From 88a293b5e406fdba7e33d78495d508bbd0b609c0 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Thu, 21 May 2026 08:43:24 -0700 Subject: [PATCH] Update docs to correctly reference mjtype.h PiperOrigin-RevId: 919071817 Change-Id: I829de7a22a49e6df604b0acf601a13f67ef5fbab --- doc/APIreference/APItypes.rst | 4 ++-- doc/overview.rst | 4 ++-- doc/programming/index.rst | 5 ++--- 3 files changed, 6 insertions(+), 7 deletions(-) diff --git a/doc/APIreference/APItypes.rst b/doc/APIreference/APItypes.rst index f7779b3e..879d4bda 100644 --- a/doc/APIreference/APItypes.rst +++ b/doc/APIreference/APItypes.rst @@ -115,7 +115,7 @@ All enum types use the ``mjt`` prefix. Model ^^^^^ -The enums below are defined in `mjmodel.h `__. +The enums below are defined in `mjtype.h `__. .. _mjtDisableBit: @@ -456,7 +456,7 @@ Formulas used to combine SDFs when calling mjc_distance and mjc_gradient. Data ^^^^ -The enums below are defined in `mjdata.h `__. +The enums below are defined in `mjtype.h `__. diff --git a/doc/overview.rst b/doc/overview.rst index 95171823..f67f5f84 100644 --- a/doc/overview.rst +++ b/doc/overview.rst @@ -875,8 +875,8 @@ The size of each array (``njnt`` in this case) is also given in ``mjModel``. The first, followed by the limits of the second joint etc. This ordering reflects the fact that all matrices in MuJoCo have row-major format. -The available element types are defined in `mjmodel.h -`_, in the enum type :ref:`mjtObj`. +The available element types are defined in `mjtype.h +`__, in the enum type :ref:`mjtObj`. These enums are mostly used internally. One exception are the functions :ref:`mj_name2id` and :ref:`mj_id2name` in the MuJoCo API, which map element names to integer ids and vice versa. These functions take an element type as input. diff --git a/doc/programming/index.rst b/doc/programming/index.rst index 035fdaca..ba6e5ea6 100644 --- a/doc/programming/index.rst +++ b/doc/programming/index.rst @@ -154,11 +154,10 @@ links below, to make this documentation self-contained. global variables, and includes all other header files except mjxmacro.h. `mjmodel.h `__ Defines the C structure :ref:`mjModel` which is the runtime representation of the - model being simulated. It also defines a number of primitive types and other structures needed to define mjModel. + model being simulated. `mjdata.h `__ Defines the C structure :ref:`mjData` which is the workspace where all computations - read their inputs and write their outputs. It also defines primitive types and other structures needed to define - mjData. + read their inputs and write their outputs. `mjvisualize.h `__ Defines the primitive types and structures needed by the abstract visualizer. `mjrender.h `__