From 7232a91617115ae6426876c775adeae7d8197640 Mon Sep 17 00:00:00 2001 From: Erik Frey Date: Wed, 29 Jan 2025 12:01:52 -0800 Subject: [PATCH] Add keyframe fields to mjx.Model. PiperOrigin-RevId: 721060807 Change-Id: Iae6aa8773e0e9802b0bd1de9a14d83987cd56936 --- mjx/mujoco/mjx/_src/types.py | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py index 19dd56b2..3a7f3f9b 100644 --- a/mjx/mujoco/mjx/_src/types.py +++ b/mjx/mujoco/mjx/_src/types.py @@ -822,6 +822,13 @@ class Model(PyTreeNode): tuple_objtype: array of object types in all tuples (ntupledata,) tuple_objid: array of object ids in all tuples (ntupledata,) tuple_objprm: array of object params in all tuples (ntupledata,) + key_time: key time (nkey,) + key_qpos: key position (nkey, nq) + key_qvel: key velocity (nkey, nv) + key_act: key activation (nkey, na) + key_mpos: key mocap position (nkey, nmocap, 3) + key_mquat: key mocap quaternion (nkey, nmocap, 4) + key_ctrl: key control (nkey, nu) name_bodyadr: body name pointers (nbody,) name_jntadr: joint name pointers (njnt,) name_geomadr: geom name pointers (ngeom,) @@ -1157,6 +1164,13 @@ class Model(PyTreeNode): tuple_objtype: np.ndarray tuple_objid: np.ndarray tuple_objprm: np.ndarray + key_time: np.ndarray + key_qpos: np.ndarray + key_qvel: np.ndarray + key_act: np.ndarray + key_mpos: np.ndarray + key_mquat: np.ndarray + key_ctrl: np.ndarray name_bodyadr: np.ndarray name_jntadr: np.ndarray name_geomadr: np.ndarray