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Use mj_resetDataKeyframe when loading key frames in simulate.

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PiperOrigin-RevId: 608209431
Change-Id: I1ee78c837cbc098144143b90e8c0b4618568c9cf
This commit is contained in:
Yuval Tassa
2024-02-18 20:48:10 -08:00
committed by Copybara-Service
parent c146bb4003
commit 55e2c76c01
1 changed files with 1 additions and 8 deletions
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simulate/simulate.cc
+1 -8
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@@ -1969,14 +1969,7 @@ void Simulate::Sync() {
}
if (pending_.load_key) {
int i = this->key;
d_->time = m_->key_time[i];
mju_copy(d_->qpos, m_->key_qpos + i*m_->nq, m_->nq);
mju_copy(d_->qvel, m_->key_qvel + i*m_->nv, m_->nv);
mju_copy(d_->act, m_->key_act + i*m_->na, m_->na);
mju_copy(d_->mocap_pos, m_->key_mpos + i*3*m_->nmocap, 3*m_->nmocap);
mju_copy(d_->mocap_quat, m_->key_mquat + i*4*m_->nmocap, 4*m_->nmocap);
mju_copy(d_->ctrl, m_->key_ctrl + i*m_->nu, m_->nu);
mj_resetDataKeyframe(m_, d_, this->key);
mj_forward(m_, d_);
update_profiler = true;
update_sensor = true;