Add per-world actuator fields, dampratio resolution, setLengthRange#1177
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adenzler-nvidia merged 4 commits intogoogle-deepmind:mainfrom Feb 23, 2026
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Promote actuator_cranklength, actuator_acc0, and actuator_lengthrange from 1D (nu,) to 2D (*, nu) batched arrays, matching the pattern used by all other expandable actuator fields. This enables per-world domain randomization of these fields. Add dampratio resolution to set_const_0: for position actuators where biasprm[2] > 0 (interpreted as dampratio), compute reflected mass from dof_M0 and actuator_moment, then convert to damping coefficient via biasprm[2] = -dampratio * 2 * sqrt(kp * mass). Matches MuJoCo C engine_setconst.c set0() behavior. Add set_length_range() for computing feasible actuator length ranges from joint/tendon limits scaled by gear, implemented as a Warp kernel. Fix put_data crash when nefc == 0 but efc_J buffer is pre-allocated (guard reshape with nefc > 0 check).
…actuator-fields # Conflicts: # mujoco_warp/_src/io.py
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Feb 23, 2026
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thowell
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thowell
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Feb 23, 2026
This was referenced Feb 23, 2026
- Use BiasType.AFFINE enum instead of hardcoded 1 - Replace 1e-12 thresholds with MJ_MINVAL - Remove redundant damping formula comment - Move actuator_biasprm to outputs in _resolve_dampratio launch - Move set_length_range import to top of io_test.py - Simplify test XML by removing unnecessary body/geom/actuator names
…actuator-fields # Conflicts: # mujoco_warp/_src/io_test.py
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Summary
actuator_cranklength,actuator_acc0, andactuator_lengthrangefrom 1D(nu,)to 2D(*, nu)batched arrays, enabling per-world domain randomizationset_const_0: computesdof_M0and converts positivebiasprm[2](dampratio) to damping coefficient, matching MuJoCo Cengine_setconst.c:set0()set_length_range()for computing feasible actuator length ranges from joint/tendon limits, implemented as a Warp kernelput_datacrash whennefc == 0with pre-allocatedefc_JbufferTest plan
test_set_const_actuator_acc0_per_world,test_set_const_dampratio,test_set_const_dampratio_explicit_kv,test_set_length_range_joint_limited,test_set_length_range_tendon_limited,test_domain_randomize_cranklength