chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Fix formatting in documentation code samples.

Browse Source 
PiperOrigin-RevId: 652237833
Change-Id: Ia90fadccba39881748a7ead15db3285e00feb08f
This commit is contained in:
Yuval Tassa
2024-07-14 07:07:27 -07:00
committed by Copybara-Service
parent 22a10fd2ff
commit 3d28a1d8c7
2 changed files with 43 additions and 49 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/overview.rst
+19 -20
View File
@@ -207,28 +207,26 @@ rendering, is given below.
mjModel* m;
mjData* d;
int main(void)
{
// load model from file and check for errors
m = mj_loadXML("hello.xml", NULL, error, 1000);
if( !m )
{
printf("%s\n", error);
return 1;
}
int main(void) {
// load model from file and check for errors
m = mj_loadXML("hello.xml", NULL, error, 1000);
if (!m) {
printf("%s\n", error);
return 1;
}
// make data corresponding to model
d = mj_makeData(m);
// make data corresponding to model
d = mj_makeData(m);
// run simulation for 10 seconds
while( d->time<10 )
mj_step(m, d);
// run simulation for 10 seconds
while (d->time < 10)
mj_step(m, d);
// free model and data
mj_deleteData(d);
mj_deleteModel(m);
// free model and data
mj_deleteData(d);
mj_deleteModel(m);
return 0;
return 0;
}
This is technically a C file, but it is also a legitimate C++ file. Indeed the MuJoCo API is compatible with both C and
@@ -823,9 +821,10 @@ convention. Suppose we already have ``mjModel* m``. To print the range of a join
.. code:: C
int jntid = mj_name2id(m, mjOBJ_JOINT, "elbow");
if( jntid>=0 )
if (jntid >= 0)
printf("(%f, %f)\n", m->jnt_range[2*jntid], m->jnt_range[2*jntid+1]);
If the name is not found the function returns -1, which is why one should always check for id>=0.
.. _BodyGeomSite:
@@ -943,7 +942,7 @@ can be obtained as:
int qposadr = -1, qveladr = -1;
// make sure we have a floating body: it has a single free joint
if( bodyid>=0 && m->body_jntnum[bodyid]==1 && m->jnt_type[m->body_jntadr[bodyid]]==mjJNT_FREE ) {
if (bodyid >= 0 && m->body_jntnum[bodyid] == 1 && m->jnt_type[m->body_jntadr[bodyid]] == mjJNT_FREE) {
// extract the addresses from the joint specification
qposadr = m->jnt_qposadr[m->body_jntadr[bodyid]];
qveladr = m->jnt_dofadr[m->body_jntadr[bodyid]];