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Add xmacros for MjSpec.

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PiperOrigin-RevId: 922169069
Change-Id: I01426596e49196996dfa324d5ab3849a90de2e3a
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Google DeepMind
2026-05-27 09:10:43 -07:00
committed by Copybara-Service
parent 36ea0c466f
commit af4be63cd8
7 changed files with 760 additions and 3 deletions
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doc/APIreference/APIglobals.rst
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@@ -706,7 +706,8 @@ X Macros
^^^^^^^^
The X Macros are not needed in most user projects. They are used internally to allocate the model, and are also
available for users who know how to use this programming technique. See the header file `mjxmacro.h
<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjxmacro.h>`_ for the actual definitions. They are
available for users who know how to use this programming technique. See the header files `mjxmacro.h
<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjxmacro.h>`_ and `mjspecmacro.h
<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjspecmacro.h>`_ for the actual definitions. They are
particularly useful in writing MuJoCo wrappers for scripting languages, where dynamic structures matching the MuJoCo
data structures need to be constructed programmatically.