NTRT Simulator  Version: Master
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tgcreator a specification of tgNodes and tgPairs to build a tensegrity structure. Nodes are first placed into a tgStructure, and then those nodes are paired and tagged. Nodes can be tagged directly, and then become a tgSphereInfo. A tgPair can either become a tgRigidInfo or a tgConnectorInfo based on its tgTag structure. This is determined by the config (from tgRodInfo or tgBasicActuatorInfo) that is passed into a tgBuildSpec. The tgBuildSpec is given to a tgStructureInfo, which then builds the structure into the relevant tgModel. It takes care of compouding tgRod (s) that share the same nodes using tgRigidAutoCompound.

For an example, see PrismModel