Standardize function docstring style in MuJoCo API.
Updates function comments to consistently use a semicolon (`;`) before describing the return value and to use the imperative form "return" instead of "returns". Also fix error in docstring of `mjp_registerResourceProvider` PiperOrigin-RevId: 854888532 Change-Id: I311239a2770ded5febece9958ae4e94c1e522600
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
8abedf263e
commit
a26f09accf
@@ -18,7 +18,7 @@ The model and all files referenced in it can be loaded from disk or from a VFS w
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.. mujoco-include:: mj_loadXML
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Parse XML file in MJCF or URDF format, compile it, return low-level model.
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Parse XML file in MJCF or URDF format, compile it; return low-level model.
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If vfs is not NULL, look up files in vfs before reading from disk.
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@@ -77,7 +77,7 @@ If compilation fails, :ref:`mj_compile` returns ``NULL``; the error can be read
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.. mujoco-include:: mj_copyBack
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Copy real-valued arrays from model to spec, returns 1 on success.
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Copy real-valued arrays from model to spec; return 1 on success.
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.. _mj_recompile:
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@@ -1188,7 +1188,7 @@ Intersect ray ``pnt+x*vec, x >= 0`` with geoms.
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.. mujoco-include:: mj_rayHfield
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Intersect ray with hfield, return nearest distance or -1 if no intersection.
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Intersect ray with hfield; return nearest distance or -1 if no intersection.
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.. _mj_rayMesh:
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@@ -1197,7 +1197,7 @@ Intersect ray with hfield, return nearest distance or -1 if no intersection.
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.. mujoco-include:: mj_rayMesh
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Intersect ray with mesh, return nearest distance or -1 if no intersection.
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Intersect ray with mesh; return nearest distance or -1 if no intersection.
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.. _mju_rayGeom:
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@@ -1206,7 +1206,7 @@ Intersect ray with mesh, return nearest distance or -1 if no intersection.
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.. mujoco-include:: mju_rayGeom
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Intersect ray with pure geom, return nearest distance or -1 if no intersection.
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Intersect ray with pure geom; return nearest distance or -1 if no intersection.
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.. _mju_rayFlex:
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@@ -1215,7 +1215,7 @@ Intersect ray with pure geom, return nearest distance or -1 if no intersection.
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.. mujoco-include:: mju_rayFlex
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Intersect ray with flex, return nearest distance or -1 if no intersection,
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Intersect ray with flex; return nearest distance or -1 if no intersection,
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and also output nearest vertex id.
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*Nullable:* ``vertid``
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@@ -1227,7 +1227,7 @@ and also output nearest vertex id.
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.. mujoco-include:: mju_raySkin
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Intersect ray with skin, return nearest distance or -1 if no intersection,
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Intersect ray with skin; return nearest distance or -1 if no intersection,
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and also output nearest vertex id.
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*Nullable:* ``vertid``
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@@ -1366,7 +1366,7 @@ Add file to VFS. The directory argument is optional and can be NULL or empty. Re
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.. mujoco-include:: mj_addBufferVFS
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Add file to VFS from buffer, return 0: success, 2: repeated name, -1: failed to load.
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Add file to VFS from buffer; return 0: success, 2: repeated name, -1: failed to load.
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.. _mj_deleteFileVFS:
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@@ -1375,7 +1375,7 @@ Add file to VFS from buffer, return 0: success, 2: repeated name, -1: failed to
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.. mujoco-include:: mj_deleteFileVFS
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Delete file from VFS, return 0: success, -1: not found in VFS.
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Delete file from VFS; return 0: success, -1: not found in VFS.
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.. _mj_deleteVFS:
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@@ -1419,7 +1419,7 @@ Get the capacity of the asset cache in bytes.
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.. mujoco-include:: mj_setCacheCapacity
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Set the capacity of the asset cache in bytes (0 to disable); returns the new capacity.
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Set the capacity of the asset cache in bytes (0 to disable); return the new capacity.
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.. _mj_getCache:
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@@ -1724,7 +1724,7 @@ Free memory allocation in mjSpec.
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.. mujoco-include:: mjs_activatePlugin
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Activate plugin. Returns 0 on success.
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Activate plugin; return 0 on success.
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.. _mjs_setDeepCopy:
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@@ -1733,7 +1733,7 @@ Activate plugin. Returns 0 on success.
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.. mujoco-include:: mjs_setDeepCopy
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Turn deep copy on or off attach. Returns 0 on success.
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Turn deep copy on or off attach; return 0 on success.
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.. _Errorandmemory:
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@@ -1914,7 +1914,7 @@ Convert pyramid representation to contact force.
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.. mujoco-include:: mju_springDamper
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Integrate spring-damper analytically, return pos(dt).
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Integrate spring-damper analytically; return pos(dt).
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.. _mju_min:
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@@ -2999,8 +2999,9 @@ Set default resource provider definition.
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.. mujoco-include:: mjp_registerResourceProvider
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Globally register a resource provider in a thread-safe manner. The provider must have a prefix
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that is not a sub-prefix or super-prefix of any current registered providers. This function
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returns a slot number > 0 on success.
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that is not a sub-prefix or super-prefix of any current registered providers.
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Return a slot number >= 0 on success, -1 on failure.
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.. _mjp_resourceProviderCount:
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@@ -3334,7 +3335,7 @@ Set res = vec1 + vec2*scl.
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.. mujoco-include:: mju_normalize3
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Normalize vector, return length before normalization.
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Normalize vector; return length before normalization.
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.. _mju_norm3:
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@@ -3424,7 +3425,7 @@ Set res = vec.
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.. mujoco-include:: mju_normalize4
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Normalize vector, return length before normalization.
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Normalize vector; return length before normalization.
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.. _mju_zero:
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@@ -3541,7 +3542,7 @@ Set res = vec1 + vec2*scl.
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.. mujoco-include:: mju_normalize
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Normalize vector, return length before normalization.
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Normalize vector; return length before normalization.
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.. _mju_norm:
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@@ -3586,7 +3587,7 @@ Multiply transposed matrix and vector: res = mat' * vec.
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.. mujoco-include:: mju_mulVecMatVec
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Multiply square matrix with vectors on both sides: returns vec1' * mat * vec2.
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Multiply square matrix with vectors on both sides: return vec1' * mat * vec2.
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.. _mju_transpose:
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@@ -3675,7 +3676,7 @@ Sparse math
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.. mujoco-include:: mju_dense2sparse
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Convert matrix from dense to sparse.
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nnz is size of res and colind, return 1 if too small, 0 otherwise.
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nnz is size of res and colind; return 1 if too small, 0 otherwise.
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.. _mju_sparse2dense:
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@@ -3808,7 +3809,7 @@ Construct quaternion performing rotation from z-axis to given vector.
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Extract 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion.
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Returns the number of iterations required to converge
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Return the number of iterations required to converge.
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.. _mju_euler2Quat:
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@@ -4050,7 +4051,7 @@ Attachment
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.. mujoco-include:: mjs_attach
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Attach child to a parent, return the attached element if success or NULL otherwise.
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Attach child to a parent; return the attached element if success or NULL otherwise.
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.. _AddTreeElements:
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@@ -4063,7 +4064,7 @@ Tree elements
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.. mujoco-include:: mjs_addBody
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Add child body to body, return child.
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Add child body to body; return child.
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*Nullable:* ``def``
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@@ -4074,7 +4075,7 @@ Add child body to body, return child.
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.. mujoco-include:: mjs_addSite
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Add site to body, return site spec.
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Add site to body; return site spec.
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*Nullable:* ``def``
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@@ -4147,7 +4148,7 @@ Add frame to body.
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.. mujoco-include:: mjs_delete
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Remove object corresponding to the given element, return 0 on success.
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Remove object corresponding to the given element; return 0 on success.
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.. _AddNonTreeElements:
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@@ -4575,7 +4576,7 @@ Attribute setters
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.. mujoco-include:: mjs_setName
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Set element's name, return 0 on success.
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Set element's name; return 0 on success.
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.. _mjs_setBuffer:
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@@ -4756,7 +4757,7 @@ Set element's default.
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.. mujoco-include:: mjs_setFrame
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Set element's enclosing frame, return 0 on success.
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Set element's enclosing frame; return 0 on success.
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.. _mjs_resolveOrientation:
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@@ -4765,7 +4766,7 @@ Set element's enclosing frame, return 0 on success.
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.. mujoco-include:: mjs_resolveOrientation
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Resolve alternative orientations to quat, return error if any.
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Resolve alternative orientations to quat; return error if any.
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.. _mjs_bodyToFrame:
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+48
-48
@@ -78,13 +78,13 @@ MJAPI extern const char* mjRNDSTRING[mjNRNDFLAG][3];
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// Initialize an empty VFS, mj_deleteVFS must be called to deallocate the VFS.
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MJAPI void mj_defaultVFS(mjVFS* vfs);
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// Add file to VFS, return 0: success, 2: repeated name, -1: failed to load.
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// Add file to VFS; return 0: success, 2: repeated name, -1: failed to load.
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MJAPI int mj_addFileVFS(mjVFS* vfs, const char* directory, const char* filename);
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// Add file to VFS from buffer, return 0: success, 2: repeated name, -1: failed to load.
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// Add file to VFS from buffer; return 0: success, 2: repeated name, -1: failed to load.
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MJAPI int mj_addBufferVFS(mjVFS* vfs, const char* name, const void* buffer, int nbuffer);
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// Delete file from VFS, return 0: success, -1: not found in VFS.
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// Delete file from VFS; return 0: success, -1: not found in VFS.
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MJAPI int mj_deleteFileVFS(mjVFS* vfs, const char* filename);
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// Delete all files from VFS and deallocates VFS internal memory.
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@@ -98,7 +98,7 @@ MJAPI size_t mj_getCacheSize(const mjCache* cache);
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// Get the capacity of the asset cache in bytes.
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MJAPI size_t mj_getCacheCapacity(const mjCache* cache);
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// Set the capacity of the asset cache in bytes (0 to disable); returns the new capacity.
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// Set the capacity of the asset cache in bytes (0 to disable); return the new capacity.
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MJAPI size_t mj_setCacheCapacity(mjCache* cache, size_t size);
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// Get the internal asset cache used by the compiler.
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@@ -109,7 +109,7 @@ MJAPI void mj_clearCache(mjCache* cache);
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//---------------------------------- Parse and compile ---------------------------------------------
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// Parse XML file in MJCF or URDF format, compile it, return low-level model.
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// Parse XML file in MJCF or URDF format, compile it; return low-level model.
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// If vfs is not NULL, look up files in vfs before reading from disk.
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// If error is not NULL, it must have size error_sz.
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// Nullable: vfs, error
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@@ -132,10 +132,10 @@ MJAPI mjSpec* mj_parse(const char* filename, const char* content_type,
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// Nullable: vfs
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MJAPI mjModel* mj_compile(mjSpec* s, const mjVFS* vfs);
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// Copy real-valued arrays from model to spec, returns 1 on success.
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// Copy real-valued arrays from model to spec; return 1 on success.
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MJAPI int mj_copyBack(mjSpec* s, const mjModel* m);
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// Recompile spec to model, preserving the state, return 0 on success.
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// Recompile spec to model, preserving the state; return 0 on success.
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// Nullable: vfs
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MJAPI int mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d);
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@@ -147,12 +147,12 @@ MJAPI int mj_saveLastXML(const char* filename, const mjModel* m, char* error, in
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// Free last XML model if loaded. Called internally at each load.
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MJAPI void mj_freeLastXML(void);
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// Save spec to XML string, return 0 on success, -1 on failure.
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// If length of the output buffer is too small, returns the required size.
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// Save spec to XML string; return 0 on success, -1 on failure.
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// If length of the output buffer is too small; return the required size.
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// Nullable: error
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MJAPI int mj_saveXMLString(const mjSpec* s, char* xml, int xml_sz, char* error, int error_sz);
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// Save spec to XML file, return 0 on success, -1 otherwise.
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// Save spec to XML file; return 0 on success, -1 otherwise.
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// Nullable: error
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MJAPI int mj_saveXML(const mjSpec* s, const char* filename, char* error, int error_sz);
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@@ -285,10 +285,10 @@ MJAPI mjSpec* mj_copySpec(const mjSpec* s);
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// Free memory allocation in mjSpec.
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MJAPI void mj_deleteSpec(mjSpec* s);
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// Activate plugin. Returns 0 on success.
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// Activate plugin; return 0 on success.
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MJAPI int mjs_activatePlugin(mjSpec* s, const char* name);
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// Turn deep copy on or off attach. Returns 0 on success.
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// Turn deep copy on or off attach; return 0 on success.
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MJAPI int mjs_setDeepCopy(mjSpec* s, int deepcopy);
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@@ -544,10 +544,10 @@ MJAPI void mj_jacDot(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* ja
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// Compute subtree angular momentum matrix.
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MJAPI void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body);
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// Get id of object with the specified mjtObj type and name, returns -1 if id not found.
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// Get id of object with the specified mjtObj type and name; return -1 if id not found.
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MJAPI int mj_name2id(const mjModel* m, int type, const char* name);
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// Get name of object with the specified mjtObj type and id, returns NULL if name not found.
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// Get name of object with the specified mjtObj type and id; return NULL if name not found.
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MJAPI const char* mj_id2name(const mjModel* m, int type, int id);
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// Convert sparse inertia matrix M into full (i.e. dense) matrix.
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@@ -577,7 +577,7 @@ MJAPI void mj_objectVelocity(const mjModel* m, const mjData* d,
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MJAPI void mj_objectAcceleration(const mjModel* m, const mjData* d,
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int objtype, int objid, mjtNum res[6], int flg_local);
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// Returns smallest signed distance between two geoms and optionally segment from geom1 to geom2.
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// Return smallest signed distance between two geoms and optionally segment from geom1 to geom2.
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// Nullable: fromto
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MJAPI mjtNum mj_geomDistance(const mjModel* m, const mjData* d, int geom1, int geom2,
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mjtNum distmax, mjtNum fromto[6]);
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@@ -641,26 +641,26 @@ MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], cons
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const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
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int geomid[1]);
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// Intersect ray with hfield, return nearest distance or -1 if no intersection.
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// Intersect ray with hfield; return nearest distance or -1 if no intersection.
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MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
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const mjtNum pnt[3], const mjtNum vec[3]);
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// Intersect ray with mesh, return nearest distance or -1 if no intersection.
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// Intersect ray with mesh; return nearest distance or -1 if no intersection.
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MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
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const mjtNum pnt[3], const mjtNum vec[3]);
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// Intersect ray with pure geom, return nearest distance or -1 if no intersection.
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// Intersect ray with pure geom; return nearest distance or -1 if no intersection.
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MJAPI mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
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const mjtNum pnt[3], const mjtNum vec[3], int geomtype);
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// Intersect ray with flex, return nearest distance or -1 if no intersection,
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// Intersect ray with flex; return nearest distance or -1 if no intersection,
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// and also output nearest vertex id.
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// Nullable: vertid
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MJAPI mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte flg_vert,
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mjtByte flg_edge, mjtByte flg_face, mjtByte flg_skin, int flexid,
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const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
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// Intersect ray with skin, return nearest distance or -1 if no intersection,
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// Intersect ray with skin; return nearest distance or -1 if no intersection,
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// and also output nearest vertex id.
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// Nullable: vertid
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MJAPI mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
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@@ -725,7 +725,7 @@ MJAPI void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb*
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// Return the average of two OpenGL cameras.
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MJAPI mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2);
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// Select geom, flex or skin with mouse, return bodyid; -1: none selected.
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// Select geom, flex or skin with mouse; return bodyid; -1: none selected.
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// Nullable: geomid, flexid, skinid
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MJAPI int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
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mjtNum aspectratio, mjtNum relx, mjtNum rely,
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@@ -906,7 +906,7 @@ MJAPI void mjui_resize(mjUI* ui, const mjrContext* con);
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MJAPI void mjui_update(int section, int item, const mjUI* ui,
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const mjuiState* state, const mjrContext* con);
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// Handle UI event, return pointer to changed item, NULL if no change.
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// Handle UI event; return pointer to changed item, NULL if no change.
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MJAPI mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con);
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// Copy UI image to current buffer.
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@@ -1022,7 +1022,7 @@ MJAPI void mju_addToScl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
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// Set res = vec1 + vec2*scl.
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MJAPI void mju_addScl3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3], mjtNum scl);
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// Normalize vector, return length before normalization.
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// Normalize vector; return length before normalization.
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MJAPI mjtNum mju_normalize3(mjtNum vec[3]);
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// Return vector length (without normalizing the vector).
|
||||
@@ -1052,7 +1052,7 @@ MJAPI void mju_unit4(mjtNum res[4]);
|
||||
// Set res = vec.
|
||||
MJAPI void mju_copy4(mjtNum res[4], const mjtNum data[4]);
|
||||
|
||||
// Normalize vector, return length before normalization.
|
||||
// Normalize vector; return length before normalization.
|
||||
MJAPI mjtNum mju_normalize4(mjtNum vec[4]);
|
||||
|
||||
// Set res = 0.
|
||||
@@ -1091,7 +1091,7 @@ MJAPI void mju_addToScl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
|
||||
// Set res = vec1 + vec2*scl.
|
||||
MJAPI void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl, int n);
|
||||
|
||||
// Normalize vector, return length before normalization.
|
||||
// Normalize vector; return length before normalization.
|
||||
MJAPI mjtNum mju_normalize(mjtNum* res, int n);
|
||||
|
||||
// Return vector length (without normalizing vector).
|
||||
@@ -1106,7 +1106,7 @@ MJAPI void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int
|
||||
// Multiply transposed matrix and vector: res = mat' * vec.
|
||||
MJAPI void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
|
||||
|
||||
// Multiply square matrix with vectors on both sides: returns vec1' * mat * vec2.
|
||||
// Multiply square matrix with vectors on both sides: return vec1' * mat * vec2.
|
||||
MJAPI mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n);
|
||||
|
||||
// Transpose matrix: res = mat'.
|
||||
@@ -1144,7 +1144,7 @@ MJAPI void mju_transformSpatial(mjtNum res[6], const mjtNum vec[6], int flg_forc
|
||||
//---------------------------------- Sparse math ---------------------------------------------------
|
||||
|
||||
// Convert matrix from dense to sparse.
|
||||
// nnz is size of res and colind, return 1 if too small, 0 otherwise.
|
||||
// nnz is size of res and colind; return 1 if too small, 0 otherwise.
|
||||
MJAPI int mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
|
||||
int* rownnz, int* rowadr, int* colind, int nnz);
|
||||
|
||||
@@ -1192,7 +1192,7 @@ MJAPI void mju_quatIntegrate(mjtNum quat[4], const mjtNum vel[3], mjtNum scale);
|
||||
MJAPI void mju_quatZ2Vec(mjtNum quat[4], const mjtNum vec[3]);
|
||||
|
||||
// Extract 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion.
|
||||
// Returns the number of iterations required to converge
|
||||
// Return the number of iterations required to converge.
|
||||
MJAPI int mju_mat2Rot(mjtNum quat[4], const mjtNum mat[9]);
|
||||
|
||||
// Convert sequence of Euler angles (radians) to quaternion.
|
||||
@@ -1228,7 +1228,7 @@ MJAPI void mju_cholSolve(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int
|
||||
MJAPI int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus);
|
||||
|
||||
// Band-dense Cholesky decomposition.
|
||||
// Returns minimum value in the factorized diagonal, or 0 if rank-deficient.
|
||||
// Return minimum value in the factorized diagonal, or 0 if rank-deficient.
|
||||
// mat has (ntotal-ndense) x nband + ndense x ntotal elements.
|
||||
// The first (ntotal-ndense) x nband store the band part, left of diagonal, inclusive.
|
||||
// The second ndense x ntotal store the band part as entire dense rows.
|
||||
@@ -1257,7 +1257,7 @@ MJAPI int mju_bandDiag(int i, int ntotal, int nband, int ndense);
|
||||
// Eigenvalue decomposition of symmetric 3x3 matrix, mat = eigvec * diag(eigval) * eigvec'.
|
||||
MJAPI int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]);
|
||||
|
||||
// minimize 0.5*x'*H*x + x'*g s.t. lower <= x <= upper, return rank or -1 if failed
|
||||
// minimize 0.5*x'*H*x + x'*g s.t. lower <= x <= upper; return rank or -1 if failed
|
||||
// inputs:
|
||||
// n - problem dimension
|
||||
// H - SPD matrix n*n
|
||||
@@ -1308,7 +1308,7 @@ MJAPI void mju_encodePyramid(mjtNum* pyramid, const mjtNum* force, const mjtNum*
|
||||
// Convert pyramid representation to contact force.
|
||||
MJAPI void mju_decodePyramid(mjtNum* force, const mjtNum* pyramid, const mjtNum* mu, int dim);
|
||||
|
||||
// Integrate spring-damper analytically, return pos(dt).
|
||||
// Integrate spring-damper analytically; return pos(dt).
|
||||
MJAPI mjtNum mju_springDamper(mjtNum pos0, mjtNum vel0, mjtNum Kp, mjtNum Kv, mjtNum dt);
|
||||
|
||||
// Return min(a,b) with single evaluation of a and b.
|
||||
@@ -1459,8 +1459,8 @@ MJAPI const mjpPlugin* mjp_getPluginAtSlot(int slot);
|
||||
MJAPI void mjp_defaultResourceProvider(mjpResourceProvider* provider);
|
||||
|
||||
// Globally register a resource provider in a thread-safe manner. The provider must have a prefix
|
||||
// that is not a sub-prefix or super-prefix of any current registered providers. This function
|
||||
// returns a slot number > 0 on success.
|
||||
// that is not a sub-prefix or super-prefix of any current registered providers.
|
||||
// Return a slot number >= 0 on success, -1 on failure.
|
||||
MJAPI int mjp_registerResourceProvider(const mjpResourceProvider* provider);
|
||||
|
||||
// Return the number of globally registered resource providers.
|
||||
@@ -1509,18 +1509,18 @@ MJAPI void mju_taskJoin(mjTask* task);
|
||||
|
||||
//---------------------------------- Attachment ----------------------------------------------------
|
||||
|
||||
// Attach child to a parent, return the attached element if success or NULL otherwise.
|
||||
// Attach child to a parent; return the attached element if success or NULL otherwise.
|
||||
MJAPI mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
|
||||
const char* prefix, const char* suffix);
|
||||
|
||||
|
||||
//---------------------------------- Tree elements -------------------------------------------------
|
||||
|
||||
// Add child body to body, return child.
|
||||
// Add child body to body; return child.
|
||||
// Nullable: def
|
||||
MJAPI mjsBody* mjs_addBody(mjsBody* body, const mjsDefault* def);
|
||||
|
||||
// Add site to body, return site spec.
|
||||
// Add site to body; return site spec.
|
||||
// Nullable: def
|
||||
MJAPI mjsSite* mjs_addSite(mjsBody* body, const mjsDefault* def);
|
||||
|
||||
@@ -1546,7 +1546,7 @@ MJAPI mjsLight* mjs_addLight(mjsBody* body, const mjsDefault* def);
|
||||
// Add frame to body.
|
||||
MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
|
||||
|
||||
// Remove object corresponding to the given element, return 0 on success.
|
||||
// Remove object corresponding to the given element; return 0 on success.
|
||||
MJAPI int mjs_delete(mjSpec* spec, mjsElement* element);
|
||||
|
||||
|
||||
@@ -1611,33 +1611,33 @@ MJAPI mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, const mjsDefa
|
||||
|
||||
//---------------------------------- Set actuator parameters ---------------------------------------
|
||||
|
||||
// Set actuator to motor, return error if any.
|
||||
// Set actuator to motor; return error if any.
|
||||
MJAPI const char* mjs_setToMotor(mjsActuator* actuator);
|
||||
|
||||
// Set actuator to position, return error if any.
|
||||
// Set actuator to position; return error if any.
|
||||
MJAPI const char* mjs_setToPosition(mjsActuator* actuator, double kp, double kv[1],
|
||||
double dampratio[1], double timeconst[1], double inheritrange);
|
||||
|
||||
// Set actuator to integrated velocity, return error if any.
|
||||
// Set actuator to integrated velocity; return error if any.
|
||||
MJAPI const char* mjs_setToIntVelocity(mjsActuator* actuator, double kp, double kv[1],
|
||||
double dampratio[1], double timeconst[1], double inheritrange);
|
||||
|
||||
// Set actuator to velocity servo, return error if any.
|
||||
// Set actuator to velocity servo; return error if any.
|
||||
MJAPI const char* mjs_setToVelocity(mjsActuator* actuator, double kv);
|
||||
|
||||
// Set actuator to activate damper, return error if any.
|
||||
// Set actuator to activate damper; return error if any.
|
||||
MJAPI const char* mjs_setToDamper(mjsActuator* actuator, double kv);
|
||||
|
||||
// Set actuator to hydraulic or pneumatic cylinder, return error if any.
|
||||
// Set actuator to hydraulic or pneumatic cylinder; return error if any.
|
||||
MJAPI const char* mjs_setToCylinder(mjsActuator* actuator, double timeconst,
|
||||
double bias, double area, double diameter);
|
||||
|
||||
// Set actuator to muscle, return error if any.a
|
||||
// Set actuator to muscle; return error if any.a
|
||||
MJAPI const char* mjs_setToMuscle(mjsActuator* actuator, double timeconst[2], double tausmooth,
|
||||
double range[2], double force, double scale, double lmin,
|
||||
double lmax, double vmax, double fpmax, double fvmax);
|
||||
|
||||
// Set actuator to active adhesion, return error if any.
|
||||
// Set actuator to active adhesion; return error if any.
|
||||
MJAPI const char* mjs_setToAdhesion(mjsActuator* actuator, double gain);
|
||||
|
||||
|
||||
@@ -1728,7 +1728,7 @@ MJAPI double mjs_getWrapCoef(mjsWrap* wrap);
|
||||
|
||||
//---------------------------------- Attribute setters ---------------------------------------------
|
||||
|
||||
// Set element's name, return 0 on success.
|
||||
// Set element's name; return 0 on success.
|
||||
MJAPI int mjs_setName(mjsElement* element, const char* name);
|
||||
|
||||
// Copy buffer.
|
||||
@@ -1792,10 +1792,10 @@ MJAPI const void* mjs_getPluginAttributes(const mjsPlugin* plugin);
|
||||
// Set element's default.
|
||||
MJAPI void mjs_setDefault(mjsElement* element, const mjsDefault* def);
|
||||
|
||||
// Set element's enclosing frame, return 0 on success.
|
||||
// Set element's enclosing frame; return 0 on success.
|
||||
MJAPI int mjs_setFrame(mjsElement* dest, mjsFrame* frame);
|
||||
|
||||
// Resolve alternative orientations to quat, return error if any.
|
||||
// Resolve alternative orientations to quat; return error if any.
|
||||
MJAPI const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
|
||||
const mjsOrientation* orientation);
|
||||
|
||||
|
||||
@@ -64,7 +64,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Add file to VFS, return 0: success, 2: repeated name, -1: failed to load.', # pylint: disable=line-too-long
|
||||
doc='Add file to VFS; return 0: success, 2: repeated name, -1: failed to load.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mj_addBufferVFS',
|
||||
FunctionDecl(
|
||||
@@ -94,7 +94,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='int'),
|
||||
),
|
||||
),
|
||||
doc='Add file to VFS from buffer, return 0: success, 2: repeated name, -1: failed to load.', # pylint: disable=line-too-long
|
||||
doc='Add file to VFS from buffer; return 0: success, 2: repeated name, -1: failed to load.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mj_deleteFileVFS',
|
||||
FunctionDecl(
|
||||
@@ -114,7 +114,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Delete file from VFS, return 0: success, -1: not found in VFS.',
|
||||
doc='Delete file from VFS; return 0: success, -1: not found in VFS.',
|
||||
)),
|
||||
('mj_deleteVFS',
|
||||
FunctionDecl(
|
||||
@@ -174,7 +174,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='size_t'),
|
||||
),
|
||||
),
|
||||
doc='Set the capacity of the asset cache in bytes (0 to disable); returns the new capacity.', # pylint: disable=line-too-long
|
||||
doc='Set the capacity of the asset cache in bytes (0 to disable); return the new capacity.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mj_getCache',
|
||||
FunctionDecl(
|
||||
@@ -231,7 +231,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='int'),
|
||||
),
|
||||
),
|
||||
doc='Parse XML file in MJCF or URDF format, compile it, return low-level model. If vfs is not NULL, look up files in vfs before reading from disk. If error is not NULL, it must have size error_sz.', # pylint: disable=line-too-long
|
||||
doc='Parse XML file in MJCF or URDF format, compile it; return low-level model. If vfs is not NULL, look up files in vfs before reading from disk. If error is not NULL, it must have size error_sz.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mj_parseXML',
|
||||
FunctionDecl(
|
||||
@@ -382,7 +382,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Copy real-valued arrays from model to spec, returns 1 on success.', # pylint: disable=line-too-long
|
||||
doc='Copy real-valued arrays from model to spec; return 1 on success.',
|
||||
)),
|
||||
('mj_recompile',
|
||||
FunctionDecl(
|
||||
@@ -415,7 +415,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Recompile spec to model, preserving the state, return 0 on success.', # pylint: disable=line-too-long
|
||||
doc='Recompile spec to model, preserving the state; return 0 on success.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mj_saveLastXML',
|
||||
FunctionDecl(
|
||||
@@ -488,7 +488,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='int'),
|
||||
),
|
||||
),
|
||||
doc='Save spec to XML string, return 0 on success, -1 on failure. If length of the output buffer is too small, returns the required size.', # pylint: disable=line-too-long
|
||||
doc='Save spec to XML string; return 0 on success, -1 on failure. If length of the output buffer is too small; return the required size.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mj_saveXML',
|
||||
FunctionDecl(
|
||||
@@ -519,7 +519,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='int'),
|
||||
),
|
||||
),
|
||||
doc='Save spec to XML file, return 0 on success, -1 otherwise.',
|
||||
doc='Save spec to XML file; return 0 on success, -1 otherwise.',
|
||||
)),
|
||||
('mju_getXMLDependencies',
|
||||
FunctionDecl(
|
||||
@@ -1258,7 +1258,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Activate plugin. Returns 0 on success.',
|
||||
doc='Activate plugin; return 0 on success.',
|
||||
)),
|
||||
('mjs_setDeepCopy',
|
||||
FunctionDecl(
|
||||
@@ -1276,7 +1276,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='int'),
|
||||
),
|
||||
),
|
||||
doc='Turn deep copy on or off attach. Returns 0 on success.',
|
||||
doc='Turn deep copy on or off attach; return 0 on success.',
|
||||
)),
|
||||
('mj_printFormattedModel',
|
||||
FunctionDecl(
|
||||
@@ -3122,7 +3122,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Get id of object with the specified mjtObj type and name, returns -1 if id not found.', # pylint: disable=line-too-long
|
||||
doc='Get id of object with the specified mjtObj type and name; return -1 if id not found.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mj_id2name',
|
||||
FunctionDecl(
|
||||
@@ -3146,7 +3146,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='int'),
|
||||
),
|
||||
),
|
||||
doc='Get name of object with the specified mjtObj type and id, returns NULL if name not found.', # pylint: disable=line-too-long
|
||||
doc='Get name of object with the specified mjtObj type and id; return NULL if name not found.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mj_fullM',
|
||||
FunctionDecl(
|
||||
@@ -3454,7 +3454,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
nullable=True,
|
||||
),
|
||||
),
|
||||
doc='Returns smallest signed distance between two geoms and optionally segment from geom1 to geom2.', # pylint: disable=line-too-long
|
||||
doc='Return smallest signed distance between two geoms and optionally segment from geom1 to geom2.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mj_contactForce',
|
||||
FunctionDecl(
|
||||
@@ -3890,7 +3890,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Intersect ray with hfield, return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long
|
||||
doc='Intersect ray with hfield; return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mj_rayMesh',
|
||||
FunctionDecl(
|
||||
@@ -3928,7 +3928,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Intersect ray with mesh, return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long
|
||||
doc='Intersect ray with mesh; return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mju_rayGeom',
|
||||
FunctionDecl(
|
||||
@@ -3975,7 +3975,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='int'),
|
||||
),
|
||||
),
|
||||
doc='Intersect ray with pure geom, return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long
|
||||
doc='Intersect ray with pure geom; return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mju_rayFlex',
|
||||
FunctionDecl(
|
||||
@@ -4041,7 +4041,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
nullable=True,
|
||||
),
|
||||
),
|
||||
doc='Intersect ray with flex, return nearest distance or -1 if no intersection, and also output nearest vertex id.', # pylint: disable=line-too-long
|
||||
doc='Intersect ray with flex; return nearest distance or -1 if no intersection, and also output nearest vertex id.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mju_raySkin',
|
||||
FunctionDecl(
|
||||
@@ -4091,7 +4091,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
nullable=True,
|
||||
),
|
||||
),
|
||||
doc='Intersect ray with skin, return nearest distance or -1 if no intersection, and also output nearest vertex id.', # pylint: disable=line-too-long
|
||||
doc='Intersect ray with skin; return nearest distance or -1 if no intersection, and also output nearest vertex id.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mjv_defaultCamera',
|
||||
FunctionDecl(
|
||||
@@ -4640,7 +4640,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
nullable=True,
|
||||
),
|
||||
),
|
||||
doc='Select geom, flex or skin with mouse, return bodyid; -1: none selected.', # pylint: disable=line-too-long
|
||||
doc='Select geom, flex or skin with mouse; return bodyid; -1: none selected.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mjv_defaultOption',
|
||||
FunctionDecl(
|
||||
@@ -5879,7 +5879,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Handle UI event, return pointer to changed item, NULL if no change.', # pylint: disable=line-too-long
|
||||
doc='Handle UI event; return pointer to changed item, NULL if no change.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mjui_render',
|
||||
FunctionDecl(
|
||||
@@ -6355,7 +6355,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Normalize vector, return length before normalization.',
|
||||
doc='Normalize vector; return length before normalization.',
|
||||
)),
|
||||
('mju_norm3',
|
||||
FunctionDecl(
|
||||
@@ -6568,7 +6568,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Normalize vector, return length before normalization.',
|
||||
doc='Normalize vector; return length before normalization.',
|
||||
)),
|
||||
('mju_zero',
|
||||
FunctionDecl(
|
||||
@@ -6884,7 +6884,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='int'),
|
||||
),
|
||||
),
|
||||
doc='Normalize vector, return length before normalization.',
|
||||
doc='Normalize vector; return length before normalization.',
|
||||
)),
|
||||
('mju_norm',
|
||||
FunctionDecl(
|
||||
@@ -7024,7 +7024,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='int'),
|
||||
),
|
||||
),
|
||||
doc="Multiply square matrix with vectors on both sides: returns vec1' * mat * vec2.", # pylint: disable=line-too-long
|
||||
doc="Multiply square matrix with vectors on both sides: return vec1' * mat * vec2.", # pylint: disable=line-too-long
|
||||
)),
|
||||
('mju_transpose',
|
||||
FunctionDecl(
|
||||
@@ -7340,7 +7340,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='int'),
|
||||
),
|
||||
),
|
||||
doc='Convert matrix from dense to sparse. nnz is size of res and colind, return 1 if too small, 0 otherwise.', # pylint: disable=line-too-long
|
||||
doc='Convert matrix from dense to sparse. nnz is size of res and colind; return 1 if too small, 0 otherwise.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mju_sparse2dense',
|
||||
FunctionDecl(
|
||||
@@ -7719,7 +7719,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Extract 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion. Returns the number of iterations required to converge', # pylint: disable=line-too-long
|
||||
doc='Extract 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion. Return the number of iterations required to converge.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mju_euler2Quat',
|
||||
FunctionDecl(
|
||||
@@ -7983,7 +7983,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='mjtNum'),
|
||||
),
|
||||
),
|
||||
doc='Band-dense Cholesky decomposition. Returns minimum value in the factorized diagonal, or 0 if rank-deficient. mat has (ntotal-ndense) x nband + ndense x ntotal elements. The first (ntotal-ndense) x nband store the band part, left of diagonal, inclusive. The second ndense x ntotal store the band part as entire dense rows. Add diagadd+diagmul*mat_ii to diagonal before factorization.', # pylint: disable=line-too-long
|
||||
doc='Band-dense Cholesky decomposition. Return minimum value in the factorized diagonal, or 0 if rank-deficient. mat has (ntotal-ndense) x nband + ndense x ntotal elements. The first (ntotal-ndense) x nband store the band part, left of diagonal, inclusive. The second ndense x ntotal store the band part as entire dense rows. Add diagadd+diagmul*mat_ii to diagonal before factorization.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mju_cholSolveBand',
|
||||
FunctionDecl(
|
||||
@@ -8252,7 +8252,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
nullable=True,
|
||||
),
|
||||
),
|
||||
doc="minimize 0.5*x'*H*x + x'*g s.t. lower <= x <= upper, return rank or -1 if failed inputs: n - problem dimension H - SPD matrix n*n g - bias vector n lower - lower bounds n upper - upper bounds n res - solution warmstart n return value: nfree <= n - rank of unconstrained subspace, -1 if failure outputs (required): res - solution n R - subspace Cholesky factor nfree*nfree allocated: n*(n+7) outputs (optional): index - set of free dimensions nfree allocated: n notes: the initial value of res is used to warmstart the solver R must have allocatd size n*(n+7), but only nfree*nfree values are used in output index (if given) must have allocated size n, but only nfree values are used in output only the lower triangles of H and R and are read from and written to, respectively the convenience function mju_boxQPmalloc allocates the required data structures", # pylint: disable=line-too-long
|
||||
doc="minimize 0.5*x'*H*x + x'*g s.t. lower <= x <= upper; return rank or -1 if failed inputs: n - problem dimension H - SPD matrix n*n g - bias vector n lower - lower bounds n upper - upper bounds n res - solution warmstart n return value: nfree <= n - rank of unconstrained subspace, -1 if failure outputs (required): res - solution n R - subspace Cholesky factor nfree*nfree allocated: n*(n+7) outputs (optional): index - set of free dimensions nfree allocated: n notes: the initial value of res is used to warmstart the solver R must have allocatd size n*(n+7), but only nfree*nfree values are used in output index (if given) must have allocated size n, but only nfree values are used in output only the lower triangles of H and R and are read from and written to, respectively the convenience function mju_boxQPmalloc allocates the required data structures", # pylint: disable=line-too-long
|
||||
)),
|
||||
('mju_boxQPmalloc',
|
||||
FunctionDecl(
|
||||
@@ -8495,7 +8495,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='mjtNum'),
|
||||
),
|
||||
),
|
||||
doc='Integrate spring-damper analytically, return pos(dt).',
|
||||
doc='Integrate spring-damper analytically; return pos(dt).',
|
||||
)),
|
||||
('mju_min',
|
||||
FunctionDecl(
|
||||
@@ -9267,7 +9267,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Globally register a resource provider in a thread-safe manner. The provider must have a prefix that is not a sub-prefix or super-prefix of any current registered providers. This function returns a slot number > 0 on success.', # pylint: disable=line-too-long
|
||||
doc='Globally register a resource provider in a thread-safe manner. The provider must have a prefix that is not a sub-prefix or super-prefix of any current registered providers. Return a slot number >= 0 on success, -1 on failure.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mjp_resourceProviderCount',
|
||||
FunctionDecl(
|
||||
@@ -9484,7 +9484,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Attach child to a parent, return the attached element if success or NULL otherwise.', # pylint: disable=line-too-long
|
||||
doc='Attach child to a parent; return the attached element if success or NULL otherwise.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mjs_addBody',
|
||||
FunctionDecl(
|
||||
@@ -9507,7 +9507,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
nullable=True,
|
||||
),
|
||||
),
|
||||
doc='Add child body to body, return child.',
|
||||
doc='Add child body to body; return child.',
|
||||
)),
|
||||
('mjs_addSite',
|
||||
FunctionDecl(
|
||||
@@ -9530,7 +9530,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
nullable=True,
|
||||
),
|
||||
),
|
||||
doc='Add site to body, return site spec.',
|
||||
doc='Add site to body; return site spec.',
|
||||
)),
|
||||
('mjs_addJoint',
|
||||
FunctionDecl(
|
||||
@@ -9680,7 +9680,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Remove object corresponding to the given element, return 0 on success.', # pylint: disable=line-too-long
|
||||
doc='Remove object corresponding to the given element; return 0 on success.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mjs_addActuator',
|
||||
FunctionDecl(
|
||||
@@ -10041,7 +10041,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Set actuator to motor, return error if any.',
|
||||
doc='Set actuator to motor; return error if any.',
|
||||
)),
|
||||
('mjs_setToPosition',
|
||||
FunctionDecl(
|
||||
@@ -10086,7 +10086,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='double'),
|
||||
),
|
||||
),
|
||||
doc='Set actuator to position, return error if any.',
|
||||
doc='Set actuator to position; return error if any.',
|
||||
)),
|
||||
('mjs_setToIntVelocity',
|
||||
FunctionDecl(
|
||||
@@ -10131,7 +10131,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='double'),
|
||||
),
|
||||
),
|
||||
doc='Set actuator to integrated velocity, return error if any.',
|
||||
doc='Set actuator to integrated velocity; return error if any.',
|
||||
)),
|
||||
('mjs_setToVelocity',
|
||||
FunctionDecl(
|
||||
@@ -10151,7 +10151,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='double'),
|
||||
),
|
||||
),
|
||||
doc='Set actuator to velocity servo, return error if any.',
|
||||
doc='Set actuator to velocity servo; return error if any.',
|
||||
)),
|
||||
('mjs_setToDamper',
|
||||
FunctionDecl(
|
||||
@@ -10171,7 +10171,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='double'),
|
||||
),
|
||||
),
|
||||
doc='Set actuator to activate damper, return error if any.',
|
||||
doc='Set actuator to activate damper; return error if any.',
|
||||
)),
|
||||
('mjs_setToCylinder',
|
||||
FunctionDecl(
|
||||
@@ -10203,7 +10203,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='double'),
|
||||
),
|
||||
),
|
||||
doc='Set actuator to hydraulic or pneumatic cylinder, return error if any.', # pylint: disable=line-too-long
|
||||
doc='Set actuator to hydraulic or pneumatic cylinder; return error if any.', # pylint: disable=line-too-long
|
||||
)),
|
||||
('mjs_setToMuscle',
|
||||
FunctionDecl(
|
||||
@@ -10265,7 +10265,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='double'),
|
||||
),
|
||||
),
|
||||
doc='Set actuator to muscle, return error if any.a',
|
||||
doc='Set actuator to muscle; return error if any.a',
|
||||
)),
|
||||
('mjs_setToAdhesion',
|
||||
FunctionDecl(
|
||||
@@ -10285,7 +10285,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
type=ValueType(name='double'),
|
||||
),
|
||||
),
|
||||
doc='Set actuator to active adhesion, return error if any.',
|
||||
doc='Set actuator to active adhesion; return error if any.',
|
||||
)),
|
||||
('mjs_addMesh',
|
||||
FunctionDecl(
|
||||
@@ -10809,7 +10809,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
),
|
||||
),
|
||||
),
|
||||
doc="Set element's name, return 0 on success.",
|
||||
doc="Set element's name; return 0 on success.",
|
||||
)),
|
||||
('mjs_setBuffer',
|
||||
FunctionDecl(
|
||||
@@ -11202,7 +11202,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
),
|
||||
),
|
||||
),
|
||||
doc="Set element's enclosing frame, return 0 on success.",
|
||||
doc="Set element's enclosing frame; return 0 on success.",
|
||||
)),
|
||||
('mjs_resolveOrientation',
|
||||
FunctionDecl(
|
||||
@@ -11235,7 +11235,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
|
||||
),
|
||||
),
|
||||
),
|
||||
doc='Resolve alternative orientations to quat, return error if any.',
|
||||
doc='Resolve alternative orientations to quat; return error if any.',
|
||||
)),
|
||||
('mjs_bodyToFrame',
|
||||
FunctionDecl(
|
||||
|
||||
Reference in New Issue
Block a user