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Clarify time argument semantics in delayed actuator/sensor reads.

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PiperOrigin-RevId: 869123314
Change-Id: Ib36ef6cfc8d12d1b8a9c98eadc144953447fc444
This commit is contained in:
Yuval Tassa
2026-02-12 03:11:55 -08:00
committed by Copybara-Service
parent c54f1fe380
commit 14116336e0
2 changed files with 18 additions and 8 deletions
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doc/APIreference/functions.rst
+9 -4
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@@ -316,8 +316,11 @@ buffer at ``time - actuator_delay[id]`` using the requested interpolation order:
- ``interp = 2``: Cubic Spline (Catmull-Rom)
- ``interp = -1``: Use the actuator's :ref:`interp<actuator-general-interp>` value.
In all three cases, constant extrapolation outside of buffer bounds.
See :ref:`Delays<CDelay>` for details.
Constant extrapolation is used outside of buffer bounds.
Note that the subtraction of the delay changes the semantic of the ``time`` argument from "time at which values were
pushed into the delay buffer" to "time at which values come out of the delay buffer". See :ref:`Delays<CDelay>` for
details.
.. _mj_readSensor:
@@ -328,7 +331,9 @@ See :ref:`Delays<CDelay>` for details.
Read a sensor value at a given time, taking delays into account. If no history buffer exists, return a pointer to the
sensor's slice of ``mjData.sensordata``. If a history buffer exists (:ref:`nsample<sensor-nsample>` > 0), read from the
history buffer at ``time - sensor_delay[id]``. See :ref:`Delays<CDelay>` for details.
history buffer at ``time - sensor_delay[id]``. Note that the subtraction of the delay changes the semantic of the
``time`` argument from "time at which values were pushed into the delay buffer" to "time at which values come out of the
delay buffer". See :ref:`Delays<CDelay>` for details.
**Return value semantics:**
@@ -346,7 +351,7 @@ history buffer at ``time - sensor_delay[id]``. See :ref:`Delays<CDelay>` for det
- ``interp = 2``: Cubic Spline (Catmull-Rom)
- ``interp = -1``: Use the value in :ref:`interp<sensor-interp>`
In all three cases, constant extrapolation outside of buffer bounds.
Constant extrapolation is used outside of buffer bounds.
**Usage:**
doc/APIreference/functions_override.rst
+9 -4
View File
@@ -216,14 +216,19 @@ buffer at ``time - actuator_delay[id]`` using the requested interpolation order:
- ``interp = 2``: Cubic Spline (Catmull-Rom)
- ``interp = -1``: Use the actuator's :ref:`interp<actuator-general-interp>` value.
In all three cases, constant extrapolation outside of buffer bounds.
See :ref:`Delays<CDelay>` for details.
Constant extrapolation is used outside of buffer bounds.
Note that the subtraction of the delay changes the semantic of the ``time`` argument from "time at which values were
pushed into the delay buffer" to "time at which values come out of the delay buffer". See :ref:`Delays<CDelay>` for
details.
.. _mj_readSensor:
Read a sensor value at a given time, taking delays into account. If no history buffer exists, return a pointer to the
sensor's slice of ``mjData.sensordata``. If a history buffer exists (:ref:`nsample<sensor-nsample>` > 0), read from the
history buffer at ``time - sensor_delay[id]``. See :ref:`Delays<CDelay>` for details.
history buffer at ``time - sensor_delay[id]``. Note that the subtraction of the delay changes the semantic of the
``time`` argument from "time at which values were pushed into the delay buffer" to "time at which values come out of the
delay buffer". See :ref:`Delays<CDelay>` for details.
**Return value semantics:**
@@ -241,7 +246,7 @@ history buffer at ``time - sensor_delay[id]``. See :ref:`Delays<CDelay>` for det
- ``interp = 2``: Cubic Spline (Catmull-Rom)
- ``interp = -1``: Use the value in :ref:`interp<sensor-interp>`
In all three cases, constant extrapolation outside of buffer bounds.
Constant extrapolation is used outside of buffer bounds.
**Usage:**