MuJoCo Warp API documentation.
PiperOrigin-RevId: 810016913 Change-Id: Id4c309919068f7329cd35a2e0b63dc97c42343c3
This commit is contained in:
Taylor Howell
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Copybara-Service
Copybara-Service
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commit
a5ed4ee223
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/**
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* This script hides Sphinx auto-generated attribute links from the
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* "On this page" sidebar.
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* Adapted for the Furo theme.
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* Uses a MutationObserver to wait for Furo's JavaScript to create the
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* sidebar before attempting to modify it.
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*/
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function hideAttributesFromTOC() {
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// Furo's "On this page" sidebar container has the class .toc-tree
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const tocContainerSelector = '.toc-tree';
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// Step 1: Find all attribute definitions and collect their IDs.
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const attributeDefs = document.querySelectorAll('dl.py.attribute');
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if (attributeDefs.length === 0) {
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return false; // No attributes on this page, nothing to do.
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}
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const attributeIds = new Set();
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attributeDefs.forEach(def => {
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const term = def.querySelector('dt');
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if (term && term.id) {
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attributeIds.add(term.id);
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}
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});
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if (attributeIds.size === 0) {
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return false; // No attribute IDs found.
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}
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// Step 2: Find the sidebar container.
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const tocContainer = document.querySelector(tocContainerSelector);
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if (!tocContainer) {
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// Container not found yet. The observer will try again.
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return false;
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}
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// Step 3: Get all links within that sidebar.
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const tocLinks = tocContainer.querySelectorAll('a');
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if (tocLinks.length === 0) {
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return false; // Container found, but it's empty. Let's wait.
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}
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// Step 4: Iterate through the links and hide the ones that match.
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let hiddenCount = 0;
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tocLinks.forEach(link => {
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const href = link.getAttribute('href');
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if (href && href.startsWith('#')) {
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const linkId = href.substring(1);
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if (attributeIds.has(linkId)) {
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// In Furo, the link is inside a list item (<li>) which we need to hide.
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const listItem = link.closest('li');
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if (listItem && listItem.style.display !== 'none') {
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console.log(`Hiding sidebar link for: #${linkId}`);
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listItem.style.display = 'none';
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hiddenCount++;
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}
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}
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}
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});
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// If we successfully hid the links, we can stop observing.
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if (hiddenCount > 0) {
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return true; // Signal success
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}
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// If we found the container but didn't hide anything, maybe it's not fully
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// rendered. Let the observer run a few more times. A better approach might be
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// needed if this fails, but for most cases, this is sufficient.
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return false;
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}
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// Use a MutationObserver to wait for the page to be dynamically built.
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const observer = new MutationObserver((mutations, obs) => {
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// We only need to run our function once successfully.
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if (hideAttributesFromTOC()) {
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obs.disconnect(); // Stop observing once the task is done.
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}
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});
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// Start observing the entire document body for added/removed nodes.
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observer.observe(document.body, {childList: true, subtree: true});
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+15
@@ -25,6 +25,9 @@ import sys
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sys.path.insert(0, os.path.abspath('../'))
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sys.path.append(os.path.abspath('ext'))
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# MuJoCo Warp
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sys.path.append(os.path.abspath('../../mujoco_warp'))
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from sphinxcontrib import katex # pylint: disable=g-import-not-at-top
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from sphinxcontrib import youtube # pylint: disable=g-import-not-at-top,unused-import
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@@ -42,6 +45,9 @@ master_doc = 'index'
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# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
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# ones.
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extensions = [
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'sphinx.ext.autodoc',
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'sphinx.ext.napoleon',
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'sphinx.ext.viewcode',
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'sphinxcontrib.bibtex',
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'sphinxcontrib.katex',
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'sphinxcontrib.youtube',
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@@ -54,6 +60,13 @@ extensions = [
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'mujoco_include',
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]
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# MuJoCo Warp documentation
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napoleon_google_docstring = True
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autodoc_class_signature = 'separated'
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add_module_names = False
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toc_object_entries_show_parents = 'hide'
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default_role = 'literal'
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# GitHub-related options
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github_username = 'google-deepmind'
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github_repository = 'mujoco'
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@@ -163,9 +176,11 @@ html_static_path = [
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]
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html_css_files = [
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'theme_overrides.css',
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'theme_overrides_mjwarp.css',
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]
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html_js_files = [
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'linenumbers.js',
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'onthispage_mjwarp.js',
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]
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favicons = [
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@@ -0,0 +1,145 @@
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/*
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* ===================================================================
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* Unified Documentation Layout
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*
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* Creates a consistent two-column layout for class attributes and
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* function/method parameters. Includes aggressive overrides to resolve
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* conflicts with `theme_overrides.css`.
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* ===================================================================
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*/
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/*
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* Part 1: Class-Wide Attribute Alignment Grid
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* -------------------------------------------
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* This section creates a single grid for all attributes within a class,
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* ensuring their names and descriptions are perfectly aligned.
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*/
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/* The container for all class members becomes the main grid. */
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dl.py.class > dd {
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display: grid;
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grid-template-columns: auto 1fr;
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column-gap: 0.5ch;
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align-items: baseline;
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}
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/* This makes each attribute's <dl> transparent to the grid, promoting its
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* <dt> and <dd> children to become direct grid items. This is the key
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* to achieving the unified alignment.
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*/
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dl.py.attribute {
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display: contents;
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}
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/* Other class members (main docstring, methods) must span both columns
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* to avoid breaking the attribute grid layout.
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*/
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dl.py.class > dd > p,
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dl.py.class > dd > dl:not(.py.attribute) {
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grid-column: 1 / -1;
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}
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dl.py.class > dd > p { margin-bottom: 1rem; }
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dl.py.class > dd > dl:not(.py.attribute) { margin-top: 1.5rem; }
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/*
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* Part 2: Parameter & Return Value Layout
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* ---------------------------------------
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* This section applies a similar two-column grid to the parameters
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* inside functions and methods for a consistent appearance.
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*/
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/* Target the inner list of parameters to avoid grabbing the main heading. */
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dl.py.function .field-list > dd > dl,
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dl.py.method .field-list > dd > dl {
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display: grid;
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grid-template-columns: auto 1fr;
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column-gap: 0.5ch;
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align-items: baseline;
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margin-bottom: 0.4rem;
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}
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/*
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* Part 3: Common Styling for Grid Content
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* ---------------------------------------
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* These rules reset default styling for elements within our new grids.
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*/
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/* Reset margins on all description blocks (<dd>) within our custom grids. */
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dl.py.attribute > dd,
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dl.py.function .field-list > dd > dl > dd,
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dl.py.method .field-list > dd > dl > dd {
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margin: 0;
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padding: 0;
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}
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/* Add vertical spacing between attribute rows. */
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dl.py.attribute > dd {
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padding-bottom: 0.4rem;
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}
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/* Force the main description paragraph of an attribute to stay on one line. */
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dl.py.attribute > dd > p {
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display: inline;
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margin: 0;
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}
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/*
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* Part 4: Specific Styling for Attribute Type Highlight
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* -----------------------------------------------------
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* This styles the highlighted box for an attribute's type.
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*/
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/* The container for the type information. */
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dl.py.attribute > dd > dl.field-list {
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display: flex;
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align-items: center;
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margin-top: 0.4rem;
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}
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/* Reset its children. */
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dl.py.attribute > dd > dl.field-list > dt,
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dl.py.attribute > dd > dl.field-list > dd {
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margin: 0;
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padding: 0;
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}
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/* The highlight box itself - reverted to a simple implementation. */
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dl.py.attribute > dd > dl.field-list > dd {
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font-family: monospace;
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font-size: 90%;
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}
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/*
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* Part 5: Aggressive Theme Overrides
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* ----------------------------------
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* These rules use `!important` to forcefully win conflicts with
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* `theme_overrides.css` and ensure our layout is not broken.
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*/
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/* CONFLICT FIX: Forcefully remove left margins that break our grids. */
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dl.py.attribute > dd,
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dl.py.attribute > dd > dl.field-list > dd,
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dl.py.function .field-list > dd > dl > dd,
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dl.py.method .field-list > dd > dl > dd {
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margin-left: 0 !important;
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}
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/* CONFLICT FIX: Remove the double colon rendered by the theme. */
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.field-list > dt::after {
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content: "" !important;
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}
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/* CONFLICT FIX: Hide unwanted labels ("TYPE:", "Return type:"). */
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dl.py.attribute > dd > dl.field-list > dt,
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dl.py.function .field-list > dt:last-of-type,
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dl.py.method .field-list > dt:last-of-type {
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display: none !important;
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}
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/* Remove the underline from all links. */
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a {
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text-decoration: none !important;
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}
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@@ -0,0 +1,24 @@
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MuJoCo Warp API
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===============
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.. automodule:: mujoco_warp
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:members:
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:imported-members:
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:special-members: False
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:private-members: False
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:exclude-members:
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__init__,
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__format__,
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__new__,
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__eq__,
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__hash__,
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__repr__,
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__weakref__,
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__or__,
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__and__,
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__xor__,
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__ror__,
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__rand__,
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__rxor__,
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__invert__,
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@@ -4,6 +4,11 @@
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MuJoCo Warp (MJWarp)
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====================
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.. toctree::
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:hidden:
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API <api.rst>
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MuJoCo Warp (MJWarp) is an implementation of MuJoCo written in `Warp <https://nvidia.github.io/warp/>`__ and optimized
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for `Nvidia <https://nvidia.com>`__ GPUs. MJWarp lives in the
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`google-deepmind/mujoco_warp <https://github.com/google-deepmind/mujoco_warp>`__ GitHub repository and is currently in
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