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Make model editing API public, fixes #364

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Still missing:

- Detailed documentation.
- Python bindings.

PiperOrigin-RevId: 641445626
Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
This commit is contained in:
Alessio Quaglino
2024-06-07 22:27:10 -07:00
committed by Copybara-Service
parent 4c3d9461ae
commit 7a06bcfdaf
46 changed files with 8508 additions and 980 deletions
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doc/programming/simulation.rst
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@@ -585,8 +585,8 @@ corresponding to precomputed quantities when the model is in the reference confi
Finally, if changes are made to mjModel at runtime, it may be desirable to save them back to the XML. The function
:ref:`mj_saveLastXML` does that in a limited sense: it copies all real-valued parameters from mjModel back to the
internal mjCModel, and then saves it as XML. This does not cover all possible changes that the user could have made.
The only way to guarantee that all changes are saved is to save the model as a binary MJB file with the function
internal :ref:`mjSpec`, and then saves it as XML. This does not cover all possible changes that the user could have
made. The only way to guarantee that all changes are saved is to save the model as a binary MJB file with the function
:ref:`mj_saveModel`, or even better, make the changes directly in the XML. Unfortunately there are situations where
changes need to be made programmatically, as in system identification for example, and this can only be done with the
compiled model. So in summary, we have reasonable but not perfect mechanisms for saving model changes. The reason for