chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
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