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Add mj_setKeyframe function to save current state in k-th model keyframe.

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Fixes #1719.

Also improve documentation of `mju_sigmoid`, was previously only documented in changelog.

PiperOrigin-RevId: 642637458
Change-Id: I811a0bf8f881c8b76c9a62d2faec8fdec4e7585b
This commit is contained in:
Yuval Tassa
2024-06-12 09:21:54 -07:00
committed by Copybara-Service
parent f37f840880
commit c9bcf8371e
13 changed files with 169 additions and 13 deletions
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doc/includes/references.h
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@@ -3171,6 +3171,7 @@ void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
int mj_stateSize(const mjModel* m, unsigned int spec);
void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, unsigned int spec);
void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, unsigned int spec);
void mj_setKeyframe(mjModel* m, const mjData* d, int k);
int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);
int mj_isPyramidal(const mjModel* m);
int mj_isSparse(const mjModel* m);