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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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src/user/user_model.cc
+2 -5
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@@ -926,11 +926,6 @@ void mjCModel::SetSizes(void) {
// nu, na
for (i=0; i<(int)actuators.size(); i++) {
if (actuators[i]->dyntype == mjDYN_NONE) {
// make sure all 2nd-order come before all 3rd-order
if (na) {
throw mjCError(0, "stateless actuators must come before stateful actuators");
}
nu++;
} else {
nu++;
@@ -1825,6 +1820,7 @@ void mjCModel::CopyObjects(mjModel* m) {
}
// actuators
adr = 0;
for (i=0; i<nu; i++) {
// get pointer
mjCActuator* pac = actuators[i];
@@ -1836,6 +1832,7 @@ void mjCModel::CopyObjects(mjModel* m) {
m->actuator_biastype[i] = pac->biastype;
m->actuator_trnid[2*i] = pac->trnid[0];
m->actuator_trnid[2*i+1] = pac->trnid[1];
m->actuator_actadr[i] = pac->dyntype == mjDYN_NONE ? -1 : adr++;
m->actuator_group[i] = pac->group;
m->actuator_ctrllimited[i] = pac->ctrllimited;
m->actuator_forcelimited[i] = pac->forcelimited;