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Remove requirement that stateless actuators come before stateful actuators.

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PiperOrigin-RevId: 484332415
Change-Id: I1dae92c0f8e027e4ca71c20ea3f68b2926526f53
This commit is contained in:
Yuval Tassa
2022-10-27 13:18:24 -07:00
committed by Copybara-Service
parent f905c7fb7f
commit 0eb7f871b9
10 changed files with 73 additions and 25 deletions
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include/mujoco/mjmodel.h
+1
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@@ -849,6 +849,7 @@ struct mjModel_ {
int* actuator_gaintype; // gain type (mjtGain) (nu x 1)
int* actuator_biastype; // bias type (mjtBias) (nu x 1)
int* actuator_trnid; // transmission id: joint, tendon, site (nu x 2)
int* actuator_actadr; // first activation address; -1: stateless (nu x 1)
int* actuator_group; // group for visibility (nu x 1)
mjtByte* actuator_ctrllimited; // is control limited (nu x 1)
mjtByte* actuator_forcelimited;// is force limited (nu x 1)
include/mujoco/mjxmacro.h
+1
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@@ -354,6 +354,7 @@
X( int, actuator_gaintype, nu, 1 ) \
X( int, actuator_biastype, nu, 1 ) \
X( int, actuator_trnid, nu, 2 ) \
X( int, actuator_actadr, nu, 1 ) \
X( int, actuator_group, nu, 1 ) \
X( mjtByte, actuator_ctrllimited, nu, 1 ) \
X( mjtByte, actuator_forcelimited, nu, 1 ) \