Add mj_copyState

PiperOrigin-RevId: 836588419
Change-Id: I7609e121dc0ac697d4d015d4244bdd5962650def

doc/APIreference/functions.rst

@@ -291,6 +291,15 @@ is not a subset of the bits set in ``srcsig``.
 Copy concatenated state components specified by ``sig`` from  ``state`` into ``d``. The bits of the integer
 ``sig`` correspond to element fields of :ref:`mjtState`. Fails with :ref:`mju_error` if ``sig`` is invalid.
 
+.. _mj_copyState:
+
+`mj_copyState <#mj_copyState>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mj_copyState
+
+Copy state from src to dst.
+
 .. _mj_setKeyframe:
 
 `mj_setKeyframe <#mj_setKeyframe>`__

doc/changelog.rst

@@ -20,6 +20,7 @@ General
 - Increase Windows stack size to 16MB to enable models with deep nested body hierarchies.
 - Added a new :ref:`mj_extractState` function that allows a subset of a state that was previously returned by
   :ref:`mj_getState` to be extracted without having to be written back into ``mjData`` first.
+- Added a new :ref:`mj_copyState` function that copies state components from one ``mjData`` to another.
 - Tendon paths can now be queried from Python via ``MjsTendon.path``, the returned object
   is iterable and indexing it will give the ``MjsWrap`` at the given index in the path.
 - ``MjsWrap`` now exposes:

doc/includes/references.h

@@ -3181,6 +3181,7 @@ void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, unsigned int
 void mj_extractState(const mjModel* m, const mjtNum* src, unsigned int srcsig,
                      mjtNum* dst, unsigned int dstsig);
 void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, unsigned int sig);
+void mj_copyState(const mjModel* m, const mjData* src, mjData* dst, unsigned int sig);
 void mj_setKeyframe(mjModel* m, const mjData* d, int k);
 int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);
 int mj_isPyramidal(const mjModel* m);