diff --git a/doc/changelog.rst b/doc/changelog.rst index 24ac1b7a..68772051 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -455,15 +455,15 @@ MJX - CG - Newton - Speedup - * - `Humanoid `__ + * - `Humanoid `__ - 640,000 - 1,020,000 - **1.6 x** - * - `Barkour v0 `__ + * - `Barkour v0 `__ - 1,290,000 - 1,750,000 - **1.35 x** - * - `Shadow Hand `__ + * - `Shadow Hand `__ - 215,000 - 270,000 - **1.25 x** diff --git a/doc/mjx.rst b/doc/mjx.rst index 1d8566be..9aafa764 100644 --- a/doc/mjx.rst +++ b/doc/mjx.rst @@ -305,7 +305,7 @@ Collisions between large meshes the convex mesh should have roughly **fewer than 32 vertices**. With careful tuning, MJX can simulate scenes with mesh collisions -- see the MJX - `shadow hand `__ + `shadow hand `__ config for an example. Speeding up mesh collision detection is an active area of development for MJX. Large, complex scenes with many contacts diff --git a/doc/overview.rst b/doc/overview.rst index a88fb7bc..6e62d31c 100644 --- a/doc/overview.rst +++ b/doc/overview.rst @@ -804,7 +804,7 @@ first, followed by the limits of the second joint etc. This ordering reflects th row-major format. The available element types are defined in `mjmodel.h -`_, in the enum type :ref:`mjtObj`. +`_, 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 bcf4d99b..a7424422 100644 --- a/doc/programming/index.rst +++ b/doc/programming/index.rst @@ -72,18 +72,12 @@ directory; it contains error and warning messages, and can be deleted at any tim doc - README.txt and REFERENCE.txt include - header files needed to develop with MuJoCo model - model collection - sample - code samples and makefile need to build them + sample - code samples and CMakeLists.txt needed to build them After verifying that the simulator works, you may also want to re-compile the code samples to ensure that you have a -working development environment. We provide Makefiles for `Windows -`_, `macOS -`_, and `Linux -`_, and also a cross-platform `CMake +working development environment. We provide a cross-platform `CMake `_ setup that can be used to build sample -applications independently of the MuJoCo library itself. If you are using the vanilla Makefile, we assume that you are -using Visual Studio on Windows and LLVM/Clang on Linux. On Windows, you also need to either open a Visual Studio command -prompt with native x64 tools or call the ``vcvarsall.bat`` script that comes with your MSVC installation to set up the -appropriate environment variables. +applications independently of the MuJoCo library itself. On macOS, the DMG disk image contains ``MuJoCo.app``, which you can double-click to launch the ``simulate`` GUI. You can also drag ``MuJoCo.app`` into the ``/Application`` on your system, as you would to install any other app. While