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Improve XML schema usability

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PiperOrigin-RevId: 852820889
Change-Id: I04eea45161f9e71f9ccf49afad57ff28fd099b35
This commit is contained in:
Yuval Tassa
2026-01-06 09:50:45 -08:00
committed by Copybara-Service
parent fa044fe0e5
commit 3868ed0382
10 changed files with 3197 additions and 1888 deletions
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doc/APIreference/APIfunctions.rst
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Functions
=========
.. tip::
Clicking on a function name below will take you to the source implementation in the GitHub repository.
The main header `mujoco.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mujoco.h>`_ exposes a
large number of functions. However the functions that most users are likely to need are a small fraction.
doc/APIreference/functions.rst
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@@ -1076,7 +1076,7 @@ This function is triggered automatically if the following sensors are present in
It is also triggered for :ref:`user sensors<sensor-user>` of :ref:`stage<sensor-user-needstage>` "acc".
The computed force arrays ``cfrc_int`` and ``cfrc_ext`` currently suffer from a know bug, they do not take into account
the effect of spatial tendons, see :github:issue:`832`.
the effect of spatial tendons, see :issue:`832`.
.. _mj_collision:
doc/APIreference/functions_override.rst
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@@ -170,7 +170,7 @@ This function is triggered automatically if the following sensors are present in
It is also triggered for :ref:`user sensors<sensor-user>` of :ref:`stage<sensor-user-needstage>` "acc".
The computed force arrays ``cfrc_int`` and ``cfrc_ext`` currently suffer from a know bug, they do not take into account
the effect of spatial tendons, see :github:issue:`832`.
the effect of spatial tendons, see :issue:`832`.
.. _mj_constraintUpdate: