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Implement plugin mechanism for actuators and sensors.

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PiperOrigin-RevId: 474874088
Change-Id: I65a8ffdf845f4fa0f8266c165883a747ab5812d8
This commit is contained in:
Saran Tunyasuvunakool
2022-09-16 12:20:56 -07:00
committed by Copybara-Service
parent f556d4d94f
commit 1e2a9a53bc
29 changed files with 2121 additions and 51 deletions
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doc/changelog.rst
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@@ -28,6 +28,14 @@ General
- Added :ref:`mju_mulVecMatVec` to multiply a square matrix :math:`M` with vectors :math:`x` and :math:`y` on both
sides. The function returns :math:`x^TMy`.
- Added new plugin API. Plugins allow developers to extend MuJoCo's capability without modifying core engine code.
The plugin mechanism is intended to replace the existing callbacks, though these will remain for the time being as an
option for simple use cases and backward compatibility. The new mechanism manages stateful plugins and supports
multiple plugins from different sources, allowing MuJoCo extensions to be introduced in a modular fashion, rather than
as global overrides. Note the new mechanism is currently undocumented except in code, as we test it internally.
If you are interested in using the pluging mechanism, please get in touch first.
Version 2.2.2 (September 7, 2022)
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