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Cosmetic documentation improvements

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PiperOrigin-RevId: 530074671
Change-Id: I07e000c9c506ae8532ade10fb731b4e1fc0970ea
This commit is contained in:
Yuval Tassa
2023-05-07 02:09:30 -07:00
committed by Copybara-Service
parent f204e03575
commit ff1fa84d32
7 changed files with 74 additions and 77 deletions
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doc/APIreference/functions.rst
+13 -13
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@@ -986,14 +986,14 @@ Print sparse matrix to screen.
Virtual file system
^^^^^^^^^^^^^^^^^^^
Virtual file system (VFS) functionality was introduced in MuJoCo 1.50. It enables the user to load all necessary files
in memory, including MJB binary model files, XML files (MJCF, URDF and included files), STL meshes, PNGs for textures
and height fields, and HF files in our custom height field format. Model and resource files in the VFS can also be
constructed programmatically (say using a Python library that writes to memory). Once all desired files are in the VFS,
the user can call :ref:`mj_loadModel` or :ref:`mj_loadXML` with a pointer to the VFS. When this pointer is not NULL, the
loaders will first check the VFS for any file they are about to load, and only access the disk if the file is not found
in the VFS. The file names stored in the VFS have their name and extension but the path information is stripped; this
can be bypassed however by using a custom path symbol in the file names, say "mydir_myfile.xml".
Virtual file system (VFS) enables the user to load all necessary files in memory, including MJB binary model files, XML
files (MJCF, URDF and included files), STL meshes, PNGs for textures and height fields, and HF files in our custom
height field format. Model and resource files in the VFS can also be constructed programmatically (say using a Python
library that writes to memory). Once all desired files are in the VFS, the user can call :ref:`mj_loadModel` or
:ref:`mj_loadXML` with a pointer to the VFS. When this pointer is not NULL, the loaders will first check the VFS for any
file they are about to load, and only access the disk if the file is not found in the VFS. The file names stored in the
VFS have their name and extension but the path information is stripped; this can be bypassed however by using a custom
path symbol in the file names, say "mydir_myfile.xml".
The entire VFS is contained in the data structure :ref:`mjVFS`. All utility functions for maintaining the VFS operate on
this data structure. The common usage pattern is to first clear it with mj_defaultVFS, then add disk files to it with
@@ -1423,11 +1423,11 @@ mjv_select
.. mujoco-include:: mjv_select
This function is used for mouse selection. Previously selection was done via OpenGL, but as of MuJoCo 1.50 it relies on
ray intersections which are much more efficient. aspectratio is the viewport width/height. relx and rely are the
relative coordinates of the 2D point of interest in the viewport (usually mouse cursor). The function returns the id of
the geom under the specified 2D point, or -1 if there is no geom (note that they skybox if present is not a model geom).
The 3D coordinates of the clicked point are returned in selpnt. See :ref:`simulate<saSimulate>` for an illustration.
This function is used for mouse selection, relying on ray intersections. aspectratio is the viewport width/height. relx
and rely are the relative coordinates of the 2D point of interest in the viewport (usually mouse cursor). The function
returns the id of the geom under the specified 2D point, or -1 if there is no geom (note that they skybox if present is
not a model geom). The 3D coordinates of the clicked point are returned in selpnt. See :ref:`simulate<saSimulate>` for
an illustration.
.. _Visualization-api:
doc/APIreference/functions_override.rst
+13 -13
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@@ -8,14 +8,14 @@ The functions in this section are maintained for backward compatibility with the
.. _Virtualfilesystem:
Virtual file system (VFS) functionality was introduced in MuJoCo 1.50. It enables the user to load all necessary files
in memory, including MJB binary model files, XML files (MJCF, URDF and included files), STL meshes, PNGs for textures
and height fields, and HF files in our custom height field format. Model and resource files in the VFS can also be
constructed programmatically (say using a Python library that writes to memory). Once all desired files are in the VFS,
the user can call :ref:`mj_loadModel` or :ref:`mj_loadXML` with a pointer to the VFS. When this pointer is not NULL, the
loaders will first check the VFS for any file they are about to load, and only access the disk if the file is not found
in the VFS. The file names stored in the VFS have their name and extension but the path information is stripped; this
can be bypassed however by using a custom path symbol in the file names, say "mydir_myfile.xml".
Virtual file system (VFS) enables the user to load all necessary files in memory, including MJB binary model files, XML
files (MJCF, URDF and included files), STL meshes, PNGs for textures and height fields, and HF files in our custom
height field format. Model and resource files in the VFS can also be constructed programmatically (say using a Python
library that writes to memory). Once all desired files are in the VFS, the user can call :ref:`mj_loadModel` or
:ref:`mj_loadXML` with a pointer to the VFS. When this pointer is not NULL, the loaders will first check the VFS for any
file they are about to load, and only access the disk if the file is not found in the VFS. The file names stored in the
VFS have their name and extension but the path information is stripped; this can be bypassed however by using a custom
path symbol in the file names, say "mydir_myfile.xml".
The entire VFS is contained in the data structure :ref:`mjVFS`. All utility functions for maintaining the VFS operate on
this data structure. The common usage pattern is to first clear it with mj_defaultVFS, then add disk files to it with
@@ -178,11 +178,11 @@ illustrated in :ref:`simulate<saSimulate>`.
.. _mjv_select:
This function is used for mouse selection. Previously selection was done via OpenGL, but as of MuJoCo 1.50 it relies on
ray intersections which are much more efficient. aspectratio is the viewport width/height. relx and rely are the
relative coordinates of the 2D point of interest in the viewport (usually mouse cursor). The function returns the id of
the geom under the specified 2D point, or -1 if there is no geom (note that they skybox if present is not a model geom).
The 3D coordinates of the clicked point are returned in selpnt. See :ref:`simulate<saSimulate>` for an illustration.
This function is used for mouse selection, relying on ray intersections. aspectratio is the viewport width/height. relx
and rely are the relative coordinates of the 2D point of interest in the viewport (usually mouse cursor). The function
returns the id of the geom under the specified 2D point, or -1 if there is no geom (note that they skybox if present is
not a model geom). The 3D coordinates of the clicked point are returned in selpnt. See :ref:`simulate<saSimulate>` for
an illustration.
.. _Visualization-api: