chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source 
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
src/engine/engine_core_util.c
+6 -6
View File
@@ -1102,7 +1102,7 @@ mjtNum mj_actuatorDamping(const mjModel* m, mjtObj type, int id, mjtNum poly[mjN
// single actuator contributes damping
if (actuatorid >= 0) {
mjtNum gear2 = m->actuator_gear[6*actuatorid] * m->actuator_gear[6*actuatorid];
mjtNum gear2 = m->actuator_gear[6*m->actuator_outadr[actuatorid]] * m->actuator_gear[6*m->actuator_outadr[actuatorid]];
damping = m->actuator_damping[actuatorid] * gear2;
for (int k = 0; k < mjNPOLY; k++) {
poly[k] += m->actuator_dampingpoly[mjNPOLY*actuatorid+k] * gear2;
@@ -1111,7 +1111,7 @@ mjtNum mj_actuatorDamping(const mjModel* m, mjtObj type, int id, mjtNum poly[mjN
// actuatorid < -1: scan all actuators for contributions
else {
for (int k = 0; k < m->nu; k++) {
for (int k = 0; k < m->nactuator; k++) {
// skip actuators that don't actuate the given joint/tendon
if (m->actuator_trnid[2*k] != id) {
continue;
@@ -1126,7 +1126,7 @@ mjtNum mj_actuatorDamping(const mjModel* m, mjtObj type, int id, mjtNum poly[mjN
}
// accumulate damping contribution
mjtNum gear2 = m->actuator_gear[6*k] * m->actuator_gear[6*k];
mjtNum gear2 = m->actuator_gear[6*m->actuator_outadr[k]] * m->actuator_gear[6*m->actuator_outadr[k]];
damping += m->actuator_damping[k] * gear2;
for (int j = 0; j < mjNPOLY; j++) {
poly[j] += m->actuator_dampingpoly[mjNPOLY*k+j] * gear2;
@@ -1157,13 +1157,13 @@ mjtNum mj_actuatorArmature(const mjModel* m, mjtObj type, int id) {
// single actuator contributes armature
if (actuatorid >= 0) {
mjtNum gear2 = m->actuator_gear[6*actuatorid] * m->actuator_gear[6*actuatorid];
mjtNum gear2 = m->actuator_gear[6*m->actuator_outadr[actuatorid]] * m->actuator_gear[6*m->actuator_outadr[actuatorid]];
armature = m->actuator_armature[actuatorid] * gear2;
}
// actuatorid < -1: scan all actuators for contributions
else {
for (int k = 0; k < m->nu; k++) {
for (int k = 0; k < m->nactuator; k++) {
// skip actuators that don't actuate the given joint/tendon
if (m->actuator_trnid[2*k] != id) {
continue;
@@ -1178,7 +1178,7 @@ mjtNum mj_actuatorArmature(const mjModel* m, mjtObj type, int id) {
}
// accumulate armature contribution
mjtNum gear2 = m->actuator_gear[6*k] * m->actuator_gear[6*k];
mjtNum gear2 = m->actuator_gear[6*m->actuator_outadr[k]] * m->actuator_gear[6*m->actuator_outadr[k]];
armature += m->actuator_armature[k] * gear2;
}
}