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
2024-07-09 09:07:44 -07:00
parent e0d33eb1d0
commit 393895bb29
16 changed files with 201 additions and 101 deletions
@@ -628,7 +628,6 @@ typedef struct mjsActuator_ {      // actuator specification
  mjtDyn dyntype;                  // dynamics type
  double dynprm[mjNDYN];           // dynamics parameters
  int actdim;                      // number of activation variables
-  int plugin_actdim;               // actuator state size for plugins
  mjtByte actearly;                // apply next activations to qfrc

  // transmission