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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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test/user/user_api_test.cc
+3
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@@ -504,6 +504,7 @@ TEST_F(MujocoTest, AttachSame) {
<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"/>
</keyframe>
</mujoco>)";
@@ -621,6 +622,7 @@ TEST_F(MujocoTest, AttachDifferent) {
<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"/>
</keyframe>
</mujoco>)";
@@ -742,6 +744,7 @@ TEST_F(MujocoTest, AttachFrame) {
<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"/>
</keyframe>
</mujoco>)";