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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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test/user/user_api_test.cc
+10 -10
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@@ -430,8 +430,8 @@ static constexpr char xml_child[] = R"(
</contact>
<keyframe>
<key name="two" qpos="2" act="2 2"/>
<key name="three" qpos="3" act="3 3"/>
<key name="two" qpos="2" act="2 2" ctrl="2 2"/>
<key name="three" qpos="3" act="3 3" ctrl="3 3"/>
</keyframe>
</mujoco>)";
@@ -501,10 +501,10 @@ TEST_F(MujocoTest, AttachSame) {
</contact>
<keyframe>
<key name="two" qpos="2 0" act="2 2 0 0"/>
<key name="three" qpos="3 0" act="3 3 0 0"/>
<key name="attached-two-1" qpos="0 2" act="0 0 2 2"/>
<key name="attached-three-1" qpos="0 3" act="0 0 3 3"/>
<key name="two" qpos="2 0" act="2 2 0 0" ctrl="2 2 0 0"/>
<key name="three" qpos="3 0" act="3 3 0 0" ctrl="3 3 0 0"/>
<key name="attached-two-1" qpos="0 2" act="0 0 2 2" ctrl="0 0 2 2"/>
<key name="attached-three-1" qpos="0 3" act="0 0 3 3" ctrl="0 0 3 3"/>
</keyframe>
</mujoco>)";
@@ -621,8 +621,8 @@ TEST_F(MujocoTest, AttachDifferent) {
</contact>
<keyframe>
<key name="attached-two-1" qpos="0 0 0 1 0 0 0 2" act="2 2"/>
<key name="attached-three-1" qpos="0 0 0 1 0 0 0 3" act="3 3"/>
<key name="attached-two-1" qpos="0 0 0 1 0 0 0 2" act="2 2" ctrl="2 2"/>
<key name="attached-three-1" qpos="0 0 0 1 0 0 0 3" act="3 3" ctrl="3 3"/>
</keyframe>
</mujoco>)";
@@ -743,8 +743,8 @@ TEST_F(MujocoTest, AttachFrame) {
</contact>
<keyframe>
<key name="attached-two-1" qpos="0 0 0 1 0 0 0 2" act="2 2"/>
<key name="attached-three-1" qpos="0 0 0 1 0 0 0 3" act="3 3"/>
<key name="attached-two-1" qpos="0 0 0 1 0 0 0 2" act="2 2" ctrl="2 2"/>
<key name="attached-three-1" qpos="0 0 0 1 0 0 0 3" act="3 3" ctrl="3 3"/>
</keyframe>
</mujoco>)";