Move keyframe from actuator XML to its own file.

PiperOrigin-RevId: 636298258
Change-Id: I0c38cc7c8c85943ebcc5d1b7c8369eb2450c5806

aloha/aloha.xml

@@ -284,4 +284,5 @@
   </equality>
 
   <include file="joint_position_actuators.xml"/>
+  <include file="keyframe_ctrl.xml"/>
 </mujoco>

aloha/joint_position_actuators.xml

@@ -16,13 +16,4 @@
     <position class="wrist_rotate" name="right/wrist_rotate" joint="right/wrist_rotate"/>
     <position class="finger" name="right/gripper" joint="right/left_finger"/>
   </actuator>
-
-  <keyframe>
-    <key name="neutral_pose" qpos="
-    0 -0.96 1.16 0 -0.3 0 0.0084 0.0084
-    0 -0.96 1.16 0 -0.3 0 0.0084 0.0084"
-      ctrl="
-    0 -0.96 1.16 0 -0.3 0 0.0084
-    0 -0.96 1.16 0 -0.3 0 0.0084"/>
-  </keyframe>
 </mujoco>

aloha/keyframe_ctrl.xml

@@ -0,0 +1,10 @@
+<mujoco>
+  <keyframe>
+    <key name="neutral_pose" qpos="
+    0 -0.96 1.16 0 -0.3 0 0.0084 0.0084
+    0 -0.96 1.16 0 -0.3 0 0.0084 0.0084"
+      ctrl="
+    0 -0.96 1.16 0 -0.3 0 0.0084
+    0 -0.96 1.16 0 -0.3 0 0.0084"/>
+  </keyframe>
+</mujoco>

aloha/mjx_aloha.patch

@@ -141,10 +141,11 @@
                        <geom name="right/right_g0" pos="0.013  0.0892 0.0268" class="sphere_collision"/>
                        <geom name="right/right_g1" pos="0.0222 0.0892 0.0268" class="sphere_collision"/>
                        <geom name="right/right_g2" pos="0.0182 0.0845 0.0266" class="sphere_collision"/>
-@@ -283,5 +299,5 @@
+@@ -283,6 +299,5 @@
      <joint joint1="right/left_finger" joint2="right/right_finger" polycoef="0 1 0 0 0"/>
    </equality>
 
 -  <include file="joint_position_actuators.xml"/>
 +  <include file="mjx_filtered_cartesian_actuators.xml"/>
+-  <include file="keyframe_ctrl.xml"/>
  </mujoco>