Provide a more detailed documentation of the C++ API Reference.

[HuNingHe]

I found that most of the tutorials are about python, and there are few examples about c++. And the documentation does not explain the API in detail. For example, the meaning of different indexes of "sensor_adr" and how to use it, I can only find a little use case of this in mujoco_mpc, which is not friendly to newcomers.

The most basic example should contain a controller that tells the user how to read the sensor data and how to set the joint torque.

[yuvaltassa]

I think you mean the C API? There is a C++ API, but that is indeed not documented as it is not finalised.

The data structures are all documented here under struct types. For example

int*      sensor_adr;           // address in sensor array                  (nsensor x 1)

If this is still not clear enough, just browse the code, it is very easy to read. E.g. here