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

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

									
										src/user/user_objects.cc
									
		+6
		
												View File
												
				@@ -6908,6 +6908,12 @@ mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) {

				  // no previous state when an actuator is created

				  actadr_ = -1;

				  actdim_ = -1;

				  // input and output blocks, set by mjCModel; all actuator types are currently 1x1

				  ctrladr_ = -1;

				  ctrlnum_ = 1;

				  outadr_ = -1;

				  outnum_ = 1;

				}