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Improve documentation of mj_saveLastXML fixes #2075

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PiperOrigin-RevId: 735672207
Change-Id: I951b8be9cf12a2a4965a40bb8db4de4ddda18570
This commit is contained in:
Yuval Tassa
2025-03-11 01:56:51 -07:00
committed by Copybara-Service
parent 019e0a806c
commit bd9d30adc7
4 changed files with 16 additions and 3 deletions
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doc/APIreference/functions.rst
+5 -1
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@@ -75,9 +75,13 @@ instances will be deleted; as in :ref:`mj_compile`, the compilation error can be
.. mujoco-include:: mj_saveLastXML
Update XML data structures with info from low-level model, save as MJCF.
Update XML data structures with info from low-level model created with :ref:`mj_loadXML`, save as MJCF.
If error is not NULL, it must have size error_sz.
Note that this function only saves models that have been loaded with :ref:`mj_loadXML`, the legacy loading mechanism.
See the :ref:`model editing<meOverview>` chapter to understand the difference between the old and new model loading and
saving mechanisms.
.. _mj_freeLastXML:
`mj_freeLastXML <#mj_freeLastXML>`__
doc/APIreference/functions_override.rst
+9
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@@ -47,6 +47,15 @@ struct pointers while editing the model programmatically.
:ref:`mj_recompile` returns 0 if compilation succeed. In the case of failure, the given :ref:`mjModel` and :ref:`mjData`
instances will be deleted; as in :ref:`mj_compile`, the compilation error can be read with :ref:`mjs_getError`.
.. _mj_saveLastXML:
Update XML data structures with info from low-level model created with :ref:`mj_loadXML`, save as MJCF.
If error is not NULL, it must have size error_sz.
Note that this function only saves models that have been loaded with :ref:`mj_loadXML`, the legacy loading mechanism.
See the :ref:`model editing<meOverview>` chapter to understand the difference between the old and new model loading and
saving mechanisms.
.. _mj_saveXMLString:
Save spec to XML string, return 0 on success, -1 on failure. If the length of the output buffer is too small, returns
include/mujoco/mujoco.h
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@@ -110,7 +110,7 @@ MJAPI mjModel* mj_compile(mjSpec* s, const mjVFS* vfs);
// Recompile spec to model, preserving the state, return 0 on success.
MJAPI int mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d);
// Update XML data structures with info from low-level model, save as MJCF.
// Update XML data structures with info from low-level model created with mj_loadXML, save as MJCF.
// If error is not NULL, it must have size error_sz.
MJAPI int mj_saveLastXML(const char* filename, const mjModel* m, char* error, int error_sz);
python/mujoco/introspect/functions.py
+1 -1
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@@ -308,7 +308,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=ValueType(name='int'),
),
),
doc='Update XML data structures with info from low-level model, save as MJCF. If error is not NULL, it must have size error_sz.', # pylint: disable=line-too-long
doc='Update XML data structures with info from low-level model created with mj_loadXML, save as MJCF. If error is not NULL, it must have size error_sz.', # pylint: disable=line-too-long
)),
('mj_freeLastXML',
FunctionDecl(