Add mjv_copyData

PiperOrigin-RevId: 760642972
Change-Id: I16227fd91bf42618fda684b15b3650758ae29b13

doc/APIreference/functions.rst

@@ -1364,6 +1364,15 @@ If the model buffer is unallocated the initial configuration will not be set.
 Copy mjData.
 m is only required to contain the size fields from MJMODEL_INTS.
 
+.. _mjv_copyData:
+
+`mjv_copyData <#mjv_copyData>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjv_copyData
+
+Copy mjData, skip large arrays not required for visualization.
+
 .. _mj_resetData:
 
 `mj_resetData <#mj_resetData>`__

doc/includes/references.h

@@ -3283,6 +3283,7 @@ void mj_deleteModel(mjModel* m);
 int mj_sizeModel(const mjModel* m);
 mjData* mj_makeData(const mjModel* m);
 mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src);
+mjData* mjv_copyData(mjData* dest, const mjModel* m, const mjData* src);
 void mj_resetData(const mjModel* m, mjData* d);
 void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_value);
 void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);