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

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Also add `SaveAndReadXML` function to test fixture using `mjSpec` as input.

PiperOrigin-RevId: 765393821
Change-Id: Ic257addd2fc89678fc11b226c168c077626cc51e
This commit is contained in:
Alessio Quaglino
2025-05-30 17:16:20 -07:00
committed by Copybara-Service
parent 072c872deb
commit 84ad22a590
18 changed files with 139 additions and 14 deletions
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doc/changelog.rst
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@@ -17,6 +17,7 @@ General
- Added new sub-component :ref:`mj_makeM` which combines the :ref:`mj_crb` call with additional logic to support the
introduction in 3.3.1 of :ref:`tendon armature<tendon-spatial-armature>`. In addition to the traditional
``mjData.qM``, :ref:`mj_makeM` also computes ``mjData.M``, a CSR representation of the same matrix.
- Added a new function :ref:`mj_copyBack` to copy real-valued arrays in an mjModel to a compatible mjSpec.
Simulate
^^^^^^^^