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Improve docstrings and layout in mjdata.h

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PiperOrigin-RevId: 649195756
Change-Id: Iadf6589c226acacd9f3e85959de552a98fc7435a
This commit is contained in:
Yuval Tassa
2024-07-03 14:14:44 -07:00
committed by Copybara-Service
parent 5cce67439b
commit ca44ad4f0f
4 changed files with 89 additions and 89 deletions
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introspect/structs.py
+24 -24
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@@ -4183,7 +4183,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='pstack',
type=ValueType(name='size_t'),
doc='first available mjtNum address in stack',
doc='first available byte in stack',
),
StructFieldDecl(
name='pbase',
@@ -4223,22 +4223,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'),
doc='maximum number of scalar constraints',
),
StructFieldDecl(
name='warning',
type=ArrayType(
inner_type=ValueType(name='mjWarningStat'),
extents=(8,),
),
doc='warning statistics',
),
StructFieldDecl(
name='timer',
type=ArrayType(
inner_type=ValueType(name='mjTimerStat'),
extents=(15,),
),
doc='timer statistics',
),
StructFieldDecl(
name='solver',
type=ArrayType(
@@ -4266,7 +4250,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='int'),
extents=(20,),
),
doc='number of non-zeros in Hessian or efc_AR, per island',
doc='number of nonzeros in Hessian or efc_AR, per island',
),
StructFieldDecl(
name='solver_fwdinv',
@@ -4276,6 +4260,22 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='forward-inverse comparison: qfrc, efc',
),
StructFieldDecl(
name='warning',
type=ArrayType(
inner_type=ValueType(name='mjWarningStat'),
extents=(8,),
),
doc='warning statistics',
),
StructFieldDecl(
name='timer',
type=ArrayType(
inner_type=ValueType(name='mjTimerStat'),
extents=(15,),
),
doc='timer statistics',
),
StructFieldDecl(
name='ne',
type=ValueType(name='int'),
@@ -4756,7 +4756,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtByte'),
),
doc='volume has been added to collisions (nbvh x 1)', # pylint: disable=line-too-long
doc='was bounding volume checked for collision (nbvh x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='flexedge_velocity',
@@ -4987,7 +4987,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjContact'),
),
doc='list of all detected contacts (ncon x 1)', # pylint: disable=line-too-long
doc='array of all detected contacts (ncon x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_type',
@@ -5239,26 +5239,26 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='linear cost term: J*qacc_smooth - aref (nefc x 1)', # pylint: disable=line-too-long
doc='linear cost term: J*qacc_smooth - aref (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_force',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint force in constraint space (nefc x 1)', # pylint: disable=line-too-long
doc='constraint force in constraint space (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='efc_state',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='constraint state (mjtConstraintState) (nefc x 1)', # pylint: disable=line-too-long
doc='constraint state (mjtConstraintState) (nefc x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='threadpool',
type=ValueType(name='uintptr_t'),
doc='ThreadPool for multithreaded operations',
doc='thread pool pointer',
),
),
)),