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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
src/engine/engine_derivative.c
+13 -10
View File
@@ -1211,7 +1211,7 @@ void mjd_flexBend_mul(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* ve
// add (d qfrc_actuator / d qvel) to qDeriv
void mjd_actuator_vel(const mjModel* m, mjData* d) {
int nu = m->nu;
int nactuator = m->nactuator;
int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->ntree_awake < m->ntree;
// disabled: nothing to add
@@ -1220,7 +1220,10 @@ void mjd_actuator_vel(const mjModel* m, mjData* d) {
}
// process actuators
for (int i=0; i < nu; i++) {
for (int i=0; i < nactuator; i++) {
int uadr = m->actuator_ctrladr[i];
int oadr = m->actuator_outadr[i];
// skip if disabled
if (mj_actuatorDisabled(m, i)) {
continue;
@@ -1233,8 +1236,8 @@ void mjd_actuator_vel(const mjModel* m, mjData* d) {
// skip if force is clamped by forcerange
if (m->actuator_forcelimited[i]) {
mjtNum force = d->actuator_force[i];
mjtNum* range = m->actuator_forcerange + 2*i;
mjtNum force = d->actuator_force[oadr];
mjtNum* range = m->actuator_forcerange + 2*oadr;
if (force <= range[0] || force >= range[1]) {
continue;
}
@@ -1267,10 +1270,10 @@ void mjd_actuator_vel(const mjModel* m, mjData* d) {
// muscle gain
else if (m->actuator_gaintype[i] == mjGAIN_MUSCLE) {
gain_vel = mjd_muscleGain_vel(d->actuator_length[i],
d->actuator_velocity[i],
m->actuator_lengthrange+2*i,
m->actuator_acc0[i],
gain_vel = mjd_muscleGain_vel(d->actuator_length[oadr],
d->actuator_velocity[oadr],
m->actuator_lengthrange+2*oadr,
m->actuator_acc0[oadr],
m->actuator_gainprm + mjNGAIN*i);
}
@@ -1311,7 +1314,7 @@ void mjd_actuator_vel(const mjModel* m, mjData* d) {
// force = gain .* [ctrl/act]
if (gain_vel != 0) {
if (m->actuator_dyntype[i] == mjDYN_NONE) {
bias_vel += gain_vel * d->ctrl[i];
bias_vel += gain_vel * d->ctrl[uadr];
} else {
int act_adr = m->actuator_actadr[i] + m->actuator_actnum[i] - 1;
mjtNum act = d->act[act_adr];
@@ -1327,7 +1330,7 @@ void mjd_actuator_vel(const mjModel* m, mjData* d) {
// add
if (bias_vel != 0) {
addJTBJSparse(m, d, d->actuator_moment, &bias_vel, 1, i,
addJTBJSparse(m, d, d->actuator_moment, &bias_vel, 1, oadr,
d->moment_rownnz, d->moment_rowadr, d->moment_colind);
}
}