Add MjSpec.encode method.

PiperOrigin-RevId: 907177387 Change-Id: I65800298798037c4a0c0cd79ec86706be67db51e
2026-04-28 14:22:11 -07:00
parent ace90c00b9
commit d92fe0810c
5 changed files with 119 additions and 0 deletions
@@ -7,6 +7,11 @@ Upcoming version (not yet released)

 - Added island support for the :ref:`PGS solver<soAlgorithms>`.

+Python
+^^^^^^
+
+- Added ``MjSpec.encode`` method, wrapping :ref:`mj_encode`.
+
 Version 3.8.0 (April 24, 2026)
 ------------------------------

@@ -547,6 +547,12 @@ Compiled ``MjSpec`` objects can be saved to XML string with the ``to_xml()`` met
     </worldbody>
   </mujoco>

+Alternatively, the spec can be saved directly to a file using ``encode()``:
+
+.. code-block:: python
+
+   spec.encode('model.xml', model)
+
 Attachment
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