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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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wasm/codegen/generated/bindings.cc
+5
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@@ -10404,6 +10404,10 @@ void mj_setState_wrapper(const MjModel& m, MjData& d, const NumberArray& state,
mj_setState(m.get(), d.get(), state_.data(), sig);
}
void mj_copyState_wrapper(const MjModel& m, const MjData& src, MjData& dst, unsigned int sig) {
mj_copyState(m.get(), src.get(), dst.get(), sig);
}
void mj_setKeyframe_wrapper(MjModel& m, const MjData& d, int k) {
mj_setKeyframe(m.get(), d.get(), k);
}
@@ -12451,6 +12455,7 @@ EMSCRIPTEN_BINDINGS(mujoco_functions) {
function("mj_getState", &mj_getState_wrapper);
function("mj_extractState", &mj_extractState_wrapper);
function("mj_setState", &mj_setState_wrapper);
function("mj_copyState", &mj_copyState_wrapper);
function("mj_setKeyframe", &mj_setKeyframe_wrapper);
function("mj_addContact", &mj_addContact_wrapper);
function("mj_isPyramidal", &mj_isPyramidal_wrapper);