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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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src/engine/engine_support.c
+22
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@@ -232,6 +232,28 @@ void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, unsigned int
// copy current state to the k-th model keyframe
void mj_setKeyframe(mjModel* m, const mjData* d, int k) {
// check keyframe index
if (k >= m->nkey) {
mjERROR("index must be smaller than %d (keyframes allocated in model)", m->nkey);
}
if (k < 0) {
mjERROR("keyframe index cannot be negative");
}
// copy state to model keyframe
m->key_time[k] = d->time;
mju_copy(m->key_qpos + k*m->nq, d->qpos, m->nq);
mju_copy(m->key_qvel + k*m->nv, d->qvel, m->nv);
mju_copy(m->key_act + k*m->na, d->act, m->na);
mju_copy(m->key_mpos + k*3*m->nmocap, d->mocap_pos, 3*m->nmocap);
mju_copy(m->key_mquat + k*4*m->nmocap, d->mocap_quat, 4*m->nmocap);
mju_copy(m->key_ctrl + k*m->nu, d->ctrl, m->nu);
}
//-------------------------- sparse chains ---------------------------------------------------------
// merge dof chains for two bodies