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Remove special handling of mjModel and mjData strings in autogenerated functions.rst

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PiperOrigin-RevId: 612714709
Change-Id: Ie6c139d2c41488cd19c9bf5152b912a51b2f3a34
This commit is contained in:
Yuval Tassa
2024-03-04 22:59:29 -08:00
committed by Copybara-Service
parent edc4db6898
commit e142bca7f2
1 changed files with 20 additions and 20 deletions
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doc/APIreference/functions.rst
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@@ -224,7 +224,7 @@ mj_mulJacVec
.. mujoco-include:: mj_mulJacVec .. mujoco-include:: mj_mulJacVec
This function multiplies the constraint Jacobian :ref:`mjData`.efc_J by a vector. Note that the Jacobian can be either dense or This function multiplies the constraint Jacobian mjData.efc_J by a vector. Note that the Jacobian can be either dense or
sparse; the function is aware of this setting. Multiplication by J maps velocities from joint space to constraint space. sparse; the function is aware of this setting. Multiplication by J maps velocities from joint space to constraint space.
.. _mj_mulJacTVec: .. _mj_mulJacTVec:
@@ -341,7 +341,7 @@ mj_mulM
.. mujoco-include:: mj_mulM .. mujoco-include:: mj_mulM
This function multiplies the joint-space inertia matrix stored in :ref:`mjData`.qM by a vector. qM has a custom sparse format This function multiplies the joint-space inertia matrix stored in mjData.qM by a vector. qM has a custom sparse format
that the user should not attempt to manipulate directly. Alternatively one can convert qM to a dense matrix with that the user should not attempt to manipulate directly. Alternatively one can convert qM to a dense matrix with
mj_fullM and then user regular matrix-vector multiplication, but this is slower because it no longer benefits from mj_fullM and then user regular matrix-vector multiplication, but this is slower because it no longer benefits from
sparsity. sparsity.
@@ -373,7 +373,7 @@ mj_applyFT
.. mujoco-include:: mj_applyFT .. mujoco-include:: mj_applyFT
This function can be used to apply a Cartesian force and torque to a point on a body, and add the result to the vector This function can be used to apply a Cartesian force and torque to a point on a body, and add the result to the vector
:ref:`mjData`.qfrc_applied of all applied forces. Note that the function requires a pointer to this vector, because sometimes mjData.qfrc_applied of all applied forces. Note that the function requires a pointer to this vector, because sometimes
we want to add the result to a different vector. we want to add the result to a different vector.
.. _mj_objectVelocity: .. _mj_objectVelocity:
@@ -394,7 +394,7 @@ mj_objectAcceleration
Compute object 6D acceleration (rot:lin) in object-centered frame, world/local orientation. If acceleration or force Compute object 6D acceleration (rot:lin) in object-centered frame, world/local orientation. If acceleration or force
sensors are not present in the model, :ref:`mj_rnePostConstraint` must be manually called in order to calculate sensors are not present in the model, :ref:`mj_rnePostConstraint` must be manually called in order to calculate
:ref:`mjData`.cacc -- the total body acceleration, including contributions from the constraint solver. mjData.cacc -- the total body acceleration, including contributions from the constraint solver.
.. _mj_contactForce: .. _mj_contactForce:
@@ -1022,7 +1022,7 @@ mj_printFormattedModel
.. mujoco-include:: mj_printFormattedModel .. mujoco-include:: mj_printFormattedModel
Print :ref:`mjModel` to text file, specifying format. Print mjModel to text file, specifying format.
float_format must be a valid printf-style format string for a single float value. float_format must be a valid printf-style format string for a single float value.
.. _mj_printModel: .. _mj_printModel:
@@ -1041,7 +1041,7 @@ mj_printFormattedData
.. mujoco-include:: mj_printFormattedData .. mujoco-include:: mj_printFormattedData
Print :ref:`mjData` to text file, specifying format. Print mjData to text file, specifying format.
float_format must be a valid printf-style format string for a single float value float_format must be a valid printf-style format string for a single float value
.. _mj_printData: .. _mj_printData:
@@ -1205,7 +1205,7 @@ mj_copyModel
.. mujoco-include:: mj_copyModel .. mujoco-include:: mj_copyModel
Copy :ref:`mjModel`, allocate new if dest is NULL. Copy mjModel, allocate new if dest is NULL.
.. _mj_saveModel: .. _mj_saveModel:
@@ -1251,7 +1251,7 @@ mj_makeData
.. mujoco-include:: mj_makeData .. mujoco-include:: mj_makeData
Allocate :ref:`mjData` corresponding to given model. Allocate mjData corresponding to given model.
If the model buffer is unallocated the initial configuration will not be set. If the model buffer is unallocated the initial configuration will not be set.
.. _mj_copyData: .. _mj_copyData:
@@ -1261,7 +1261,7 @@ mj_copyData
.. mujoco-include:: mj_copyData .. mujoco-include:: mj_copyData
Copy :ref:`mjData`. Copy mjData.
m is only required to contain the size fields from MJMODEL_INTS. m is only required to contain the size fields from MJMODEL_INTS.
.. _mj_resetData: .. _mj_resetData:
@@ -1298,7 +1298,7 @@ mj_markStack
.. mujoco-include:: mj_markStack .. mujoco-include:: mj_markStack
Mark a new frame on the :ref:`mjData` stack. Mark a new frame on the mjData stack.
.. _mj_freeStack: .. _mj_freeStack:
@@ -1307,7 +1307,7 @@ mj_freeStack
.. mujoco-include:: mj_freeStack .. mujoco-include:: mj_freeStack
Free the current :ref:`mjData` stack frame. All pointers returned by mj_stackAlloc since the last call Free the current mjData stack frame. All pointers returned by mj_stackAlloc since the last call
to mj_markStack must no longer be used afterwards. to mj_markStack must no longer be used afterwards.
.. _mj_stackAllocByte: .. _mj_stackAllocByte:
@@ -1317,7 +1317,7 @@ mj_stackAllocByte
.. mujoco-include:: mj_stackAllocByte .. mujoco-include:: mj_stackAllocByte
Allocate a number of bytes on :ref:`mjData` stack at a specific alignment. Allocate a number of bytes on mjData stack at a specific alignment.
Call mju_error on stack overflow. Call mju_error on stack overflow.
.. _mj_stackAllocNum: .. _mj_stackAllocNum:
@@ -1327,7 +1327,7 @@ mj_stackAllocNum
.. mujoco-include:: mj_stackAllocNum .. mujoco-include:: mj_stackAllocNum
Allocate array of mjtNums on :ref:`mjData` stack. Call mju_error on stack overflow. Allocate array of mjtNums on mjData stack. Call mju_error on stack overflow.
.. _mj_stackAllocInt: .. _mj_stackAllocInt:
@@ -1336,7 +1336,7 @@ mj_stackAllocInt
.. mujoco-include:: mj_stackAllocInt .. mujoco-include:: mj_stackAllocInt
Allocate array of ints on :ref:`mjData` stack. Call mju_error on stack overflow. Allocate array of ints on mjData stack. Call mju_error on stack overflow.
.. _mj_deleteData: .. _mj_deleteData:
@@ -1345,7 +1345,7 @@ mj_deleteData
.. mujoco-include:: mj_deleteData .. mujoco-include:: mj_deleteData
Free memory allocation in :ref:`mjData`. Free memory allocation in mjData.
.. _mj_resetCallbacks: .. _mj_resetCallbacks:
@@ -1363,7 +1363,7 @@ mj_setConst
.. mujoco-include:: mj_setConst .. mujoco-include:: mj_setConst
Set constant fields of :ref:`mjModel`, corresponding to qpos0 configuration. Set constant fields of mjModel, corresponding to qpos0 configuration.
.. _mj_setLengthRange: .. _mj_setLengthRange:
@@ -2167,7 +2167,7 @@ mj_warning
.. mujoco-include:: mj_warning .. mujoco-include:: mj_warning
High-level warning function: count warnings in :ref:`mjData`, print only the first. High-level warning function: count warnings in mjData, print only the first.
.. _mju_writeLog: .. _mju_writeLog:
@@ -3314,7 +3314,7 @@ mjd_transitionFD
Finite-differenced discrete-time transition matrices. Finite-differenced discrete-time transition matrices.
Letting :math:`x, u` denote the current :ref:`state<gePhysicsState>` and :ref:`control<geInput>` Letting :math:`x, u` denote the current :ref:`state<gePhysicsState>` and :ref:`control<geInput>`
vector in an :ref:`mjData` instance, and letting :math:`y, s` denote the next state and sensor vector in an mjData instance, and letting :math:`y, s` denote the next state and sensor
values, the top-level :ref:`mj_step` function computes :math:`(x,u) \rightarrow (y,s)`. values, the top-level :ref:`mj_step` function computes :math:`(x,u) \rightarrow (y,s)`.
:ref:`mjd_transitionFD` computes the four associated Jacobians using finite-differencing. :ref:`mjd_transitionFD` computes the four associated Jacobians using finite-differencing.
These matrices and their dimensions are: These matrices and their dimensions are:
@@ -3345,7 +3345,7 @@ mjd_inverseFD
Finite differenced continuous-time inverse-dynamics Jacobians. Finite differenced continuous-time inverse-dynamics Jacobians.
Letting :math:`x, a` denote the current :ref:`state<gePhysicsState>` and acceleration vectors in an :ref:`mjData` instance, and Letting :math:`x, a` denote the current :ref:`state<gePhysicsState>` and acceleration vectors in an mjData instance, and
letting :math:`f, s` denote the forces computed by the inverse dynamics (``qfrc_inverse``), the function letting :math:`f, s` denote the forces computed by the inverse dynamics (``qfrc_inverse``), the function
:ref:`mj_inverse` computes :math:`(x,a) \rightarrow (f,s)`. :ref:`mjd_inverseFD` computes seven associated Jacobians :ref:`mj_inverse` computes :math:`(x,a) \rightarrow (f,s)`. :ref:`mjd_inverseFD` computes seven associated Jacobians
using finite-differencing. These matrices and their dimensions are: using finite-differencing. These matrices and their dimensions are:
@@ -3532,7 +3532,7 @@ mju_bindThreadPool
.. mujoco-include:: mju_bindThreadPool .. mujoco-include:: mju_bindThreadPool
Adds a thread pool to :ref:`mjData` and configures it for multi-threaded use. Adds a thread pool to mjData and configures it for multi-threaded use.
.. _mju_threadPoolEnqueue: .. _mju_threadPoolEnqueue: