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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/includes/references.h
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@@ -2992,6 +2992,7 @@ mjModel* mj_loadXML(const char* filename, const mjVFS* vfs, char* error, int err
mjSpec* mj_parseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
mjSpec* mj_parseXMLString(const char* xml, const mjVFS* vfs, char* error, int error_sz);
mjModel* mj_compile(mjSpec* s, const mjVFS* vfs);
int mj_copyBack(mjSpec* s, const mjModel* m);
int mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d);
int mj_saveLastXML(const char* filename, const mjModel* m, char* error, int error_sz);
void mj_freeLastXML(void);