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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/xml/xml_native_reader.cc
+4 -2
View File
@@ -423,10 +423,11 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
"lmin", "lmax", "vmax", "fpmax", "fvmax"},
{"adhesion", "*", "9", "name", "class", "group",
"forcelimited", "ctrlrange", "forcerange", "user", "body", "gain"},
{"plugin", "*", "24", "name", "class", "plugin", "instance", "group",
{"plugin", "*", "25", "name", "class", "plugin", "instance", "group",
"ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange", "actrange",
"lengthrange", "gear", "cranklength", "joint", "jointinparent",
"site", "dyntype", "dynprm", "tendon", "cranksite", "slidersite", "user", "actearly"},
"site", "actdim", "dyntype", "dynprm", "tendon", "cranksite", "slidersite", "user",
"actearly"},
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
@@ -2234,6 +2235,7 @@ void mjXReader::OneActuator(XMLElement* elem, mjsActuator* pact) {
pact->actearly = (n==1);
}
ReadAttr(elem, "dynprm", mjNDYN, pact->dynprm, text, false, false);
ReadAttrInt(elem, "actdim", &pact->actdim);
}
else { // SHOULD NOT OCCUR
src/xml/xml_native_writer.cc
+7 -7
View File
@@ -757,6 +757,13 @@ void mjXWriter::OneActuator(XMLElement* elem, const mjCActuator* pact, mjCDef* d
WriteAttr(elem, "cranklength", 1, &pact->cranklength, &def->Actuator().cranklength);
WriteAttrKey(elem, "actearly", bool_map, 2, pact->actearly,
def->Actuator().actearly);
// special handling of actdim which has default value of -1
if (writingdefaults) {
WriteAttrInt(elem, "actdim", pact->actdim, def->Actuator().actdim);
} else {
int default_actdim = pact->dyntype == mjDYN_NONE ? 0 : 1;
WriteAttrInt(elem, "actdim", pact->actdim, default_actdim);
}
WriteAttrKey(elem, "dyntype", dyn_map, dyn_sz, pact->dyntype, def->Actuator().dyntype);
WriteAttr(elem, "dynprm", mjNDYN, pact->dynprm, def->Actuator().dynprm);
@@ -767,13 +774,6 @@ void mjXWriter::OneActuator(XMLElement* elem, const mjCActuator* pact, mjCDef* d
// non-plugins: write actuator parameters
else {
// special handling of actdim which has default value of -1
if (writingdefaults) {
WriteAttrInt(elem, "actdim", pact->actdim, def->Actuator().actdim);
} else {
int default_actdim = pact->dyntype == mjDYN_NONE ? 0 : 1;
WriteAttrInt(elem, "actdim", pact->actdim, default_actdim);
}
WriteAttrKey(elem, "gaintype", gain_map, gain_sz, pact->gaintype, def->Actuator().gaintype);
WriteAttrKey(elem, "biastype", bias_map, bias_sz, pact->biastype, def->Actuator().biastype);
WriteAttr(elem, "gainprm", mjNGAIN, pact->gainprm, def->Actuator().gainprm, true);