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Remove "Main struct types" subsection from APItypes.rst, for quicker access (fewer clicks) to main struct reference.

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PiperOrigin-RevId: 539525003
Change-Id: I01a3b7e4b054c3acda0a0070c227d50d7f43ea72
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Yuval Tassa
2023-06-11 19:59:27 -07:00
committed by Copybara-Service
parent 4a086edb43
commit 6434001747
2 changed files with 18 additions and 18 deletions
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doc/overview.rst
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@@ -80,19 +80,21 @@ Model compilation
the built-in compiler into the low-level data structure :ref:`mjModel`, which is cross-indexed and optimized for
runtime computation. The compiled model can also be saved in a binary MJB file.
.. _ModelAndData:
Separation of model and data
MuJoCo separates simulation parameters into two data structures (C structs) at runtime:
- ``mjModel`` contains the model description and is expected to remain constant. There are other structures embedded
in it that contain simulation and visualization options, and those options need to be changed occasionally, but
this is done by the user.
- ``mjData`` contains all dynamic variables and intermediate results. It is used as a scratch pad where all
- :ref:`mjModel` contains the model description and is expected to remain constant. There are other structures
embedded in it that contain simulation and visualization options, and those options need to be changed
occasionally, but this is done by the user.
- :ref:`mjData` contains all dynamic variables and intermediate results. It is used as a scratch pad where all
functions read their inputs and write their outputs -- which then become the inputs to subsequent stages in the
simulation pipeline. It also contains a preallocated and internally managed stack, so that the runtime module
does not need to call memory allocation functions after the model is initialized.
``mjModel`` is constructed by the compiler. :ref:`mjData` is constructed at runtime, given
``mjModel``. This separation makes it easy to simulate multiple models as well as multiple states and controls for
:ref:`mjModel` is constructed by the compiler. :ref:`mjData` is constructed at runtime, given
:ref:`mjModel`. This separation makes it easy to simulate multiple models as well as multiple states and controls for
each model, in turn facilitating :ref:`multi-threading <siMultithread>` for sampling and :ref:`finite
differences <saDerivative>`. The top-level API functions reflect this basic separation, and have
the format: