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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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simulate/simulate.cc
+1 -8
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@@ -1978,14 +1978,7 @@ void Simulate::Sync() {
}
if (pending_.save_key) {
int i = this->key;
m_->key_time[i] = d_->time;
mju_copy(m_->key_qpos + i*m_->nq, d_->qpos, m_->nq);
mju_copy(m_->key_qvel + i*m_->nv, d_->qvel, m_->nv);
mju_copy(m_->key_act + i*m_->na, d_->act, m_->na);
mju_copy(m_->key_mpos + i*3*m_->nmocap, d_->mocap_pos, 3*m_->nmocap);
mju_copy(m_->key_mquat + i*4*m_->nmocap, d_->mocap_quat, 4*m_->nmocap);
mju_copy(m_->key_ctrl + i*m_->nu, d_->ctrl, m_->nu);
mj_setKeyframe(m_, d_, this->key);
pending_.save_key = false;
}