Add missing API documentation entries.

PiperOrigin-RevId: 891658745
Change-Id: I7fa4f0535e72eaaf8964ce3f1bcf4bf87486580a

doc/APIreference/APIfunctions.rst

@@ -42,6 +42,7 @@ API function can be classified as:
 
 - **Threads, Plugins, Derivatives**
    - :ref:`Derivatives<Derivatives-api>`.
+   - :ref:`Signed Distance Functions<Signeddistancefunction>`.
    - :ref:`Thread<Thread>` |-| -related functions.
    - :ref:`Plugin<Plugins-api>` |-| -related functions.
 
@@ -57,6 +58,7 @@ API function can be classified as:
    - :ref:`Attachment<Attachment>`.
    - :ref:`Tree elements<AddTreeElements>`.
    - :ref:`Non-tree elements<AddNonTreeElements>`.
+   - :ref:`Set actuator parameters<Setactuatorparameters>`.
    - :ref:`Assets<AddAssets>`.
    - :ref:`Find and get utilities<FindAndGetUtilities>`.
    - :ref:`Attribute setters<AttributeSetters>`.

doc/APIreference/APItypes.rst

@@ -379,6 +379,26 @@ Types of data fields returned by contact sensors.
 .. mujoco-include:: mjtConDataField
 
 
+.. _mjtRayDataField:
+
+mjtRayDataField
+~~~~~~~~~~~~~~~
+
+Data fields returned by rangefinder sensors.
+
+.. mujoco-include:: mjtRayDataField
+
+
+.. _mjtCamOutBit:
+
+mjtCamOutBit
+~~~~~~~~~~~~
+
+Camera output type bitflags. These are used in ``m->cam_output``.
+
+.. mujoco-include:: mjtCamOutBit
+
+
 .. _mjtSameFrame:
 
 mjtSameFrame
@@ -401,6 +421,16 @@ can override this choice. Only the user can set the ``INIT`` policy (initialized
 .. mujoco-include:: mjtSleepPolicy
 
 
+.. _mjtLRMode:
+
+mjtLRMode
+~~~~~~~~~
+
+Mode for actuator length range computation. Used in ``mjLROpt.mode``.
+
+.. mujoco-include:: mjtLRMode
+
+
 .. _mjtFlexSelf:
 
 mjtFlexSelf
@@ -779,6 +809,24 @@ Type of orientation specifier.
 
 .. mujoco-include:: mjtOrientation
 
+.. _mjtMeshInertia:
+
+mjtMeshInertia
+~~~~~~~~~~~~~~
+
+Type of mesh inertia computation.
+
+.. mujoco-include:: mjtMeshInertia
+
+.. _mjtMeshBuiltin:
+
+mjtMeshBuiltin
+~~~~~~~~~~~~~~
+
+Type of built-in procedural mesh.
+
+.. mujoco-include:: mjtMeshBuiltin
+
 
 .. _tyPluginEnums:
 
@@ -919,6 +967,24 @@ Options for configuring the automatic :ref:`actuator length-range computation<CL
 
 .. mujoco-include:: mjLROpt
 
+.. _mjCache:
+
+mjCache
+~~~~~~~
+
+Asset cache used by the compiler to avoid repeated slow recompilation. See :ref:`Asset cache<Assetcache>`.
+
+.. mujoco-include:: mjCache
+
+.. _mjtTaskStatus:
+
+mjtTaskStatus
+~~~~~~~~~~~~~
+
+Status values for :ref:`mjTask`.
+
+.. mujoco-include:: mjtTaskStatus
+
 .. _mjTask:
 
 mjTask
@@ -926,6 +992,7 @@ mjTask
 
 This is a representation of a task to be run asynchronously inside of an :ref:`mjThreadPool` . It is created in the
 :ref:`mju_threadPoolEnqueue` method of the :ref:`mjThreadPool`  and is used to join the task at completion.
+The ``status`` field uses values from :ref:`mjtTaskStatus`.
 
 .. mujoco-include:: mjTask
 
@@ -1570,6 +1637,16 @@ triggered by the compiler and the engine during various phases of the computatio
 
 .. mujoco-include:: mjpPlugin
 
+.. _mjSDF:
+
+mjSDF
+~~~~~
+
+Data structure used by the :ref:`Signed Distance Functions<Signeddistancefunction>` API for computing distances and
+gradients between SDF geoms.
+
+.. mujoco-include:: mjSDF
+
 .. _mjpResourceProvider:
 
 mjpResourceProvider

doc/APIreference/functions.rst

@@ -3126,6 +3126,37 @@ All outputs are optional.
 
 *Nullable:* ``Dquat``, ``Dvel``, ``Dscale``
 
+.. _Signeddistancefunction:
+
+Signed Distance Functions
+^^^^^^^^^^^^^^^^^^^^^^^^^
+.. _mjc_getSDF:
+
+`mjc_getSDF <#mjc_getSDF>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjc_getSDF
+
+get sdf from geom id
+
+.. _mjc_distance:
+
+`mjc_distance <#mjc_distance>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjc_distance
+
+signed distance function
+
+.. _mjc_gradient:
+
+`mjc_gradient <#mjc_gradient>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjc_gradient
+
+gradient of sdf
+
 .. _Plugins-api:
 
 Plugins
@@ -4551,6 +4582,82 @@ Add default.
 
 *Nullable:* ``parent``
 
+.. _Setactuatorparameters:
+
+Set actuator parameters
+^^^^^^^^^^^^^^^^^^^^^^^
+.. _mjs_setToMotor:
+
+`mjs_setToMotor <#mjs_setToMotor>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_setToMotor
+
+Set actuator to motor; return error if any.
+
+.. _mjs_setToPosition:
+
+`mjs_setToPosition <#mjs_setToPosition>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_setToPosition
+
+Set actuator to position; return error if any.
+
+.. _mjs_setToIntVelocity:
+
+`mjs_setToIntVelocity <#mjs_setToIntVelocity>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_setToIntVelocity
+
+Set actuator to integrated velocity; return error if any.
+
+.. _mjs_setToVelocity:
+
+`mjs_setToVelocity <#mjs_setToVelocity>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_setToVelocity
+
+Set actuator to velocity servo; return error if any.
+
+.. _mjs_setToDamper:
+
+`mjs_setToDamper <#mjs_setToDamper>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_setToDamper
+
+Set actuator to activate damper; return error if any.
+
+.. _mjs_setToCylinder:
+
+`mjs_setToCylinder <#mjs_setToCylinder>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_setToCylinder
+
+Set actuator to hydraulic or pneumatic cylinder; return error if any.
+
+.. _mjs_setToMuscle:
+
+`mjs_setToMuscle <#mjs_setToMuscle>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_setToMuscle
+
+Set actuator to muscle; return error if any.a
+
+.. _mjs_setToAdhesion:
+
+`mjs_setToAdhesion <#mjs_setToAdhesion>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_setToAdhesion
+
+Set actuator to active adhesion; return error if any.
+
 .. _AddAssets:
 
 Assets

include/mujoco/mujoco.h

@@ -1418,7 +1418,7 @@ MJAPI char* mju_strncpy(char *dst, const char *src, int n);
 MJAPI mjtNum mju_sigmoid(mjtNum x);
 
 
-//---------------------------------- Signed Distance Function --------------------------------------
+//---------------------------------- Signed Distance Functions -------------------------------------
 
 // get sdf from geom id
 MJAPI const mjpPlugin* mjc_getSDF(const mjModel* m, int id);