Document how to save MjSpec to XML. Fixes #2075

PiperOrigin-RevId: 704712337 Change-Id: I51c1a14c5c48ffc8e37d9e31162a3e70a3b10313
2024-12-10 08:03:58 -08:00
parent 83c0ac148c
commit a7fed25fdd
1 changed files with 23 additions and 1 deletions
@@ -479,6 +479,7 @@ Below is a minimal usage example, more examples can be found in the Model Editin

   import mujoco
   spec = mujoco.MjSpec()
+   spec.modelname = "my model"
   body = spec.worldbody.add_body(
       pos=[1, 2, 3],
       quat=[0, 1, 0, 0],
@@ -503,9 +504,30 @@ The ``MjSpec`` object wraps the :ref:`mjSpec` struct and can be constructed in t

 Note the ``from_string()`` and ``from_file()`` methods can only be called at construction time.

-Attachments
+Save to XML
 -----------

+Compiled ``MjSpec`` objects can be saved to XML string with the ``to_xml()`` method:
+
+.. code-block:: python
+
+   print(spec.to_xml())
+
+.. code-block:: XML
+
+   <mujoco model="my model">
+     <compiler angle="radian"/>
+
+     <worldbody>
+       <body pos="1 2 3" quat="0 1 0 0">
+         <geom name="my_geom" size="1" rgba="1 0 0 1"/>
+       </body>
+     </worldbody>
+   </mujoco>
+
+Attachment
+----------
+
 It is possible to combine multiple specs by using attachments. The following options are possible:

 -   Attach a body from the child spec to a frame in the parent spec: ``body.attach_body(body, prefix, suffix)``, returns