Add documentation for MJX API

PiperOrigin-RevId: 860108133
Change-Id: I85469efcfe49d320ef8b89c9d174f33499a22b31

doc/conf.py

@@ -78,6 +78,33 @@ add_module_names = False
 toc_object_entries_show_parents = 'hide'
 default_role = 'literal'
 
+
+# Suppress warnings from docstrings with RST formatting issues
+def setup(app):
+  import logging
+
+  class SphinxWarningFilter(logging.Filter):
+
+    def filter(self, record):
+      msg = record.getMessage()
+      # e.g. qpos0: qpos values at default pose (*, nq)
+      if 'Inline emphasis start-string' in msg:
+        return False
+      # e.g. see `name` for details
+      if 'Inline interpreted text' in msg:
+        return False
+      # e.g. multi-line definition without trailing blank line
+      if 'Definition list ends without a blank line' in msg:
+        return False
+      # e.g. mjsactuator_ reference in C++ docstrings
+      if 'Unknown target name' in msg:
+        return False
+      return True
+
+  for handler in logging.getLogger('sphinx').handlers:
+    handler.addFilter(SphinxWarningFilter())
+
+
 # GitHub-related options
 github_username = 'google-deepmind'
 github_repository = 'mujoco'