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Explicitly specify actdim on PID plugin actuators, to allow them to be used with keyframes.

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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
This commit is contained in:
Nimrod Gileadi
2024-07-09 09:07:44 -07:00
committed by Copybara-Service
parent e0d33eb1d0
commit 393895bb29
16 changed files with 201 additions and 101 deletions
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doc/changelog.rst
+19 -14
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@@ -22,10 +22,15 @@ General
:ref:`mju_mulMatTVec3`. These function names and argument order are more consistent with the rest of the API.
The older functions have been removed from the Python bindings and will be removed from the C API in the next
release.
4. Removed the ``actuator_actdim`` callback from actuator plugins. They now have the ``actdim`` attribute, which
must be used with actuators that write state to the ``act`` array. This fixed a crash which happend when
keyframes were used in a model with stateful actuator plugins. The PID plugin will give an error when the wrong
value of actdim is provided.
4. The :ref:`VFS<Virtualfilesystem>` implementation has been rewritten in C++ and is now considerably more efficient in
5. The :ref:`VFS<Virtualfilesystem>` implementation has been rewritten in C++ and is now considerably more efficient in
speed and memory footprint.
5. Added a new API for :doc:`procedural model manipulation<programming/modeledit>`. Fixes :github:issue:`364`.
6. Added a new API for :doc:`procedural model manipulation<programming/modeledit>`. Fixes :github:issue:`364`.
Still missing:
- Detailed documentation.
@@ -34,27 +39,27 @@ General
:align: right
:width: 240px
6. Added support for orthographic cameras. This is available for both fixed cameras and the free camera, using the
7. Added support for orthographic cameras. This is available for both fixed cameras and the free camera, using the
:ref:`camera/orthographic<body-camera-orthographic>` and :ref:`global/orthographic<visual-global-orthographic>`
attributes, respectively.
7. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
8. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
9. Added support for ``ball`` joints in the URDF parser ("spherical" in URDF).
10. Replaced ``mjUSEDOUBLE`` which was previously hard-coded in
8. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
9. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
10. Added support for ``ball`` joints in the URDF parser ("spherical" in URDF).
11. Replaced ``mjUSEDOUBLE`` which was previously hard-coded in
`mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`__
with the build-time flag ``mjUSESINGLE``. If this symbol is not defined, MuJoCo will use double-precision floating
point, as usual. If ``mjUSESINGLE`` is defined, MuJoCo will use single-precision floating point. See :ref:`mjtNum`.
Relatedly, fixed various type errors that prevented building with single-precision.
11. Quaternions in ``mjData->qpos`` and ``mjData->mocap_quat`` are no longer normalized in-place by
12. Quaternions in ``mjData->qpos`` and ``mjData->mocap_quat`` are no longer normalized in-place by
:ref:`mj_kinematics`. Instead they are normalized when they are used. After the first step, quaternions in
``mjData->qpos`` will be normalized.
MJX
~~~
12. Added support for :ref:`elliptic friction cones<option-cone>`.
13. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
14. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
13. Added support for :ref:`elliptic friction cones<option-cone>`.
14. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
15. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
.. youtube:: P83tKA1iz2Y
@@ -63,14 +68,14 @@ MJX
Simulate
^^^^^^^^
15. Added improved tutorial video.
16. Improved the Brownian noise generator.
16. Added improved tutorial video.
17. Improved the Brownian noise generator.
|br| |br| |br| |br|
Python bindings
^^^^^^^^^^^^^^^
17. Fixed a memory leak when using ``copy.deepcopy()`` on a ``mujoco.MjData`` instance (:github:issue:`1572`).
18. Fixed a memory leak when using ``copy.deepcopy()`` on a ``mujoco.MjData`` instance (:github:issue:`1572`).
Version 3.1.6 (Jun 3, 2024)
---------------------------