Yuval Tassa
09a5efc09e
- Add basic test for keyframes. - Add missing documentation for keyframe mocap positions and quaternions. PiperOrigin-RevId: 459021649 Change-Id: I91cf7ecbddc6262e8c72a868eeb82d627f389fb3
30 lines
671 B
XML
30 lines
671 B
XML
<mujoco>
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<worldbody>
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<geom type="plane" size="1 1 .01"/>
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<light pos="0 0 2"/>
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<body pos="0 -.1 .3">
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<joint name="slide" type="slide" axis="1 0 0"/>
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<geom type="box" size=".05 .05 .05"/>
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</body>
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<body pos="0 .1 .3" mocap="true">
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<geom type="box" size=".05 .05 .05"/>
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</body>
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</worldbody>
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<actuator>
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<motor name="stateless" joint="slide"/>
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<general name="stateful" joint="slide" dyntype="integrator"/>
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</actuator>
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<keyframe>
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<key time=".1"/>
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<key qpos=".2"/>
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<key qvel=".3"/>
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<key act=".4"/>
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<key ctrl=".5 .6"/>
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<key mpos=".1 .2 .3"/>
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<key mquat="1 1 1 1"/>
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</keyframe>
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</mujoco>
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