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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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test/engine/engine_support_test.cc
+45
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@@ -722,5 +722,50 @@ TEST_F(SupportTest, GeomDistance) {
mj_deleteModel(model);
}
static constexpr char kSetKeyframeTestingModel[] = R"(
<mujoco>
<size nkey="2"/>
<worldbody>
<body>
<joint name="joint" axis="0 1 0"/>
<geom size=".1" pos="1 0 0"/>
</body>
</worldbody>
<actuator>
<intvelocity joint="joint" actrange="-1 1" kp="100" dampratio="1"/>
</actuator>
</mujoco>
)";
TEST_F(SupportTest, SetKeyframe) {
mjModel* model = LoadModelFromString(kSetKeyframeTestingModel);
mjData* data = mj_makeData(model);
data->ctrl[0] = 1;
while (data->time < 1) {
mj_step(model, data);
}
mj_setKeyframe(model, data, 1);
EXPECT_EQ(data->time, model->key_time[1]);
EXPECT_EQ(data->ctrl[0], model->key_ctrl[model->nu * 1]);
EXPECT_EQ(data->qpos[0], model->key_qpos[model->nq * 1]);
EXPECT_EQ(data->qvel[0], model->key_qvel[model->nv * 1]);
EXPECT_EQ(data->act[0], model->key_act[model->na * 1]);
mj_step(model, data);
mj_setKeyframe(model, data, 0);
EXPECT_EQ(data->time, model->key_time[0]);
EXPECT_EQ(data->ctrl[0], model->key_ctrl[model->nu * 0]);
EXPECT_EQ(data->qpos[0], model->key_qpos[model->nq * 0]);
EXPECT_EQ(data->qvel[0], model->key_qvel[model->nv * 0]);
EXPECT_EQ(data->act[0], model->key_act[model->na * 0]);
mj_deleteData(data);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco