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Add actuator and sensor delays. Fixes #1004

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PiperOrigin-RevId: 866478839
Change-Id: Id21a6da0f98454c8fa39ea5af8a5e213d6eae497
This commit is contained in:
Yuval Tassa
2026-02-06 08:46:45 -08:00
committed by Copybara-Service
parent 84fa527723
commit 6419534bad
48 changed files with 6282 additions and 219 deletions
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doc/programming/simulation.rst
+6 -1
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@@ -264,7 +264,7 @@ individual components and combinations of components. These are:
Physics state
"""""""""""""
The *physics state* (:ref:`mjSTATE_PHYSICS<mjtState>`) contains the main quantities which are time-integrated during
stepping. These are ``mjData.{qpos, qvel, act}``:
stepping. These are ``mjData.{qpos, qvel, act, history}``:
Position: ``qpos``
The configuration in generalized coodinates, denoted in the :ref:`Numerical Integration<geIntegration>` section as
@@ -281,6 +281,11 @@ Actuator activation: ``act``
actuators (such as biological muscles) that have their own activation states assembled in ``mjData.act``, denoted
as :math:`w` in the :ref:`Numerical Integration<geIntegration>` section.
History buffer: ``history``
When actuators or sensors have a positive :at:`nsample` attribute (:ref:`actuators<actuator-general-nsample>`,
:ref:`sensors<sensor-nsample>`), this buffer stores timestamped samples of previous
control or sensor values. See :ref:`Delays<CDelay>` for details.
.. _siFullPhysics:
Full physics state