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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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src/user/user_model.cc
+2 -9
View File
@@ -1343,7 +1343,7 @@ void mjCModel::SetSizes() {
// nu, na
for (int i=0; i<actuators_.size(); i++) {
nu++;
na += actuators_[i]->actdim + actuators_[i]->plugin_actdim;
na += actuators_[i]->actdim;
}
// nbvh, nbvhstatic, nbvhdynamic
@@ -2639,7 +2639,7 @@ void mjCModel::CopyObjects(mjModel* m) {
m->actuator_biastype[i] = pac->biastype;
m->actuator_trnid[2*i] = pac->trnid[0];
m->actuator_trnid[2*i+1] = pac->trnid[1];
m->actuator_actnum[i] = pac->actdim + pac->plugin_actdim;
m->actuator_actnum[i] = pac->actdim;
m->actuator_actadr[i] = m->actuator_actnum[i] ? adr : -1;
pac->actadr_ = m->actuator_actadr[i];
pac->actnum_ = m->actuator_actnum[i];
@@ -3535,13 +3535,6 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
this->nsensordata += nsensordata;
}
}
if ((plugin->capabilityflags & mjPLUGIN_ACTUATOR) && plugin->actuator_actdim) {
for (int actuator_id : plugin_to_actuators[i]) {
int plugin_actdim = plugin->actuator_actdim(m, i, actuator_id);
actuators_[actuator_id]->plugin_actdim = plugin_actdim;
this->na += plugin_actdim;
}
}
}
m->npluginstate = stateadr;
}
src/user/user_objects.cc
+10 -8
View File
@@ -5208,14 +5208,16 @@ void mjCActuator::Compile(void) {
}
// check and set actdim
if (actdim > 1 && dyntype != mjDYN_USER) {
throw mjCError(this, "actdim > 1 is only allowed for dyntype 'user' in actuator");
}
if (actdim == 1 && dyntype == mjDYN_NONE) {
throw mjCError(this, "invalid actdim 1 in stateless actuator");
}
if (actdim == 0 && dyntype != mjDYN_NONE) {
throw mjCError(this, "invalid actdim 0 in stateful actuator");
if (!plugin.active) {
if (actdim > 1 && dyntype != mjDYN_USER) {
throw mjCError(this, "actdim > 1 is only allowed for dyntype 'user' in actuator");
}
if (actdim == 1 && dyntype == mjDYN_NONE) {
throw mjCError(this, "invalid actdim 1 in stateless actuator");
}
if (actdim == 0 && dyntype != mjDYN_NONE) {
throw mjCError(this, "invalid actdim 0 in stateful actuator");
}
}
// set actdim