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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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model/plugin/actuator/pid.xml
+2 -2
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@@ -62,7 +62,7 @@
<actuator>
<plugin joint="j1" plugin="mujoco.pid" instance="pid1" ctrlrange="0 0.15" />
<plugin joint="j2" plugin="mujoco.pid" instance="pid2" ctrlrange="0 0.15" />
<plugin joint="j3" plugin="mujoco.pid" instance="pid3" ctrlrange="0 0.15" />
<plugin joint="j4" plugin="mujoco.pid" instance="pid4" ctrlrange="0 0.15" />
<plugin joint="j3" plugin="mujoco.pid" instance="pid3" ctrlrange="0 0.15" actdim="1" />
<plugin joint="j4" plugin="mujoco.pid" instance="pid4" ctrlrange="0 0.15" actdim="1" />
</actuator>
</mujoco>