chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Update Programming/simulation chapter.

Browse Source 
PiperOrigin-RevId: 847424298
Change-Id: Icc6efb05dee5e67a5813ed04caa15a5703e59aee
This commit is contained in:
Yuval Tassa
2025-12-21 08:15:49 -08:00
committed by Copybara-Service
parent b8a4ac5d48
commit b77977a962
7 changed files with 273 additions and 278 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/programming/modeledit.rst
+5 -5
View File
@@ -21,15 +21,15 @@ The new API augments the traditional workflow of creating and editing models usi
*compile* steps. As summarized in the :ref:`Overview chapter<Instance>`, the traditional workflow is:
1. Create an XML model description file (MJCF or URDF) and associated assets. |br|
2. Call :ref:`mj_loadXML`, obtain an mjModel instance.
2. Call :ref:`mj_loadXML`, obtain an :ref:`mjModel` instance.
The new workflow using :ref:`mjSpec` is:
1. :ref:`Create<mj_makeSpec>` an empty mjSpec or :ref:`parse<mj_parseXML>` an existing XML file.
2. Programmatically edit the mjSpec datastructure by adding, modifying and removing elements.
3. :ref:`Compile<mj_compile>` the mjSpec to an mjModel instance.
1. Create an empty :ref:`mjSpec` using :ref:`mj_makeSpec` or parse an existing XML file using :ref:`mj_parseXML`.
2. Programmatically edit the :ref:`mjSpec` datastructure by adding, modifying and removing elements.
3. Compile the :ref:`mjSpec` to an :ref:`mjModel` instance using :ref:`mj_compile`.
After compilation, the mjSpec remains editable, so steps 2 and 3 are interchangeable.
After compilation, the :ref:`mjSpec` remains editable, so steps 2 and 3 are interchangeable.
.. _meUsage: