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
@@ -1369,6 +1369,7 @@ const char* mj_validateReferences(const mjModel* m) {
  X(pair_geom1,         npair,         ngeom        , 0                      ) \
  X(pair_geom2,         npair,         ngeom        , 0                      ) \
  X(actuator_plugin,    nu,            nplugin      , 0                      ) \
+  X(actuator_actadr,    nu,            na           , 0                      ) \
  X(sensor_plugin,      nsensor,       nplugin      , 0                      ) \
  X(plugin_stateadr,    nplugin,       npluginstate , m->plugin_statenum     ) \
  X(plugin_attradr,     nplugin,       npluginattr  , 0                      ) \