Yuval Tassa
4830f5a79e
Also improve `compile` sample timing logic and documentation. PiperOrigin-RevId: 852855741 Change-Id: I9b2798208198ca68cf4cee9c968772954ada91c5
68 lines
2.6 KiB
ReStructuredText
68 lines
2.6 KiB
ReStructuredText
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.. _API:
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=========
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Functions
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=========
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.. tip::
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Clicking on a function name below will take you to the source implementation in the GitHub repository.
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The main header `mujoco.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mujoco.h>`_ exposes a
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large number of functions. However the functions that most users are likely to need are a small fraction.
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API function can be classified as:
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- **Main entry points**
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- :ref:`Parse and compile<Parseandcompile>` an :ref:`mjModel` from XML files and assets.
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- :ref:`Main simulation<Mainsimulation>` entry points, including :ref:`mj_step`.
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- **Support functions**
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- :ref:`Support<Support>` functions requiring :ref:`mjModel` and :ref:`mjData`.
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- Pipeline :ref:`components<Components>`, called from :ref:`mj_step`, :ref:`mj_forward` and :ref:`mj_inverse`.
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- :ref:`Sub components<Subcomponents>` of the simulation pipeline.
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- :ref:`Ray casting<Raycollisions>`.
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- :ref:`Printing<Printing>` of various quantities.
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- :ref:`Virtual file system<Virtualfilesystem>`, used to load assets from memory.
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- :ref:`Asset cache<Assetcache>`, used to speed up model compilation.
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- :ref:`Initialization<Initialization>` of data structures.
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- :ref:`Error and memory<Errorandmemory>`.
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- :ref:`Miscellaneous<Miscellaneous>` functions.
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- **Visualization, Rendering, UI**
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- :ref:`Abstract interaction<Interaction>`: mouse control of cameras and perturbations.
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- :ref:`Abstract Visualization<Visualization-api>`.
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- :ref:`OpenGL rendering<OpenGLrendering>`.
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- :ref:`UI framework<UIframework>`.
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- **Threads, Plugins, Derivatives**
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- :ref:`Derivatives<Derivatives-api>`.
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- :ref:`Thread<Thread>` |-| -related functions.
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- :ref:`Plugin<Plugins-api>` |-| -related functions.
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- **Math**
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- Aliases for C :ref:`standard math<Standardmath>` functions.
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- :ref:`Vector math<Vectormath>`.
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- :ref:`Sparse math<Sparsemath>`.
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- :ref:`Quaternions<Quaternions>`.
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- :ref:`Pose transformations<Poses>`.
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- :ref:`Matrix decompositions and solvers<Decompositions>`.
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- **Model editing**
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- :ref:`Attachment<Attachment>`.
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- :ref:`Tree elements<AddTreeElements>`.
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- :ref:`Non-tree elements<AddNonTreeElements>`.
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- :ref:`Assets<AddAssets>`.
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- :ref:`Find and get utilities<FindAndGetUtilities>`.
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- :ref:`Attribute setters<AttributeSetters>`.
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- :ref:`Attribute getters<AttributeGetters>`.
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- :ref:`Spec utilities<SpecUtilities>`.
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- :ref:`Element initialization<ElementInitialization>`.
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- :ref:`Element casting<ElementCasting>`.
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.. include:: functions.rst
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