Explicitly specify actdim on PID plugin actuators, to allow them to be used with keyframes.
Support actdim attribute on plugin actuators. Remove the actuator_actdim callback. This callback leads to crashes when loading keyframes for models that have a stateful plugin. PiperOrigin-RevId: 650649505 Change-Id: I40d1994d02ae4e20ce631b2702a984766cf2628e
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Nimrod Gileadi
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Copybara-Service
Copybara-Service
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@@ -5666,6 +5666,8 @@ Associate this actuator with an :ref:`engine plugin<exPlugin>`. Either :at:`plug
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.. _actuator-plugin-user:
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.. _actuator-plugin-actdim:
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.. _actuator-plugin-dynprm:
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.. _actuator-plugin-actearly:
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@@ -5673,7 +5675,7 @@ Associate this actuator with an :ref:`engine plugin<exPlugin>`. Either :at:`plug
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.. |actuator/plugin attrib list| replace:: :at:`name`, :at:`class`, :at:`group`, :at:`actlimited`, :at:`ctrllimited`,
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:at:`forcelimited`, :at:`ctrlrange`, :at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`,
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:at:`joint`, :at:`jointinparent`, :at:`site`, :at:`tendon`, :at:`cranksite`, :at:`slidersite`, :at:`user`,
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:at:`dynprm`, :at:`actearly`
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:at:`actdim`, :at:`dynprm`, :at:`actearly`
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|actuator/plugin attrib list|
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Same as in actuator/ :ref:`general <actuator-general>`.
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+4
-2
@@ -816,9 +816,11 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`gear<actuator-plugin-gear>` | :ref:`cranklength<actuator-plugin-cranklength>` | :ref:`joint<actuator-plugin-joint>` | :ref:`jointinparent<actuator-plugin-jointinparent>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`site<actuator-plugin-site>` | :ref:`dyntype<actuator-plugin-dyntype>` | :ref:`dynprm<actuator-plugin-dynprm>` | :ref:`tendon<actuator-plugin-tendon>` | |
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| | | | :ref:`site<actuator-plugin-site>` | :ref:`actdim<actuator-plugin-actdim>` | :ref:`dyntype<actuator-plugin-dyntype>` | :ref:`dynprm<actuator-plugin-dynprm>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`cranksite<actuator-plugin-cranksite>` | :ref:`slidersite<actuator-plugin-slidersite>` | :ref:`user<actuator-plugin-user>` | :ref:`actearly<actuator-plugin-actearly>` | |
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| | | | :ref:`tendon<actuator-plugin-tendon>` | :ref:`cranksite<actuator-plugin-cranksite>` | :ref:`slidersite<actuator-plugin-slidersite>` | :ref:`user<actuator-plugin-user>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`actearly<actuator-plugin-actearly>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| plugin |br| |_2| |L| | | .. table:: |
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+19
-14
@@ -22,10 +22,15 @@ General
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:ref:`mju_mulMatTVec3`. These function names and argument order are more consistent with the rest of the API.
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The older functions have been removed from the Python bindings and will be removed from the C API in the next
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release.
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4. Removed the ``actuator_actdim`` callback from actuator plugins. They now have the ``actdim`` attribute, which
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must be used with actuators that write state to the ``act`` array. This fixed a crash which happend when
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keyframes were used in a model with stateful actuator plugins. The PID plugin will give an error when the wrong
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value of actdim is provided.
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4. The :ref:`VFS<Virtualfilesystem>` implementation has been rewritten in C++ and is now considerably more efficient in
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5. The :ref:`VFS<Virtualfilesystem>` implementation has been rewritten in C++ and is now considerably more efficient in
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speed and memory footprint.
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5. Added a new API for :doc:`procedural model manipulation<programming/modeledit>`. Fixes :github:issue:`364`.
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6. Added a new API for :doc:`procedural model manipulation<programming/modeledit>`. Fixes :github:issue:`364`.
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Still missing:
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- Detailed documentation.
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@@ -34,27 +39,27 @@ General
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:align: right
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:width: 240px
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6. Added support for orthographic cameras. This is available for both fixed cameras and the free camera, using the
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7. Added support for orthographic cameras. This is available for both fixed cameras and the free camera, using the
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:ref:`camera/orthographic<body-camera-orthographic>` and :ref:`global/orthographic<visual-global-orthographic>`
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attributes, respectively.
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7. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
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8. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
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9. Added support for ``ball`` joints in the URDF parser ("spherical" in URDF).
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10. Replaced ``mjUSEDOUBLE`` which was previously hard-coded in
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8. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
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9. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
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10. Added support for ``ball`` joints in the URDF parser ("spherical" in URDF).
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11. Replaced ``mjUSEDOUBLE`` which was previously hard-coded in
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`mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`__
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with the build-time flag ``mjUSESINGLE``. If this symbol is not defined, MuJoCo will use double-precision floating
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point, as usual. If ``mjUSESINGLE`` is defined, MuJoCo will use single-precision floating point. See :ref:`mjtNum`.
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Relatedly, fixed various type errors that prevented building with single-precision.
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11. Quaternions in ``mjData->qpos`` and ``mjData->mocap_quat`` are no longer normalized in-place by
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12. Quaternions in ``mjData->qpos`` and ``mjData->mocap_quat`` are no longer normalized in-place by
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:ref:`mj_kinematics`. Instead they are normalized when they are used. After the first step, quaternions in
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``mjData->qpos`` will be normalized.
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MJX
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~~~
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12. Added support for :ref:`elliptic friction cones<option-cone>`.
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13. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
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14. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
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13. Added support for :ref:`elliptic friction cones<option-cone>`.
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14. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
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15. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
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.. youtube:: P83tKA1iz2Y
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@@ -63,14 +68,14 @@ MJX
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Simulate
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^^^^^^^^
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15. Added improved tutorial video.
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16. Improved the Brownian noise generator.
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16. Added improved tutorial video.
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17. Improved the Brownian noise generator.
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|br| |br| |br| |br|
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Python bindings
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^^^^^^^^^^^^^^^
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17. Fixed a memory leak when using ``copy.deepcopy()`` on a ``mujoco.MjData`` instance (:github:issue:`1572`).
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18. Fixed a memory leak when using ``copy.deepcopy()`` on a ``mujoco.MjData`` instance (:github:issue:`1572`).
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Version 3.1.6 (Jun 3, 2024)
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---------------------------
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@@ -1445,9 +1445,6 @@ struct mjpPlugin_ {
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// methods specific to actuators (optional)
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// dimension of the actuator state for the plugin (excluding state from actuator's dyntype)
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int (*actuator_actdim)(const mjModel*m, int instance, int actuator_id);
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// updates the actuator plugin's entries in act_dot
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// called after native act_dot is computed and before the compute callback
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void (*actuator_act_dot)(const mjModel* m, mjData* d, int instance);
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@@ -2117,7 +2114,6 @@ typedef struct mjsActuator_ { // actuator specification
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mjtDyn dyntype; // dynamics type
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double dynprm[mjNDYN]; // dynamics parameters
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int actdim; // number of activation variables
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int plugin_actdim; // actuator state size for plugins
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mjtByte actearly; // apply next activations to qfrc
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// transmission
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