diff --git a/doc/APIreference/APItypes.rst b/doc/APIreference/APItypes.rst index 6da7d511..988717da 100644 --- a/doc/APIreference/APItypes.rst +++ b/doc/APIreference/APItypes.rst @@ -337,7 +337,7 @@ These are the possible sensor data types, used in ``mjData.sensor_datatype``. Data ^^^^ -The enums below are defined in `mjmdata.h `_. +The enums below are defined in `mjdata.h `_. .. _mjtWarning: diff --git a/doc/changelog.rst b/doc/changelog.rst index aa3daf66..87234d6e 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -830,7 +830,7 @@ General #. Fixed: The array of sensors in ``mjCModel`` was not cleared. #. Cleaned up cross-platform code (internal changes, not visible via the API). #. Fixed a bug in parsing of XML ``texcoord`` data (related to number of vertices). -#. Fixed a bug in `simulate.cc `_ related to ``nkey`` +#. Fixed a bug in `simulate.cc `_ related to ``nkey`` (the number of keyframes). #. Accelerated collision detection in the presence of large numbers of non-colliding geoms (with ``contype==0 and conaffinity==0``). diff --git a/doc/programming/samples.rst b/doc/programming/samples.rst index 8541de9a..5cd30032 100644 --- a/doc/programming/samples.rst +++ b/doc/programming/samples.rst @@ -218,14 +218,3 @@ of unilateral constraints, numerical derivatives are hard to compute and there i would not even be defined if it wasn't for our soft-constraint model. Making the constraints softer results in more accurate results. This effect is so strong that in some situations it makes sense to intentionally work with the wrong model, i.e., a model that is softer than desired, so as to obtain more accurate derivatives. - -.. _saUItools: - -uitools -~~~~~~~ - -`(uitools.h) `_ `(uitools.cc) -`_ This is not a stand-alone code sample, but rather -a small utility used to hook up the new UI to GLFW. It is used in :ref:`simulate.cc ` and can also be used -in user projects that involve the new UI. If GLFW is replaced with a different window library, this is the only file -that would have to be changed in order to access the UI functionality. diff --git a/doc/unity.rst b/doc/unity.rst index 1a37d283..c816db19 100644 --- a/doc/unity.rst +++ b/doc/unity.rst @@ -140,7 +140,7 @@ When the user selects an MJCF file, the importer first loads the file in MuJoCo, saves it to a temporary location, and then processes the generated saved file. This has several effects: -- It validates the MJCF - we are guaranteed that the saved MJCF matches the `schema `_. +- It validates the MJCF - we are guaranteed that the saved MJCF matches the :ref:`schema `. - It validates the assets (materials, meshes, textures) and imports these assets into Unity, as well as creating new material assets for geom RGBA specification. - It allows the importer to handle :ref:`\ ` elements without replicating MuJoCo’s file-system @@ -331,4 +331,4 @@ process, and uses Unity only for rendering. In contrast, our plug-in relies on be possible to use our plug-in while an external process "drives" the simulation, for example by seting ``qpos``, calling ``mj_kinematics``, synchronizing the transforms, and then using Unity to render or compute game logic. In order to establish communication with an external process, you can use Unity's `ML-Agents -`_ package. \ No newline at end of file +`_ package.