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Create Keyframe schema in mjcPhysics.

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PiperOrigin-RevId: 777568003
Change-Id: I036fd54e2926c138f9ca8de87040b263b8427df3
This commit is contained in:
Sam Haves
2025-06-30 07:47:47 -07:00
committed by Copybara-Service
parent 1c98dfd86e
commit 106df98946
7 changed files with 590 additions and 8 deletions
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src/experimental/usd/mjcPhysics/generatedSchema.usda
+24
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@@ -331,3 +331,27 @@ class "PhysicsActuatorAPI" (
)
}
class Keyframe "Keyframe" (
doc = "Represents time independent keyframe values."
)
{
double[] mjc:act (
doc = "Vector of actuator activations, copied into mjData.act when the simulation state is set to this keyframe."
)
double[] mjc:ctrl (
doc = "Vector of controls, copied into mjData.ctrl when the simulation state is set to this keyframe."
)
double[] mjc:mpos (
doc = "Vector of mocap body positions, copied into mjData.mocap_pos when the simulation state is set to this keyframe."
)
double[] mjc:mquat (
doc = "Vector of mocap body quaternions, copied into mjData.mocap_quat when the simulation state is set to this keyframe."
)
double[] mjc:qpos (
doc = "Vector of joint positions, copied into mjData.qpos when the simulation state is set to this keyframe."
)
double[] mjc:qvel (
doc = "Vector of joint velocities, copied into mjData.qvel when the simulation state is set to this keyframe."
)
}