Remove requirement that stateless actuators come before stateful actuators.

PiperOrigin-RevId: 484332415 Change-Id: I1dae92c0f8e027e4ca71c20ea3f68b2926526f53
2022-10-27 13:18:24 -07:00
parent f905c7fb7f
commit 0eb7f871b9
10 changed files with 73 additions and 25 deletions
@@ -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)