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Attach multiple keyframes.

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Still missing: support for ctrl, mocap, and time.

PiperOrigin-RevId: 662871569
Change-Id: I8a418c4007663e3063d7146bd72db4eba78ddc5d
This commit is contained in:
Alessio Quaglino
2024-08-14 04:41:51 -07:00
committed by Copybara-Service
parent 2cb601c98d
commit afd7c73f44
6 changed files with 73 additions and 26 deletions
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src/user/user_objects.h
+13 -7
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@@ -16,6 +16,7 @@
#define MUJOCO_SRC_USER_USER_OBJECTS_H_
#include <cstddef>
#include <array>
#include <cstdlib>
#include <functional>
#include <map>
@@ -401,10 +402,10 @@ class mjCJoint_ : public mjCBase {
mjCBody* body; // joint's body
// variable used for temporarily storing the state of the joint
int qposadr_; // address of dof in data->qpos
int dofadr_; // address of dof in data->qvel
mjtNum qpos[7]; // qpos at the previous step
mjtNum qvel[6]; // qvel at the previous step
int qposadr_; // address of dof in data->qpos
int dofadr_; // address of dof in data->qvel
std::map<std::string, std::array<mjtNum, 7>> qpos_; // qpos at the previous step
std::map<std::string, std::array<mjtNum, 6>> qvel_; // qvel at the previous step
// variable-size data
std::vector<double> userdata_;
@@ -443,6 +444,9 @@ class mjCJoint : public mjCJoint_, private mjsJoint {
int nq() const { return nq(spec.type); }
int nv() const { return nv(spec.type); }
mjtNum* qpos();
mjtNum* qvel();
private:
int Compile(void); // compiler; return dofnum
void PointToLocal(void);
@@ -1390,9 +1394,9 @@ class mjCActuator_ : public mjCBase {
int trnid[2]; // id of transmission target
// variable used for temporarily storing the state of the actuator
int actadr_; // address of dof in data->act
int actdim_; // number of dofs in data->act
std::vector<mjtNum> act; // act at the previous step
int actadr_; // address of dof in data->act
int actdim_; // number of dofs in data->act
std::map<std::string, std::vector<mjtNum>> act_; // act at the previous step
// variable-size data
std::string plugin_name;
@@ -1431,6 +1435,8 @@ class mjCActuator : public mjCActuator_, private mjsActuator {
bool is_forcelimited() const;
bool is_actlimited() const;
std::vector<mjtNum>& act();
private:
void Compile(void); // compiler
void CopyFromSpec();