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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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unity/Runtime/Bindings/MjBindings.cs
+3
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@@ -6641,6 +6641,9 @@ public static unsafe extern void mj_getState(mjModel_* m, mjData_* d, double* st
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_setState(mjModel_* m, mjData_* d, double* state, uint spec);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_setKeyframe(mjModel_* m, mjData_* d, int k);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int mj_addContact(mjModel_* m, mjData_* d, mjContact_* con);