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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/mjmodel.h
+37 -31
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@@ -245,7 +245,9 @@ typedef struct mjModel_ {
// sizes needed at mjModel construction
mjtSize nq; // number of generalized coordinates = dim(qpos)
mjtSize nv; // number of degrees of freedom = dim(qvel)
mjtSize nu; // number of actuators/controls = dim(ctrl)
mjtSize nu; // number of scalar controls = dim(ctrl)
mjtSize nactuator; // number of actuators
mjtSize nout; // number of force outputs, derived from transmission type
mjtSize na; // number of activation states = dim(act)
mjtSize nbody; // number of bodies
mjtSize nbvh; // number of total bounding volumes in all bodies
@@ -760,37 +762,41 @@ typedef struct mjModel_ {
mjtNum* wrap_prm; // divisor, joint coef, or site id (nwrap x 1)
// actuators
int* actuator_trntype; // transmission type (mjtTrn) (nu x 1)
int* actuator_dyntype; // dynamics type (mjtDyn) (nu x 1)
int* actuator_gaintype; // gain type (mjtGain) (nu x 1)
int* actuator_biastype; // bias type (mjtBias) (nu x 1)
int* actuator_trnid; // transmission id: joint, tendon, site (nu x 2)
mjtNum* actuator_damping; // linear damping coefficient (nu x 1)
mjtNum* actuator_dampingpoly; // high-order damping coefficients (nu x mjNPOLY)
mjtNum* actuator_armature; // armature added to target (joint, tendon) (nu x 1)
int* actuator_actadr; // first activation address; -1: stateless (nu x 1)
int* actuator_actnum; // number of activation variables (nu x 1)
int* actuator_group; // group for visibility (nu x 1)
int* actuator_history; // history buffer: [nsample, interp] (nu x 2)
int* actuator_historyadr; // address in history buffer; -1: none (nu x 1)
mjtNum* actuator_delay; // delay time in seconds; 0: no delay (nu x 1)
int* actuator_trntype; // transmission type (mjtTrn) (nactuator x 1)
int* actuator_dyntype; // dynamics type (mjtDyn) (nactuator x 1)
int* actuator_gaintype; // gain type (mjtGain) (nactuator x 1)
int* actuator_biastype; // bias type (mjtBias) (nactuator x 1)
int* actuator_ctrladr; // address of first control (nactuator x 1)
int* actuator_ctrlnum; // number of controls (nactuator x 1)
int* actuator_outadr; // address of first force output (nactuator x 1)
int* actuator_outnum; // number of force outputs, from trntype (nactuator x 1)
int* actuator_actadr; // first activation address; -1: stateless (nactuator x 1)
int* actuator_actnum; // number of activation variables (nactuator x 1)
int* actuator_trnid; // transmission id: joint, tendon, site (nactuator x 2)
mjtNum* actuator_cranklength; // crank length for slider-crank (nactuator x 1)
mjtNum* actuator_dynprm; // dynamics parameters (nactuator x mjNDYN)
mjtNum* actuator_gainprm; // gain parameters (nactuator x mjNGAIN)
mjtNum* actuator_biasprm; // bias parameters (nactuator x mjNBIAS)
mjtBool* actuator_actlimited; // is activation limited (nactuator x 1)
mjtNum* actuator_actrange; // range of activations (nactuator x 2)
mjtBool* actuator_actearly; // step activation before force (nactuator x 1)
int* actuator_history; // history buffer: [nsample, interp] (nactuator x 2)
int* actuator_historyadr; // address in history buffer; -1: none (nactuator x 1)
mjtNum* actuator_delay; // delay time; 0: no delay (nactuator x 1)
mjtNum* actuator_damping; // linear damping coefficient (nactuator x 1)
mjtNum* actuator_dampingpoly; // high-order damping coefficients (nactuator x mjNPOLY)
mjtNum* actuator_armature; // armature added to target (joint, tendon) (nactuator x 1)
int* actuator_group; // group for visibility (nactuator x 1)
mjtNum* actuator_user; // user data (nactuator x nuser_actuator)
int* actuator_plugin; // plugin instance id; -1: not a plugin (nactuator x 1)
mjtBool* actuator_ctrllimited; // is control limited (nu x 1)
mjtBool* actuator_forcelimited;// is force limited (nu x 1)
mjtBool* actuator_actlimited; // is activation limited (nu x 1)
mjtNum* actuator_dynprm; // dynamics parameters (nu x mjNDYN)
mjtNum* actuator_gainprm; // gain parameters (nu x mjNGAIN)
mjtNum* actuator_biasprm; // bias parameters (nu x mjNBIAS)
mjtBool* actuator_actearly; // step activation before force (nu x 1)
mjtNum* actuator_ctrlrange; // range of controls (nu x 2)
mjtNum* actuator_forcerange; // range of forces (nu x 2)
mjtNum* actuator_actrange; // range of activations (nu x 2)
mjtNum* actuator_gear; // scale length and transmitted force (nu x 6)
mjtNum* actuator_cranklength; // crank length for slider-crank (nu x 1)
mjtNum* actuator_acc0; // acceleration from unit force in qpos0 (nu x 1)
mjtNum* actuator_length0; // actuator length in qpos0 (nu x 1)
mjtNum* actuator_lengthrange; // feasible actuator length range (nu x 2)
mjtNum* actuator_user; // user data (nu x nuser_actuator)
int* actuator_plugin; // plugin instance id; -1: not a plugin (nu x 1)
mjtNum* actuator_gear; // scale length and transmitted force (nout x 6)
mjtBool* actuator_forcelimited;// is force limited (nout x 1)
mjtNum* actuator_forcerange; // range of forces (nout x 2)
mjtNum* actuator_acc0; // acceleration from unit force in qpos0 (nout x 1)
mjtNum* actuator_length0; // actuator length in qpos0 (nout x 1)
mjtNum* actuator_lengthrange; // feasible actuator length range (nout x 2)
// sensors
int* sensor_type; // sensor type (mjtSensor) (nsensor x 1)
@@ -862,7 +868,7 @@ typedef struct mjModel_ {
int* name_excludeadr; // exclude name pointers (nexclude x 1)
int* name_eqadr; // equality constraint name pointers (neq x 1)
int* name_tendonadr; // tendon name pointers (ntendon x 1)
int* name_actuatoradr; // actuator name pointers (nu x 1)
int* name_actuatoradr; // actuator name pointers (nactuator x 1)
int* name_sensoradr; // sensor name pointers (nsensor x 1)
int* name_numericadr; // numeric name pointers (nnumeric x 1)
int* name_textadr; // text name pointers (ntext x 1)