Shadow_dexee action dimension mismatch due to activation dynamics

[wengmister]

Which model is the issue affecting?

shadow_dexee

What is the issue?

shadow_dexee has actuator defined with mujoco.pid for the actuator instances, and actdim=2 for its actuation dynamics. This appears to break output from Brax after vmap as it outputs action dimension = 12 (which matches DOF), while the model expects an action dimension of 24.

This manifests as:

IndexError: f argument "3" with type "a" has length "12" which does not match the in_types[3] expected length of "24".

when evaluating the actor.

Is there any additional context you can provide (e.g., a spec sheet or a URDF to show a value mismatch)?

Other models I've tested don't seem to have this issue since shadow_dexee is the only model that uses mujoco.pid plugin.

[aviralgarg05]

I would like to solve this issue, please assign me this issue