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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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test/engine/engine_plugin_test.cc
+11 -23
View File
@@ -149,12 +149,6 @@ class TestActuator : public BaseTestPlugin {
} else {
multiplier = kDefaultMultiplier;
}
s = mj_getPluginConfig(m, instance, "actdim");
if (*s) {
std::stringstream(s) >> actdim_;
} else {
actdim_ = 0;
}
for (int i = 0; i < m->nu; ++i) {
if (m->actuator_plugin[i] == instance) {
actuators.push_back(&d->actuator_force[i]);
@@ -187,7 +181,13 @@ class TestActuator : public BaseTestPlugin {
if (m->actuator_plugin[i] != instance_) {
continue;
}
mju_fill(d->act_dot + m->actuator_actadr[i], kActDotValue, actdim_);
// If the user specified an actdim, fill the act_dot values that belong
// to the plugin.
int actnum = m->actuator_actnum[i];
if (m->actuator_dyntype[i] != mjDYN_NONE) {
actnum--;
}
mju_fill(d->act_dot + m->actuator_actadr[i], kActDotValue, actnum);
}
}
@@ -195,7 +195,6 @@ class TestActuator : public BaseTestPlugin {
mjtNum multiplier;
std::vector<mjtNum*> actuators;
int instance_;
int actdim_;
void WriteActuatorForce() {
for (mjtNum* actuator_force : actuators) {
@@ -263,7 +262,7 @@ int RegisterActuatorPlugin() {
plugin.name = "mujoco.test.actuator";
const char* attributes[] = {"stride", "multiplier", "actdim"};
const char* attributes[] = {"stride", "multiplier"};
plugin.nattribute = sizeof(attributes) / sizeof(*attributes);
plugin.attributes = attributes;
@@ -296,16 +295,6 @@ int RegisterActuatorPlugin() {
auto actuator = reinterpret_cast<TestActuator*>(d->plugin_data[instance]);
actuator->Advance();
};
plugin.actuator_actdim =
+[](const mjModel* m, int instance, int actuator_id) {
const char* actdim_str = mj_getPluginConfig(m, instance, "actdim");
if (actdim_str) {
int actdim = 0;
std::stringstream(actdim_str) >> actdim;
return actdim;
}
return 0;
};
plugin.actuator_act_dot = +[](const mjModel* m, mjData* d, int instance) {
auto actuator = reinterpret_cast<TestActuator*>(d->plugin_data[instance]);
actuator->ActDot(m, d);
@@ -383,7 +372,6 @@ constexpr char xml[] = R"(
<instance name="actuator2">
<config key="stride" value="2"/>
<config key="multiplier" value="0.125"/>
<config key="actdim" value="3"/>
</instance>
</plugin>
<plugin plugin="mujoco.test.passive"/>
@@ -416,8 +404,8 @@ constexpr char xml[] = R"(
<config key="stride" value="4"/>
<config key="multiplier" value="0.03125"/>
</plugin>
<plugin joint="h2" instance="actuator2"/>
<plugin joint="h2" dyntype="filter" dynprm="0.9" instance="actuator2"/>
<plugin joint="h2" actdim="3" instance="actuator2"/>
<plugin joint="h2" actdim="4" dyntype="filter" dynprm="0.9" instance="actuator2"/>
</actuator>
</mujoco>
)";
@@ -640,7 +628,7 @@ TEST_F(EnginePluginTest, FilteredActuatorPlugin) {
// Expecting 7 actuator state variables: 3x2 from actuator2 instances, and 1
// from setting dyntype="filter" on one of the plugin actuators
EXPECT_EQ(m->na, 7);
ASSERT_EQ(m->na, 7);
EXPECT_EQ(m->actuator_actnum[0], 0);
EXPECT_EQ(m->actuator_actnum[1], 3);
EXPECT_EQ(m->actuator_actnum[2], 4);