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
@@ -808,7 +808,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,

        // clamp act to extended range
        if (vopt->flags[mjVIS_ACTIVATION] && m->actuator_dyntype[i]) {
-          act = mju_clip(d->act[i-(m->nu-m->na)], rng[0], rng[2]);
+          act = mju_clip(d->act[m->actuator_actadr[i]], rng[0], rng[2]);
        } else {
          act = mju_clip(d->ctrl[i], rng[0], rng[2]);
        }