Functions for printing the contents of mjvScene.

PiperOrigin-RevId: 812699642
Change-Id: Iafff53c952c952624129ff01a8c1b0aa5d38eec5

doc/APIreference/functions.rst

@@ -1215,7 +1215,7 @@ Print model to text file.
 .. mujoco-include:: mj_printFormattedData
 
 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:
 
@@ -1253,6 +1253,25 @@ Print sparse matrix to screen.
 
 Print internal XML schema as plain text or HTML, with style-padding or `` ``.
 
+.. _mj_printScene:
+
+`mj_printScene <#mj_printScene>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mj_printScene
+
+Print scene to text file.
+
+.. _mj_printFormattedScene:
+
+`mj_printFormattedScene <#mj_printFormattedScene>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mj_printFormattedScene
+
+Print scene to text file, specifying format.
+float_format must be a valid printf-style format string for a single float value.
+
 .. _Virtualfilesystem:
 
 Virtual file system

doc/includes/references.h

@@ -3066,6 +3066,9 @@ void mju_printMatSparse(const mjtNum* mat, int nr,
                         const int* rownnz, const int* rowadr, const int* colind);
 int mj_printSchema(const char* filename, char* buffer, int buffer_sz,
                    int flg_html, int flg_pad);
+void mj_printScene(const mjvScene* s, const char* filename);
+void mj_printFormattedScene(const mjvScene* s, const char* filename,
+                            const char* float_format);
 void mj_fwdPosition(const mjModel* m, mjData* d);
 void mj_fwdVelocity(const mjModel* m, mjData* d);
 void mj_fwdActuation(const mjModel* m, mjData* d);