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Runtime disabling of actuators according to group.

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Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group.

- The first 6 actuator groups are toggleable in the `simulate` viewer.
- Minor refactor and cleanup of actuator documentation.

https://youtu.be/H9qG9Zf2W44

Fixes #1092.

PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
This commit is contained in:
Yuval Tassa
2023-10-31 16:23:58 -07:00
committed by Copybara-Service
parent 45878b7eef
commit 893c404230
25 changed files with 525 additions and 125 deletions
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doc/changelog.rst
+30 -17
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@@ -7,41 +7,54 @@ Upcoming version (not yet released)
General
^^^^^^^
- Added sub-terms of total passive forces in ``mjData.qfrc_passive`` to :ref:`mjData`:
``qfrc_{spring, damper, gravcomp, fluid}``. The sum of these vectors equals ``qfrc_passive``.
1. Added sub-terms of total passive forces in ``mjData.qfrc_passive`` to :ref:`mjData`:
``qfrc_{spring, damper, gravcomp, fluid}``. The sum of these vectors equals ``qfrc_passive``.
2. Increased ``mjMAXUIITEM`` (maximum number of UI elements per section in Simulate) to 200.
.. youtube:: H9qG9Zf2W44
:align: right
:width: 240px
- Added :ref:`actuatorgroupdisable<option-actuatorgroupdisable>` attribute and associated
:ref:`mjOption.disableactuator<mjOption>` integer bitfield, which can be used to disable sets of actuators at runtime
according to their :ref:`group<actuator-general-group>`. Fixes :github:issue:`1092`. See :ref:`CActDisable`.
- The first 6 actuator groups are toggleable in the :ref:`simulate<saSimulate>` viewer. See `example model
<https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/actuator_group_disable.xml>`__
and associated screen-capture on the right.
- Increased ``mjMAXUIITEM`` (maximum number of UI elements per section in Simulate) to 200.
MJX
^^^
2. Added support for joint equality constraints (``mjEQ_JOINT`` in :ref:`mjtEq`).
3. Fixed bug where mixed ``jnt_limited`` joints were not being constrained correctly.
4. Made ``device_put`` type validation more verbose (fixes :github:issue:`1113`).
5. Removed empty EFC rows from `MJX`, for joints with no limits (fixes :github:issue:`1117`).
6. Fixed bug where equality constraints became inactive (fixes :github:issue:`1129`).
7. Added an error when loading a model with tendons (fixes :github:issue:`1149`).
- Added support for joint equality constraints (``mjEQ_JOINT`` in :ref:`mjtEq`).
- Fixed bug where mixed ``jnt_limited`` joints were not being constrained correctly.
- Made ``device_put`` type validation more verbose (fixes :github:issue:`1113`).
- Removed empty EFC rows from `MJX`, for joints with no limits (fixes :github:issue:`1117`).
- Fixed bug where equality constraints became inactive (fixes :github:issue:`1129`).
- Added an error when loading a model with tendons (fixes :github:issue:`1149`).
Python bindings
^^^^^^^^^^^^^^^
6. Fix the macOS ``mjpython`` launcher to work with the Python interpreter from Apple Command Line
Tools.
7. Fixed a crash when copying instances of ``mujoco.MjData`` for models that use plugins. Introduced a ``model``
attribute to ``MjData`` which is reference to the model that was used to create that ``MjData`` instance.
- Fix the macOS ``mjpython`` launcher to work with the Python interpreter from Apple Command Line Tools.
- Fixed a crash when copying instances of ``mujoco.MjData`` for models that use plugins. Introduced a ``model``
attribute to ``MjData`` which is reference to the model that was used to create that ``MjData`` instance.
Simulate
^^^^^^^^
8. :ref:`simulate<saSimulate>`: correct handling of "Pause update", "Fullscreen" and "VSync" buttons.
- :ref:`simulate<saSimulate>`: correct handling of "Pause update", "Fullscreen" and "VSync" buttons.
Documentation
^^^^^^^^^^^^^
9. Added documentation for the :ref:`UI` framework.
10. Fixed typos and supported fields in docs (fixes :github:issue:`1105` and :github:issue:`1106`).
- Added documentation for the :ref:`UI` framework.
- Fixed typos and supported fields in docs (fixes :github:issue:`1105` and :github:issue:`1106`).
Bug fixes
^^^^^^^^^
11. Fixed bug relating to welds modified with :ref:`torquescale<equality-weld-torquescale>`.
- Fixed bug relating to welds modified with :ref:`torquescale<equality-weld-torquescale>`.
Version 3.0.0 (October 18, 2023)
--------------------------------