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Add mj_extractState as a public API function.

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This function allows the caller to extract a subset of components of a state previously obtained via `mj_getState` without having to first write it back into `mjData`.

PiperOrigin-RevId: 822165077
Change-Id: I6433261f4f5ec2e8d024bb7dee8f7dbf1e62666c
This commit is contained in:
Saran Tunyasuvunakool
2025-10-21 10:00:24 -07:00
committed by Copybara-Service
parent 25f5be82ff
commit 2f65e23779
11 changed files with 171 additions and 1 deletions
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doc/changelog.rst
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@@ -10,6 +10,8 @@ General
- Raise an error if there are name collisions also during parsing.
- Increase Windows stack size to 16MB to enable models with deep nested body hierarchies.
- Added a new :ref:`mj_extractState` function that allows a subset of a state that was previously returned by
:ref:`mj_getState` to be extracted without having to be written back into ``mjData`` first.
Version 3.3.7 (October 13, 2025)
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