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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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include/mujoco/mujoco.h
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@@ -465,6 +465,10 @@ MJAPI int mj_stateSize(const mjModel* m, unsigned int sig);
// Get state.
MJAPI void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, unsigned int sig);
// Extract a subset of components from a state previously obtained via mj_getState.
MJAPI void mj_extractState(const mjModel* m, const mjtNum* src, unsigned int srcsig,
mjtNum* dst, unsigned int dstsig);
// Set state.
MJAPI void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, unsigned int sig);