries are no longer provided.
.. toctree::
:hidden: