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Add ctrl to attached keyframes.

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PiperOrigin-RevId: 662878508
Change-Id: Ie273fae0220c8b257766cbbd90a880d44b901725
This commit is contained in:
Alessio Quaglino
2024-08-14 05:13:51 -07:00
committed by Copybara-Service
parent afd7c73f44
commit 7be4df7e03
6 changed files with 51 additions and 22 deletions
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src/user/user_api.cc
+2 -2
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@@ -96,12 +96,12 @@ void mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d) {
mjtNum time = 0;
if (d) {
time = d->time;
modelC->SaveState(d->qpos, d->qvel, d->act);
modelC->SaveState(d->qpos, d->qvel, d->act, d->ctrl);
}
modelC->Compile(vfs, &m);
if (d) {
modelC->MakeData(m, &d);
modelC->RestoreState(m->qpos0, d->qpos, d->qvel, d->act);
modelC->RestoreState(m->qpos0, d->qpos, d->qvel, d->act, d->ctrl);
d->time = time;
}
}