chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add control values to keyframes.

Browse Source 
- Add basic test for keyframes.
- Add missing documentation for keyframe mocap positions and quaternions.

PiperOrigin-RevId: 459021649
Change-Id: I91cf7ecbddc6262e8c72a868eeb82d627f389fb3
This commit is contained in:
Yuval Tassa
2022-07-05 01:07:07 -07:00
committed by Copybara-Service
parent 5ba880506c
commit 09a5efc09e
15 changed files with 161 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/XMLreference.rst
+9 -1
View File
@@ -1411,7 +1411,9 @@ if present, the parser ignores it. The symbols in the second column of the table
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`name` | :at:`time` | :at:`qpos` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`qvel` | :at:`act` | | |
| | | | :at:`qvel` | :at:`act` | :at:`ctrl` | |
| | | +-------------------------+-------------------------+-------------------------+ |
| | | | :at:`mpos` | :at:`mquat` | | |
| | | +-------------------------+-------------------------+-------------------------+ |
+--------------------------+----+------------------------------------------------------------------------------------+
@@ -5194,3 +5196,9 @@ This element sets the data for one of the keyframes. They are set in the order i
Vector of joint velocities, copied into mjData.qvel when the simulation state is set to this keyframe.
:at:`act`: :at-val:`real(mjModel.na), "0 0 ..."`
Vector of actuator activations, copied into mjData.act when the simulation state is set to this keyframe.
:at:`ctrl`: :at-val:`real(mjModel.nu), "0 0 ..."`
Vector of controls, copied into mjData.ctrl when the simulation state is set to this keyframe.
:at:`mpos`: :at-val:`real(3*mjModel.nmocap), default = mjModel.body_pos`
Vector of mocap body positions, copied into mjData.mocap_pos when the simulation state is set to this keyframe.
:at:`mquat`: :at-val:`real(4*mjModel.nmocap), default = mjModel.body_quat`
Vector of mocap body quaternions, copied into mjData.mocap_quat when the simulation state is set to this keyframe.