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Preparation for MIMO actuators: split actuator counts: nu (inputs), nactuator (objects), nout (outputs).

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An actuator now owns a block of consecutive controls
(actuator_ctrladr/ctrlnum, width defined by the actuator type) and a block
of consecutive force outputs (actuator_outadr/outnum, width defined by the
transmission type). Force outputs are the scalars of actuation space: one
force, length, velocity and moment row each. nout = dim(actuator_force) is
derived from transmission types; all current types have width 1, so all
three counts coincide for every existing model and behavior is bit-exact.

Array re-keying: ctrlrange/ctrllimited by nu; forcerange/forcelimited/gear/
acc0/length0/lengthrange and the moment row structure by nout; everything
else per actuator. The mjModel actuator block is re-sorted by size key.

Layout-breaking, not behavior-breaking: saved .mjb files are invalidated
(size list changed) and recompilation is required.

PiperOrigin-RevId: 948351772
Change-Id: Icbc196ffa083cb1eaa6f1a3710869c89d8f62540
This commit is contained in:
Yuval Tassa
2026-07-15 08:29:38 -07:00
committed by Copybara-Service
parent 06f12a9372
commit d507e92198
27 changed files with 750 additions and 538 deletions
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include/mujoco/mjdata.h
+6 -6
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@@ -239,9 +239,9 @@ typedef struct mjData_ {
mjtNum* wrap_xpos; // Cartesian 3D points in all paths (nwrap x 6)
// computed by mj_fwdPosition/mj_transmission
mjtNum* actuator_length; // actuator lengths (nu x 1)
int* moment_rownnz; // number of non-zeros in actuator_moment row (nu x 1)
int* moment_rowadr; // row start address in colind array (nu x 1)
mjtNum* actuator_length; // actuator lengths, one per force output (nout x 1)
int* moment_rownnz; // number of non-zeros in actuator_moment row (nout x 1)
int* moment_rowadr; // row start address in colind array (nout x 1)
int* moment_colind; // column indices in sparse Jacobian (nJmom x 1)
mjtNum* actuator_moment; // actuator moments (nJmom x 1)
@@ -268,7 +268,7 @@ typedef struct mjData_ {
// computed by mj_fwdVelocity
mjtNum* flexedge_velocity; // flex edge velocities (nflexedge x 1)
mjtNum* ten_velocity; // tendon velocities (ntendon x 1)
mjtNum* actuator_velocity; // actuator velocities (nu x 1)
mjtNum* actuator_velocity; // actuator velocities, one per force output (nout x 1)
// computed by mj_fwdVelocity/mj_comVel
mjtNum* cvel; // com-based velocity (rot:lin) (nbody x 6)
@@ -301,8 +301,8 @@ typedef struct mjData_ {
//-------------------- POSITION, VELOCITY, CONTROL/ACCELERATION dependent
// computed by mj_fwdActuation
mjtNum* actuator_force; // actuator force in actuation space (nu x 1)
mjtNum* qfrc_actuator; // actuator force (nv x 1)
mjtNum* actuator_force; // actuator force in actuation space (nout x 1)
mjtNum* qfrc_actuator; // actuator force in joint space (nv x 1)
// computed by mj_fwdAcceleration
mjtNum* qfrc_smooth; // net unconstrained force (nv x 1)