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Add control values to keyframes.

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- 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
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include/mujoco/mjmodel.h
+1
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@@ -888,6 +888,7 @@ struct mjModel_ {
mjtNum* key_act; // key activation (nkey x na)
mjtNum* key_mpos; // key mocap position (nkey x 3*nmocap)
mjtNum* key_mquat; // key mocap quaternion (nkey x 4*nmocap)
mjtNum* key_ctrl; // key control (nkey x nu)
// names
int* name_bodyadr; // body name pointers (nbody x 1)
include/mujoco/mjxmacro.h
+2
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@@ -135,6 +135,7 @@
int nq = m->nq; \
int nv = m->nv; \
int na = m->na; \
int nu = m->nu; \
int nmocap = m->nmocap;
@@ -395,6 +396,7 @@
X( mjtNum, key_act, nkey, MJ_M(na) ) \
X( mjtNum, key_mpos, nkey, MJ_M(nmocap)*3 ) \
X( mjtNum, key_mquat, nkey, MJ_M(nmocap)*4 ) \
X( mjtNum, key_ctrl, nkey, MJ_M(nu) ) \
X( int, name_bodyadr, nbody, 1 ) \
X( int, name_jntadr, njnt, 1 ) \
X( int, name_geomadr, ngeom, 1 ) \