From 7ba192395ddad4aabdc0598b9842c67df2064d83 Mon Sep 17 00:00:00 2001
From: kanarus <kanarus786@gmail.com>
Date: Mon, 15 Sep 2025 04:18:26 +0900
Subject: [PATCH] examples: use `mj_name2id` instead of method utility & fill
 README `## Example` with the main part of `visualize_left_object.rs`

---
 Cargo.toml                        |  2 +-
 README.md                         | 52 ++++++++++++++++++++++++++-----
 examples/visualize_left_object.rs |  4 +--
 3 files changed, 48 insertions(+), 10 deletions(-)

diff --git a/Cargo.toml b/Cargo.toml
index ef13bb2..77b83d7 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -16,4 +16,4 @@ categories    = ["api-bindings", "science::robotics", "simulation"]
 bindgen = "0.72"
 
 [dev-dependencies]
-glfw = "0.59.0"
+glfw = "0.60"
diff --git a/README.md b/README.md
index 7b4704e..d0e1549 100644
--- a/README.md
+++ b/README.md
@@ -52,24 +52,62 @@
 - Depending on your setting, be sure to specify `$MUJOCO_DIR/lib` as shared library path
   when executing your app (for example `LD_LIBRARY_PATH=$MUJOCO_DIR/lib cargo run` on Linux)
 
-## Usage
+## Example
 
-*Cargo.toml*
 ```toml
 [dependencies]
 rusty_mujoco = "0.1"
+glfw = "0.60"
 ```
 
-*src/main.rs*
 ```rust
-fn main() {
-    // TODO DOCUMENT...
+let model = mj_loadXML(xml_path).expect("Failed to load XML file");
+let mut data = mj_makeData(&model);
+
+let mut glfw = glfw::init(glfw::fail_on_errors).expect("Failed to initialize GLFW");
+let (mut window, _) = glfw
+    .create_window(1200, 900, "Acrobot Simulation", glfw::WindowMode::Windowed)
+    .expect("Failed to create GLFW window");
+window.set_size_polling(true);
+window.set_close_polling(true);
+glfw::Context::make_current(&mut *window);
+
+let con = mjrContext::new(&model, mjtFontScale::X150);
+let opt = mjvOption::default();
+let mut scn = mjvScene::new(&model, 2000);
+let mut cam = mjvCamera::default();
+camera_name.map(|name| cam.set_fixedcamid(mj_name2id(&model, &name).expect("No camera of such name in the model")));
+
+while !window.should_close() {
+    while data.time() < glfw.get_time() {
+        mj_step(&model, &mut data);
+    }
+    
+    let viewport = {
+        let (width, height) = window.get_framebuffer_size();
+        mjrRect::new(0, 0, width as u32, height as u32)
+    };
+    
+    mjv_updateScene(
+        &model,
+        &mut data,
+        &opt,
+        None, /* No perturbation */
+        &mut cam,
+        mjtCatBit::ALL,
+        &mut scn,
+    );
+    mjr_render(viewport, &mut scn, &con);
+    
+    glfw::Context::swap_buffers(&mut *window);
+    glfw.poll_events();
 }
 ```
 
-See the [examples](./examples) directory for working examples.
+See [examples/visualize_left_object.rs](./examples/visualize_left_object.rs) for full example
+and [examples/README.md](./examples/README.md) for the description.
 
-###  Binding Philosophy:
+##  Binding Philosophy:
   - implement based on [rust-lang/bindgen](https://github.com/rust-lang/rust-bindgen).
   - deny any direct field access to raw-bindgen structs and provide fully-accessible methods.
   - automatically handle *resource types* that need proper resource management
diff --git a/examples/visualize_left_object.rs b/examples/visualize_left_object.rs
index 85e1566..c96cbb4 100644
--- a/examples/visualize_left_object.rs
+++ b/examples/visualize_left_object.rs
@@ -1,4 +1,4 @@
-use rusty_mujoco::{mj_loadXML, mj_makeData, mj_step, mjr_render, mjv_updateScene};
+use rusty_mujoco::{mj_loadXML, mj_makeData, mj_name2id, mj_step, mjr_render, mjv_updateScene};
 use rusty_mujoco::{mjrContext, mjrRect, mjvScene, mjvCamera, mjvOption, mjtCatBit, mjtFontScale};
 
 struct Args {
@@ -53,7 +53,7 @@ fn main() {
     let opt = mjvOption::default();
     let mut scn = mjvScene::new(&model, 2000);
     let mut cam = mjvCamera::default();
-    camera_name.map(|name| cam.set_fixedcamid(model.object_id(&name).expect("No camera of such name in the model")));
+    camera_name.map(|name| cam.set_fixedcamid(mj_name2id(&model, &name).expect("No camera of such name in the model")));
 
     while !window.should_close() {
         while data.time() < glfw.get_time() {