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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_setconst.c
+27 -25
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@@ -212,7 +212,7 @@ static void setFixed(mjModel* m, mjData* d) {
// set jnt_actuatorid and tendon_actuatorid
mju_fillInt(m->jnt_actuatorid, -1, m->njnt);
mju_fillInt(m->tendon_actuatorid, -1, m->ntendon);
for (int i=0; i < m->nu; i++) {
for (int i=0; i < m->nactuator; i++) {
// skip actuator with no damping and no armature
if (m->actuator_damping[i] == 0 &&
mju_isZero(m->actuator_dampingpoly+mjNPOLY*i, mjNPOLY) &&
@@ -312,7 +312,7 @@ static void setFixed(mjModel* m, mjData* d) {
// ----- apply compiler AUTO tree sleep policy
// actuators: trees with any actuated joint, site, body, or tendon do not auto-sleep
for (int i=0; i < m->nu; i++) {
for (int i=0; i < m->nactuator; i++) {
int bodyid = -1;
int tid = m->actuator_trnid[2*i];
switch ((mjtTrn)m->actuator_trntype[i]) {
@@ -868,7 +868,7 @@ static void set0(mjModel* m, mjData* d) {
// copy fields
mju_copy(m->flexedge_length0, d->flexedge_length, m->nflexedge);
mju_copy(m->tendon_length0, d->ten_length, m->ntendon);
mju_copy(m->actuator_length0, d->actuator_length, m->nu);
mju_copy(m->actuator_length0, d->actuator_length, m->nout);
// compute body_invweight0
m->body_invweight0[0] = m->body_invweight0[1] = 0.0;
@@ -1002,8 +1002,8 @@ static void set0(mjModel* m, mjData* d) {
m->tendon_invweight0[i] = mju_dot(tmp, tmp+nv, nv);
}
// compute actuator_acc0
for (int i=0; i < m->nu; i++) {
// compute actuator_acc0, one per force output (moment row)
for (int i=0; i < m->nout; i++) {
mju_sparse2dense(moment, d->actuator_moment, 1, nv, d->moment_rownnz + i,
d->moment_rowadr + i, d->moment_colind);
mj_solveM(m, d, tmp, moment, 1);
@@ -1011,7 +1011,7 @@ static void set0(mjModel* m, mjData* d) {
}
} else {
mju_zero(m->tendon_invweight0, m->ntendon);
mju_zero(m->actuator_acc0, m->nu);
mju_zero(m->actuator_acc0, m->nout);
}
// compute missing eq_data for body constraints
@@ -1101,7 +1101,7 @@ static void set0(mjModel* m, mjData* d) {
}
// compute actuator damping from dampratio
for (int i=0; i < m->nu; i++) {
for (int i=0; i < m->nactuator; i++) {
// get bias, gain parameters
mjtNum* biasprm = m->actuator_biasprm + i*mjNBIAS;
mjtNum* gainprm = m->actuator_gainprm + i*mjNGAIN;
@@ -1119,8 +1119,8 @@ static void set0(mjModel* m, mjData* d) {
// === interpret biasprm[2] > 0 as dampratio for position-like actuators
// "reflected" inertia (inversely scaled by transmission squared)
int rownnz = d->moment_rownnz[i];
int rowadr = d->moment_rowadr[i];
int rownnz = d->moment_rownnz[m->actuator_outadr[i]];
int rowadr = d->moment_rowadr[m->actuator_outadr[i]];
mjtNum* transmission = d->actuator_moment + rowadr;
mjtNum mass = 0;
for (int j=0; j < rownnz; j++) {
@@ -1363,6 +1363,7 @@ void mj_setConst(mjModel* m, mjData* d) {
static mjtNum evalAct(const mjModel* m, mjData* d, int index, int side,
const mjLROpt* opt) {
int nv = m->nv;
int out = m->actuator_outadr[index];
// reduce velocity
mju_scl(d->qvel, d->qvel, mju_exp(-m->opt.timestep/mjMAX(0.01, opt->timeconst)), nv);
@@ -1373,8 +1374,8 @@ static mjtNum evalAct(const mjModel* m, mjData* d, int index, int side,
// dense actuator_moment row
mj_markStack(d);
mjtNum* moment = mjSTACKALLOC(d, nv, mjtNum);
mju_sparse2dense(moment, d->actuator_moment, 1, nv, d->moment_rownnz + index,
d->moment_rowadr + index, d->moment_colind);
mju_sparse2dense(moment, d->actuator_moment, 1, nv, d->moment_rownnz + out,
d->moment_rowadr + out, d->moment_colind);
// set force to generate desired acceleration
mj_solveM(m, d, d->qfrc_applied, moment, 1);
@@ -1393,7 +1394,7 @@ static mjtNum evalAct(const mjModel* m, mjData* d, int index, int side,
mj_freeStack(d);
// return actuator length
return d->actuator_length[index];
return d->actuator_length[out];
}
@@ -1401,9 +1402,10 @@ static mjtNum evalAct(const mjModel* m, mjData* d, int index, int side,
int mj_setLengthRange(mjModel* m, mjData* d, int index,
const mjLROpt* opt, char* error, int error_sz) {
// check index
if (index < 0 || index >= m->nu) {
if (index < 0 || index >= m->nactuator) {
mjERROR("invalid actuator index");
}
int out = m->actuator_outadr[index];
// skip depending on mode and type
int ismuscle = (m->actuator_gaintype[index] == mjGAIN_MUSCLE ||
@@ -1417,7 +1419,7 @@ int mj_setLengthRange(mjModel* m, mjData* d, int index,
}
// use existing length range if available
if (opt->useexisting && (m->actuator_lengthrange[2*index] < m->actuator_lengthrange[2*index+1])) {
if (opt->useexisting && (m->actuator_lengthrange[2*out] < m->actuator_lengthrange[2*out+1])) {
return 1;
}
@@ -1432,8 +1434,8 @@ int mj_setLengthRange(mjModel* m, mjData* d, int index,
// make sure joint is limited
if (m->jnt_limited[threadid]) {
// copy range
m->actuator_lengthrange[2*index] = m->jnt_range[2*threadid];
m->actuator_lengthrange[2*index+1] = m->jnt_range[2*threadid+1];
m->actuator_lengthrange[2*out] = m->jnt_range[2*threadid];
m->actuator_lengthrange[2*out+1] = m->jnt_range[2*threadid+1];
// skip optimization
return 1;
@@ -1445,8 +1447,8 @@ int mj_setLengthRange(mjModel* m, mjData* d, int index,
// make sure tendon is limited
if (m->tendon_limited[threadid]) {
// copy range
m->actuator_lengthrange[2*index] = m->tendon_range[2*threadid];
m->actuator_lengthrange[2*index+1] = m->tendon_range[2*threadid+1];
m->actuator_lengthrange[2*out] = m->tendon_range[2*threadid];
m->actuator_lengthrange[2*out+1] = m->tendon_range[2*threadid+1];
// skip optimization
return 1;
@@ -1491,12 +1493,12 @@ int mj_setLengthRange(mjModel* m, mjData* d, int index,
}
// check range
mjtNum dif = m->actuator_lengthrange[2*index+1] - m->actuator_lengthrange[2*index];
mjtNum dif = m->actuator_lengthrange[2*out+1] - m->actuator_lengthrange[2*out];
if (dif <= 0) {
snprintf(error, error_sz,
"Invalid lengthrange (%g, %g) in actuator %d",
m->actuator_lengthrange[2*index],
m->actuator_lengthrange[2*index+1], index);
m->actuator_lengthrange[2*out],
m->actuator_lengthrange[2*out+1], index);
return 0;
}
@@ -1506,8 +1508,8 @@ int mj_setLengthRange(mjModel* m, mjData* d, int index,
"Lengthrange computation did not converge in actuator %d:\n"
" eval (%g, %g)\n range (%g, %g)",
index, lmin[0], lmax[0],
m->actuator_lengthrange[2*index],
m->actuator_lengthrange[2*index+1]);
m->actuator_lengthrange[2*out],
m->actuator_lengthrange[2*out+1]);
return 0;
}
@@ -1517,8 +1519,8 @@ int mj_setLengthRange(mjModel* m, mjData* d, int index,
"Lengthrange computation did not converge in actuator %d:\n"
" eval (%g, %g)\n range (%g, %g)",
index, lmin[1], lmax[1],
m->actuator_lengthrange[2*index],
m->actuator_lengthrange[2*index+1]);
m->actuator_lengthrange[2*out],
m->actuator_lengthrange[2*out+1]);
return 0;
}