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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_sensor.c
+6 -6
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@@ -650,7 +650,7 @@ static void mj_computeSensorPos(const mjModel* m, mjData* d, int i, mjtNum* sens
break;
case mjSENS_ACTUATORPOS: // actuator position
sensordata[0] = d->actuator_length[objid];
sensordata[0] = d->actuator_length[m->actuator_outadr[objid]];
break;
case mjSENS_BALLQUAT: // ball joint quaternion
@@ -879,7 +879,7 @@ static void mj_computeSensorVel(const mjModel* m, mjData* d, int i, mjtNum* sens
break;
case mjSENS_ACTUATORVEL: // actuator velocity
sensordata[0] = d->actuator_velocity[objid];
sensordata[0] = d->actuator_velocity[m->actuator_outadr[objid]];
break;
case mjSENS_BALLANGVEL: // ball joint angular velocity
@@ -956,7 +956,7 @@ static void mj_computeSensorVel(const mjModel* m, mjData* d, int i, mjtNum* sens
// compute acceleration-stage sensor value, write to data buffer
static void mj_computeSensorAcc(const mjModel* m, mjData* d, int i, mjtNum* sensordata) {
int ne = d->ne, nf = d->nf, nefc = d->nefc, nu = m->nu;
int ne = d->ne, nf = d->nf, nefc = d->nefc, nactuator = m->nactuator;
mjtSensor type = (mjtSensor)m->sensor_type[i];
int objtype = m->sensor_objtype[i];
int objid = m->sensor_objid[i];
@@ -1303,7 +1303,7 @@ static void mj_computeSensorAcc(const mjModel* m, mjData* d, int i, mjtNum* sens
break;
case mjSENS_ACTUATORFRC: // actuator force
sensordata[0] = d->actuator_force[objid];
sensordata[0] = d->actuator_force[m->actuator_outadr[objid]];
break;
case mjSENS_JOINTACTFRC: // actuator force at joint
@@ -1312,9 +1312,9 @@ static void mj_computeSensorAcc(const mjModel* m, mjData* d, int i, mjtNum* sens
case mjSENS_TENDONACTFRC: // actuator force at tendon
frc = 0.0;
for (int j=0; j < nu; j++) {
for (int j=0; j < nactuator; j++) {
if (m->actuator_trntype[j] == mjTRN_TENDON && m->actuator_trnid[2*j] == objid) {
frc += d->actuator_force[j];
frc += d->actuator_force[m->actuator_outadr[j]];
}
}
sensordata[0] = frc;