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Add mj_copyState

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PiperOrigin-RevId: 836588419
Change-Id: I7609e121dc0ac697d4d015d4244bdd5962650def
This commit is contained in:
Yuval Tassa
2025-11-25 03:08:01 -08:00
committed by Copybara-Service
parent eac8e60037
commit 888d3a7b07
12 changed files with 139 additions and 0 deletions
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doc/changelog.rst
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@@ -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: