From 22fab04c0221a6064eb2699e67514055c24d08f4 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Thu, 5 Oct 2023 03:51:51 -0700 Subject: [PATCH] Add keyframe to golden data test model, start simulation from that keyframe. 0. Keyframe was generated by simulating passively for 64 timesteps and then saving from `simulate`. 1. This makes forward.data much more informative. There are more contacts, velocities are not 0. 2. Added non-zero controls to forward.data. 3. 70 timesteps is a lot to integrate, things can change a lot. Since we now start at time = 0.128 = after 64 steps of passive simulation, we continue to integrate for only 6 timesteps. PiperOrigin-RevId: 570966233 Change-Id: I9538aa44619393ff05ed8c3177e73993e222150a --- test/testdata/model.xml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/test/testdata/model.xml b/test/testdata/model.xml index ba071dc6..6d2dcf76 100644 --- a/test/testdata/model.xml +++ b/test/testdata/model.xml @@ -153,4 +153,11 @@ + + + +