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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_vis_visualize.c
+7 -7
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@@ -1116,7 +1116,7 @@ int mjv_isCatenary(const mjModel* m, const mjData* d, int i, mjtNum* length) {
// no actuator
if (draw_catenary) {
for (int j=0; j < m->nu; j++) {
for (int j=0; j < m->nactuator; j++) {
if (m->actuator_trntype[j] == mjTRN_TENDON && m->actuator_trnid[2*j] == i) {
draw_catenary = 0;
break;
@@ -1271,7 +1271,7 @@ static void addSliderCrankGeoms(const mjModel* m, mjData* d, const mjvOption* vo
}
const float scl = m->stat.meansize;
for (int i=0; i < m->nu; i++) {
for (int i=0; i < m->nactuator; i++) {
if (m->actuator_trntype[i] == mjTRN_SLIDERCRANK) {
// get data
int j = m->actuator_trnid[2*i]; // crank
@@ -2077,7 +2077,7 @@ static void addActuatorGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
}
const float scl = m->stat.meansize;
for (int i=0; i < m->nu; i++) {
for (int i=0; i < m->nactuator; i++) {
if (!vopt->actuatorgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->actuator_group[i]))]) {
continue;
}
@@ -2088,9 +2088,9 @@ static void addActuatorGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
// determine extended range
mjtNum rng[3] = {-1, 0, +1};
mjtNum rmin = -1, rmax = 1, act = 0;
if (m->actuator_ctrllimited[i]) {
rmin = m->actuator_ctrlrange[2*i];
rmax = m->actuator_ctrlrange[2*i+1];
if (m->actuator_ctrllimited[m->actuator_ctrladr[i]]) {
rmin = m->actuator_ctrlrange[2*m->actuator_ctrladr[i]];
rmax = m->actuator_ctrlrange[2*m->actuator_ctrladr[i]+1];
} else if (vopt->flags[mjVIS_ACTIVATION] && m->actuator_actlimited[i]) {
rmin = m->actuator_actrange[2*i];
rmax = m->actuator_actrange[2*i+1];
@@ -2121,7 +2121,7 @@ static void addActuatorGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
if (vopt->flags[mjVIS_ACTIVATION] && m->actuator_dyntype[i]) {
act = mju_clip(d->act[m->actuator_actadr[i] + m->actuator_actnum[i] - 1], rng[0], rng[2]);
} else {
act = mju_clip(d->ctrl[i], rng[0], rng[2]);
act = mju_clip(d->ctrl[m->actuator_ctrladr[i]], rng[0], rng[2]);
}
// compute interpolants