Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec.

Also add `SaveAndReadXML` function to test fixture using `mjSpec` as input. PiperOrigin-RevId: 765393821 Change-Id: Ic257addd2fc89678fc11b226c168c077626cc51e
2025-05-30 17:16:20 -07:00
parent 072c872deb
commit 84ad22a590
18 changed files with 139 additions and 14 deletions
@@ -51,6 +51,15 @@ Compile :ref:`mjSpec` to :ref:`mjModel`. A spec can be edited and compiled multi
 :ref:`mjModel` instance that takes the edits into account.
 If compilation fails, :ref:`mj_compile` returns ``NULL``; the error can be read with :ref:`mjs_getError`.

+.. _mj_copyBack:
+
+`mj_copyBack <#mj_copyBack>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mj_copyBack
+
+Copy real-valued arrays from model to spec, returns 1 on success.
+
 .. _mj_recompile:

 `mj_recompile <#mj_recompile>`__