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Skip disabled actuators in mjd_actuator_vel.

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Fixes a bug where the derivative of the actuator force with respect to the generalized velocities (used in implicit and implicitfast integrators) was failing to take into account disabled actuators.

Fixes #1838

PiperOrigin-RevId: 657193960
Change-Id: Id8c0ab863a39e2a01cd2703774f460e9731b4807
This commit is contained in:
Yuval Tassa
2024-07-29 07:30:54 -07:00
committed by Copybara-Service
parent 3f0749a0f7
commit a4bd2bec0a
4 changed files with 84 additions and 13 deletions
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doc/XMLreference.rst
+9 -9
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@@ -1751,7 +1751,7 @@ properties are grouped together.
.. _material-rgb:
:el-prefix:`material/` |-| **rgb** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element references a texture asset used to specify base color / albedo values.
@@ -1763,7 +1763,7 @@ This element references a texture asset used to specify base color / albedo valu
.. _material-normal:
:el-prefix:`material/` |-| **normal** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element references a texture asset used to specify the bump map (surface normals).
@@ -1775,7 +1775,7 @@ This element references a texture asset used to specify the bump map (surface no
.. _material-occlusion:
:el-prefix:`material/` |-| **occlusion** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element references a texture asset used to specify ambient occlusion.
@@ -1787,7 +1787,7 @@ This element references a texture asset used to specify ambient occlusion.
.. _material-roughness:
:el-prefix:`material/` |-| **roughness** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element references a texture asset used to specify the roughness map.
@@ -1799,7 +1799,7 @@ This element references a texture asset used to specify the roughness map.
.. _material-metallic:
:el-prefix:`material/` |-| **metallic** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element references a texture asset used to specify the metallic map.
@@ -1811,7 +1811,7 @@ This element references a texture asset used to specify the metallic map.
.. _material-opacity:
:el-prefix:`material/` |-| **opacity** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element references a texture asset used to specify the opacity map (alpha channel, transparency).
@@ -1823,7 +1823,7 @@ This element references a texture asset used to specify the opacity map (alpha c
.. _material-emissive:
:el-prefix:`material/` |-| **emissive** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element references a texture asset used to specify light emission.
@@ -1835,7 +1835,7 @@ This element references a texture asset used to specify light emission.
.. _material-orm:
:el-prefix:`material/` |-| **orm** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element references a texture asset used to specify a packed ORM map, where occlusion, roughness, and metallic
are joined into the corresponding RGB values of a single texture.
@@ -1848,7 +1848,7 @@ are joined into the corresponding RGB values of a single texture.
.. _material-rgba:
:el-prefix:`material/` |-| **rgba** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element references a texture asset used to specify a packed map where albedo and opacity are joined into the same
4-channel texture.
doc/changelog.rst
+6 -4
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@@ -7,16 +7,14 @@ Upcoming version (not yet released)
General
^^^^^^^
1. Renamed ``mjModel.tex_rbg`` to ``mjModel.tex_data``.
2. Added a new disable flag ``mjDSBL_AUTORESETNAN`` to disable automatic reset when NaNs or infinities are produced.
3. Added sub-elements to the MJCF :ref:`material<asset-material>` element, to allow specification of multiple textures
for rendering (e.g., :ref:`occlusion-roughness-metallic<material-orm>`). Note that the MuJoCo renderer doesn't support
these new features, and they are made available for use with external renderers.
for rendering (e.g., :ref:`occlusion-roughness-metallic<material-orm>`). Note that the MuJoCo renderer doesn't
support these new features, and they are made available for use with external renderers.
MJX
^^^
4. Added more fields to ``mjx.Model`` and ``mjx.Data`` for further compatibility with the corresponding MuJoCo structs.
5. Added support for :ref:`fixed tendons <tendon-fixed>`.
6. Added support for tendon length limits (``mjCNSTR_LIMIT_TENDON`` in :ref:`mjtConstraint`).
@@ -28,6 +26,10 @@ Python bindings
9. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and
``mujoco.spec.compile``.
Bug fixes
^^^^^^^^^
10. Fixed a bug where implicit integrators did not take into account disabled actuators (:github:issue:`1838`).
Version 3.2.0 (Jul 15, 2024)
----------------------------