Rename simulate "copy pose" button to "copy state", also save "qvel', ctrl, mpos and mquat if present. SHIFT-click will save values at full precision.
Example formatting: ``` # default precision <key time="2.99" qpos="9.4287e-07 3.02972e-07 1.19963 0.999999 -9.3978e-06 0.00102591 8.06948e-06 -0.000337469 -0.000182994 -0.00282448 -0.000358084 -0.00370829 0.0631084 0.0996347 -0.00161963 0.0260658 -2.09992 -0.00459387 0.0474729 -0.0171906 0.0018216 0.72549 0.00133026 0.724951 0.000816735 0.724389 0.000454671 0.724 -0.00146646 -1.12233e-05 -0.0995942 0.00159877 0.0261695 -2.09993 0.00458912 0.0473279 0.0171317 0.00177837 0.725447 0.00131597 0.724941 0.00081406 0.724393 0.000465918 0.72402 -0.00140271 -1.42355e-05 0.0949171 0.0790632 -0.461397 1.02664 -9.42133e-05 -0.55539 -0.0952333 -0.0790705 -0.460978 1.02899 8.38339e-05 -0.671707 0.401772 0.197427 1.00101 0.999979 0.00125793 -0.00100982 -0.00631542" qvel="0.000132784 3.49155e-05 0.000536692 -0.000560519 -0.0242142 0.00693928 0.00119816 -0.000234844 0.00350923 -0.00036047 0.00137217 0.026605 0.000647559 -0.000813737 0.00151335 0.00158296 -0.000628786 0.0184574 -0.000751955 8.75972e-05 0.00017462 9.47749e-05 0.00018949 7.40435e-05 0.000170318 -2.65743e-05 5.67808e-05 0.000256585 -8.77605e-05 -0.00070146 5.90881e-05 0.00186213 0.00150788 0.000645196 0.0183261 -0.00189709 0.000234144 0.000180699 0.00020344 0.000161977 0.000154203 0.000127231 2.28526e-05 -2.85628e-06 0.000232213 2.32483e-05 -0.000415728 0.000285987 0.00873081 0.00361353 5.70155e-05 0.000316513 -0.00778618 0.00404914 -0.0239508 -0.0375704 -0.000528571 4.92965 3.51479e-15 -4.54231e-16 -9.39907e-15 -7.5733e-14 -1.54433e-14 8.71183e-14" ctrl="0 0 0 0 0 0 0.106158 0 0 -2.1308 0 0 0 0 0 0 0 0 0 -0.106158 0 0 -2.1308 0 0 0 0 0 0 0 0 0 0.1 0.08 -0.477 1.033 0 -0.556 -0.1 -0.08 -0.477 1.033 0 -0.556" mpos="0.5 0 0.5 0.5 0 0.5 0.5 0 0.5" mquat="1 0 0 0 1 0 0 0 1 0 0 0" /> # full precision <key time="19.78000000000035 " qpos="-5.456931939182209e-13 4.210058291674657e-14 1.199596868198444 0.9999997705632744 -1.123107929038176e-05 -0.000677308838908712 -4.574736052563342e-13 4.81467762006399e-06 -0.0001470530836508491 -0.01285126600561344 -0.0003314670141921113 -0.003753266058087929 0.06165064101255623 0.01573179146576803 -3.013291189105153e-05 0.00898818165332332 -0.0005543865919957537 0.001960768693378906 0.003171337599202657 0.05998529721754536 -0.006869809693640725 0.7108455550986151 -2.768022862919269e-05 0.7234287700347743 -2.65358465809282e-05 0.7234305602907817 -2.427451970418236e-05 0.7234340023869628 0.0001444026830625057 0.004779116304496144 -0.01556918200171751 2.367030531882565e-05 0.00887857821391661 -0.0005393749458389281 -0.002002170464405725 0.004065365245773832 -0.059404381452836 -0.006700853036263364 0.7112073591870905 -2.793780628594305e-05 0.7234283783336887 -2.67570932686378e-05 0.7234302250735107 -2.446320244250625e-05 0.7234337167312712 0.0001441442525519209 0.004776981844081063 0.001964241516442131 -0.001279289930183057 0.0009901921906584617 0.005102724602622095 -0.0001969944416873799 0.0006055390861509305 -0.001981889349334628 0.001289775046291938 0.0009924227912350586 0.005084179458414934 0.0001970337430004949 0.0006055492125132441 0.4000059982468001 0.2000006330421453 1.001005166968155 0.9999986986616857 0.001264259603338192 -0.00100188514175821 -2.342548568520312e-05" qvel="8.028421913635349e-14 -7.933623204015651e-15 -1.766955416585763e-09 -1.242788325114248e-10 1.380680257623891e-08 4.072776622758517e-13 -2.152263214542579e-08 -3.878177040643757e-09 -7.698904695669224e-07 1.032750347898222e-09 -1.203279562630678e-09 -7.551458300921444e-08 2.469496246057255e-06 8.917880101195273e-08 -6.756803792056489e-06 -2.872076666906819e-06 1.785650772865195e-06 -5.01959632083366e-06 -5.599940213931672e-06 8.890181416091634e-07 1.64456042549838e-06 -1.371426840474208e-09 -2.120678515220117e-09 -2.024654983099582e-09 -3.146661587304676e-09 -2.584650818327909e-09 -4.007447393764789e-09 3.46515937628953e-09 1.271775029987075e-08 -2.488928508740539e-06 -8.746797042033161e-08 -6.8499144406484e-06 -2.901446048768352e-06 -1.790798673741401e-06 -5.013863339758384e-06 5.931327072492727e-06 9.379458926032098e-07 1.728266244061688e-06 -1.546731198107214e-09 -2.391411625987869e-09 -2.205072839286403e-09 -3.425520861505272e-09 -2.768770278332858e-09 -4.29204657928239e-09 3.77970711367913e-09 1.210836106515995e-08 2.48779855243758e-07 1.794262457563144e-08 2.425338558609319e-07 -4.490996387632652e-09 1.5470867213074e-10 -1.056275279772894e-10 -2.528203830071622e-07 -1.984360361016969e-08 2.432485190492325e-07 -4.490126811319184e-09 -1.553085076375719e-10 -1.050844929338509e-10 -5.03087850573677e-15 -3.069973955284326e-15 1.263049899085103e-14 -2.132657422360499e-13 1.240631051776082e-14 7.346260313161907e-14 " ctrl="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 " mpos="0.5 0 0.5 0.5 0 0.5 0.5 0 0.5 " mquat="1 0 0 0 1 0 0 0 1 0 0 0 " /> ``` PiperOrigin-RevId: 741427042 Change-Id: Ib33f3e6215b7933d9267fc4c222d7a0abc75dbb4
This commit is contained in:
Kevin Zakka
committed by
Copybara-Service
Copybara-Service
parent
0abf184d49
commit
e272e46770
+71
-12
@@ -1141,17 +1141,74 @@ void AlignAndScaleView(mj::Simulate* sim, const mjModel* m) {
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}
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// copy qpos to clipboard as key
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void CopyPose(mj::Simulate* sim, const mjModel* m, const mjData* d) {
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char clipboard[5000] = "<key qpos='";
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// copy state to clipboard as key
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void CopyKey(mj::Simulate* sim, const mjModel* m, const mjData* d, bool fp) {
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char clipboard[5000] = "<key\n";
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char buf[200];
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const char p_regular[] = "%g";
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const char p_full[] = "%-22.16g";
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const char* format = fp ? p_full : p_regular;
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// prepare string
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for (int i=0; i<m->nq; i++) {
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mju::sprintf_arr(buf, i==m->nq-1 ? "%g" : "%g ", d->qpos[i]);
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// time
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mju::strcat_arr(clipboard, " time=\"");
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mju::sprintf_arr(buf, format, d->time);
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mju::strcat_arr(clipboard, buf);
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// qpos
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mju::strcat_arr(clipboard, "\"\n qpos=\"");
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for (int i = 0; i < m->nq; i++) {
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mju::sprintf_arr(buf, format, d->qpos[i]);
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if (i < m->nq-1) mju::strcat_arr(buf, " ");
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mju::strcat_arr(clipboard, buf);
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}
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mju::strcat_arr(clipboard, "'/>");
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// qvel
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mju::strcat_arr(clipboard, "\"\n qvel=\"");
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for (int i = 0; i < m->nv; i++) {
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mju::sprintf_arr(buf, format, d->qvel[i]);
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if (i < m->nv-1) mju::strcat_arr(buf, " ");
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mju::strcat_arr(clipboard, buf);
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}
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// act
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if (m->na > 0) {
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mju::strcat_arr(clipboard, "\"\n act=\"");
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for (int i = 0; i < m->na; i++) {
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mju::sprintf_arr(buf, format, d->act[i]);
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if (i < m->na-1) mju::strcat_arr(buf, " ");
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mju::strcat_arr(clipboard, buf);
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}
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}
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// ctrl
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if (m->nu > 0) {
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mju::strcat_arr(clipboard, "\"\n ctrl=\"");
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for (int i = 0; i < m->nu; i++) {
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mju::sprintf_arr(buf, format, d->ctrl[i]);
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if (i < m->nu-1) mju::strcat_arr(buf, " ");
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mju::strcat_arr(clipboard, buf);
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}
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}
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if (m->nmocap > 0) {
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// mocap_pos
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mju::strcat_arr(clipboard, "\"\n mpos=\"");
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for (int i = 0; i < 3*m->nmocap; i++) {
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mju::sprintf_arr(buf, format, d->mocap_pos[i]);
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if (i < 3*m->nmocap-1) mju::strcat_arr(buf, " ");
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mju::strcat_arr(clipboard, buf);
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}
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// mocap_quat
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mju::strcat_arr(clipboard, "\"\n mquat=\"");
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for (int i = 0; i < 4*m->nmocap; i++) {
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mju::sprintf_arr(buf, format, d->mocap_quat[i]);
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if (i < 4*m->nmocap-1) mju::strcat_arr(buf, " ");
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mju::strcat_arr(clipboard, buf);
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}
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}
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mju::strcat_arr(clipboard, "\"\n/>");
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// copy to clipboard
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sim->platform_ui->SetClipboardString(clipboard);
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@@ -1412,8 +1469,9 @@ void UiEvent(mjuiState* state) {
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sim->pending_.align = true;
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break;
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case 4: // Copy pose
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sim->pending_.copy_pose = true;
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case 4: // Copy key
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sim->pending_.copy_key = true;
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sim->pending_.copy_key_full_precision = sim->platform_ui->IsShiftKeyPressed();
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break;
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case 5: // Adjust key
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@@ -1967,9 +2025,10 @@ void Simulate::Sync() {
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pending_.align = false;
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}
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if (pending_.copy_pose) {
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CopyPose(this, m_, d_);
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pending_.copy_pose = false;
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if (pending_.copy_key) {
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CopyKey(this, m_, d_, pending_.copy_key_full_precision);
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pending_.copy_key = false;
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pending_.copy_key_full_precision = false;
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}
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if (pending_.load_from_history) {
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+3
-2
@@ -144,7 +144,8 @@ class Simulate {
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std::optional<std::string> print_data;
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bool reset;
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bool align;
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bool copy_pose;
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bool copy_key;
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bool copy_key_full_precision;
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bool load_from_history;
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bool load_key;
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bool save_key;
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@@ -293,7 +294,7 @@ class Simulate {
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{mjITEM_BUTTON, "Reset", 2, nullptr, " #259"},
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{mjITEM_BUTTON, "Reload", 5, nullptr, "CL"},
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{mjITEM_BUTTON, "Align", 2, nullptr, "CA"},
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{mjITEM_BUTTON, "Copy pose", 2, nullptr, "CC"},
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{mjITEM_BUTTON, "Copy state", 2, nullptr, "CC"},
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{mjITEM_SLIDERINT, "Key", 3, &this->key, "0 0"},
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{mjITEM_BUTTON, "Load key", 3},
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{mjITEM_BUTTON, "Save key", 3},
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