From 49a3caf84c1ee3dedf2af654285fa788860fe4f2 Mon Sep 17 00:00:00 2001
From: Saran Tunyasuvunakool <stunya@google.com>
Date: Fri, 24 Oct 2025 05:50:06 -0700
Subject: [PATCH] Modify SimulationState proto to correspond to mj_getState.

PiperOrigin-RevId: 823494487
Change-Id: Ib284e3165ca691f5b690a376f7b28e51122e1bc4
---
 src/experimental/toolbox/physics.cc | 6 ++++--
 src/experimental/toolbox/physics.h  | 3 ++-
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/experimental/toolbox/physics.cc b/src/experimental/toolbox/physics.cc
index e1ad6e21..5c0ff28d 100644
--- a/src/experimental/toolbox/physics.cc
+++ b/src/experimental/toolbox/physics.cc
@@ -49,9 +49,9 @@ void Physics::LoadModel(std::string model_file, const mjVFS* vfs) {
   vfs_ = vfs;
 }
 
-void Physics::ProcessPendingLoad() {
+bool Physics::ProcessPendingLoad() {
   if (!pending_load_.has_value()) {
-    return;
+    return model_ && data_;
   }
 
   Clear();
@@ -68,6 +68,8 @@ void Physics::ProcessPendingLoad() {
   on_model_loaded_(model_file);
 
   InitHistory();
+
+  return model_ && data_;
 }
 
 void Physics::Clear() {
diff --git a/src/experimental/toolbox/physics.h b/src/experimental/toolbox/physics.h
index 5cd960e4..13eabc47 100644
--- a/src/experimental/toolbox/physics.h
+++ b/src/experimental/toolbox/physics.h
@@ -93,8 +93,9 @@ class Physics {
   // Returns the error message from the simulation.
   std::string_view GetError() const { return error_; }
 
+  bool ProcessPendingLoad();
+
  private:
-  void ProcessPendingLoad();
   void InitHistory();
   void AddToHistory();