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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
Download Patch File Download Diff File Expand all files Collapse all files
include/mujoco/mjxmacro.h
+41 -35
View File
@@ -163,6 +163,8 @@
X( nq ) \
X( nv ) \
X( nu ) \
X( nactuator ) \
X( nout ) \
X( na ) \
X( nbody ) \
X( nbvh ) \
@@ -666,37 +668,41 @@
X ( float, tendon_rgba, ntendon, 4 )
#define MJMODEL_POINTERS_ACTUATOR \
X ( int, actuator_trntype, nu, 1 ) \
X ( int, actuator_dyntype, nu, 1 ) \
X ( int, actuator_gaintype, nu, 1 ) \
X ( int, actuator_biastype, nu, 1 ) \
X ( int, actuator_trnid, nu, 2 ) \
X ( mjtNum, actuator_damping, nu, 1 ) \
X ( mjtNum, actuator_dampingpoly, nu, mjNPOLY ) \
X ( mjtNum, actuator_armature, nu, 1 ) \
X ( int, actuator_actadr, nu, 1 ) \
X ( int, actuator_actnum, nu, 1 ) \
X ( int, actuator_group, nu, 1 ) \
X ( int, actuator_history, nu, 2 ) \
X ( int, actuator_historyadr, nu, 1 ) \
X ( mjtNum, actuator_delay, nu, 1 ) \
X ( int, actuator_trntype, nactuator, 1 ) \
X ( int, actuator_dyntype, nactuator, 1 ) \
X ( int, actuator_gaintype, nactuator, 1 ) \
X ( int, actuator_biastype, nactuator, 1 ) \
X ( int, actuator_ctrladr, nactuator, 1 ) \
X ( int, actuator_ctrlnum, nactuator, 1 ) \
X ( int, actuator_outadr, nactuator, 1 ) \
X ( int, actuator_outnum, nactuator, 1 ) \
X ( int, actuator_actadr, nactuator, 1 ) \
X ( int, actuator_actnum, nactuator, 1 ) \
X ( int, actuator_trnid, nactuator, 2 ) \
X ( mjtNum, actuator_cranklength, nactuator, 1 ) \
X ( mjtNum, actuator_dynprm, nactuator, mjNDYN ) \
X ( mjtNum, actuator_gainprm, nactuator, mjNGAIN ) \
X ( mjtNum, actuator_biasprm, nactuator, mjNBIAS ) \
X ( mjtBool, actuator_actlimited, nactuator, 1 ) \
X ( mjtNum, actuator_actrange, nactuator, 2 ) \
X ( mjtBool, actuator_actearly, nactuator, 1 ) \
X ( int, actuator_history, nactuator, 2 ) \
X ( int, actuator_historyadr, nactuator, 1 ) \
X ( mjtNum, actuator_delay, nactuator, 1 ) \
X ( mjtNum, actuator_damping, nactuator, 1 ) \
X ( mjtNum, actuator_dampingpoly, nactuator, mjNPOLY ) \
X ( mjtNum, actuator_armature, nactuator, 1 ) \
X ( int, actuator_group, nactuator, 1 ) \
X ( mjtNum, actuator_user, nactuator, MJ_M(nuser_actuator) ) \
X ( int, actuator_plugin, nactuator, 1 ) \
X ( mjtBool, actuator_ctrllimited, nu, 1 ) \
X ( mjtBool, actuator_forcelimited, nu, 1 ) \
X ( mjtBool, actuator_actlimited, nu, 1 ) \
X ( mjtNum, actuator_dynprm, nu, mjNDYN ) \
X ( mjtNum, actuator_gainprm, nu, mjNGAIN ) \
X ( mjtNum, actuator_biasprm, nu, mjNBIAS ) \
X ( mjtBool, actuator_actearly, nu, 1 ) \
X ( mjtNum, actuator_ctrlrange, nu, 2 ) \
X ( mjtNum, actuator_forcerange, nu, 2 ) \
X ( mjtNum, actuator_actrange, nu, 2 ) \
X ( mjtNum, actuator_gear, nu, 6 ) \
X ( mjtNum, actuator_cranklength, nu, 1 ) \
X ( mjtNum, actuator_acc0, nu, 1 ) \
X ( mjtNum, actuator_length0, nu, 1 ) \
X ( mjtNum, actuator_lengthrange, nu, 2 ) \
X ( mjtNum, actuator_user, nu, MJ_M(nuser_actuator) ) \
X ( int, actuator_plugin, nu, 1 )
X ( mjtNum, actuator_gear, nout, 6 ) \
X ( mjtBool, actuator_forcelimited, nout, 1 ) \
X ( mjtNum, actuator_forcerange, nout, 2 ) \
X ( mjtNum, actuator_acc0, nout, 1 ) \
X ( mjtNum, actuator_length0, nout, 1 ) \
X ( mjtNum, actuator_lengthrange, nout, 2 )
#define MJMODEL_POINTERS_SENSOR \
X ( int, sensor_type, nsensor, 1 ) \
@@ -791,7 +797,7 @@
X ( int, name_excludeadr, nexclude, 1 ) \
X ( int, name_eqadr, neq, 1 ) \
X ( int, name_tendonadr, ntendon, 1 ) \
X ( int, name_actuatoradr, nu, 1 ) \
X ( int, name_actuatoradr, nactuator, 1 ) \
X ( int, name_sensoradr, nsensor, 1 ) \
X ( int, name_numericadr, nnumeric, 1 ) \
X ( int, name_textadr, ntext, 1 ) \
@@ -871,9 +877,9 @@
X ( mjtNum, ten_length, ntendon, 1 ) \
X ( int, wrap_obj, nwrap, 2 ) \
X ( mjtNum, wrap_xpos, nwrap, 6 ) \
X ( mjtNum, actuator_length, nu, 1 ) \
X ( int, moment_rownnz, nu, 1 ) \
X ( int, moment_rowadr, nu, 1 ) \
X ( mjtNum, actuator_length, nout, 1 ) \
X ( int, moment_rownnz, nout, 1 ) \
X ( int, moment_rowadr, nout, 1 ) \
X ( int, moment_colind, nJmom, 1 ) \
X ( mjtNum, actuator_moment, nJmom, 1 ) \
XNV ( mjtNum, crb, nbody, 10 ) \
@@ -888,7 +894,7 @@
X ( int, dof_awake_ind, nv, 1 ) \
X ( mjtNum, flexedge_velocity, nflexedge, 1 ) \
X ( mjtNum, ten_velocity, ntendon, 1 ) \
X ( mjtNum, actuator_velocity, nu, 1 ) \
X ( mjtNum, actuator_velocity, nout, 1 ) \
X ( mjtNum, cvel, nbody, 6 ) \
X ( mjtNum, cdof_dot, nv, 6 ) \
X ( mjtNum, qfrc_bias, nv, 1 ) \
@@ -903,7 +909,7 @@
X ( mjtNum, qHDiagInv, nv, 1 ) \
XNV ( mjtNum, qDeriv, nD, 1 ) \
XNV ( mjtNum, qLU, nD, 1 ) \
X ( mjtNum, actuator_force, nu, 1 ) \
X ( mjtNum, actuator_force, nout, 1 ) \
X ( mjtNum, qfrc_actuator, nv, 1 ) \
X ( mjtNum, qfrc_smooth, nv, 1 ) \
X ( mjtNum, qacc_smooth, nv, 1 ) \