Alessio Quaglino
7a06bcfdaf
Still missing: - Detailed documentation. - Python bindings. PiperOrigin-RevId: 641445626 Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
45 lines
1.6 KiB
ReStructuredText
45 lines
1.6 KiB
ReStructuredText
Model Editing
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-------------
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.. admonition:: Unstable API
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:class: attention
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The API described below is new and unstable. There may be latent bugs and function signatures may change. Early
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adopters are welcome (indeed, encouraged) to try it out and report any issues on GitHub.
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As of MuJoCo 3.2, it is possible to create and modify models using the :ref:`mjSpec` struct and related API.
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This datastructure is in one-to-one correspondence with MJCF and indeed, MuJoCo's own XML parsers (both MJCF and URDF)
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use this API when loading a model.
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.. _meOverview:
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Overview
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~~~~~~~~
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As summarized in the the :ref:`Overview chapter<Instance>`, the traditional workflow to create compiled :ref:`mjModel`
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instances is:
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1. Create an XML model description file (MJCF or URDF).
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2. Call :ref:`mj_loadXML` passing in the XML (and associated assets), obtain an :ref:`mjModel` instance.
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The new workflow looks like:
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1. Create an :ref:`mjSpec`, either an empty one corresponding to the XML ``<mujoco/>``, or by loading an existing XML
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file.
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2. Modify the :ref:`mjSpec` as desired, adding, editing and removing elements.
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3. Compile the :ref:`mjSpec` at any point, obtaining an updated :ref:`mjModel` instance. After compilation, the
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:ref:`mjSpec` remains editable, so steps 2 and 3 are interchangable.
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.. _meUsage:
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Usage
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~~~~~
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Detailed documentation is still missing. In the meantime, advanced users can refer to
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`user_api_test.cc <https://github.com/google-deepmind/mujoco/blob/main/test/user/user_api_test.cc>`__ and the MJCF
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parser in `xml_native_reader.cc <https://github.com/google-deepmind/mujoco/blob/main/src/xml/xml_native_reader.cc>`__,
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which is already using this API.
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