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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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src/engine/engine_io.c
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@@ -1016,6 +1016,7 @@ void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key) {
mju_copy(d->act, m->key_act+ key*m->na, m->na);
mju_copy(d->mocap_pos, m->key_mpos+key*3*m->nmocap, 3*m->nmocap);
mju_copy(d->mocap_quat, m->key_mquat+key*4*m->nmocap, 4*m->nmocap);
mju_copy(d->ctrl, m->key_ctrl+key*m->nu, m->nu);
}
}