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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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include/mujoco/mjdata.h
+13 -11
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@@ -29,20 +29,21 @@ typedef enum mjtState_ { // state elements
mjSTATE_QPOS = 1<<1, // position
mjSTATE_QVEL = 1<<2, // velocity
mjSTATE_ACT = 1<<3, // actuator activation
mjSTATE_WARMSTART = 1<<4, // acceleration used for warmstart
mjSTATE_CTRL = 1<<5, // control
mjSTATE_QFRC_APPLIED = 1<<6, // applied generalized force
mjSTATE_XFRC_APPLIED = 1<<7, // applied Cartesian force/torque
mjSTATE_EQ_ACTIVE = 1<<8, // enable/disable constraints
mjSTATE_MOCAP_POS = 1<<9, // positions of mocap bodies
mjSTATE_MOCAP_QUAT = 1<<10, // orientations of mocap bodies
mjSTATE_USERDATA = 1<<11, // user data
mjSTATE_PLUGIN = 1<<12, // plugin state
mjSTATE_HISTORY = 1<<4, // history buffers (control, sensor)
mjSTATE_WARMSTART = 1<<5, // acceleration used for warmstart
mjSTATE_CTRL = 1<<6, // control
mjSTATE_QFRC_APPLIED = 1<<7, // applied generalized force
mjSTATE_XFRC_APPLIED = 1<<8, // applied Cartesian force/torque
mjSTATE_EQ_ACTIVE = 1<<9, // enable/disable constraints
mjSTATE_MOCAP_POS = 1<<10, // positions of mocap bodies
mjSTATE_MOCAP_QUAT = 1<<11, // orientations of mocap bodies
mjSTATE_USERDATA = 1<<12, // user data
mjSTATE_PLUGIN = 1<<13, // plugin state
mjNSTATE = 13, // number of state elements
mjNSTATE = 14, // number of state elements
// convenience values for commonly used state specifications
mjSTATE_PHYSICS = mjSTATE_QPOS | mjSTATE_QVEL | mjSTATE_ACT,
mjSTATE_PHYSICS = mjSTATE_QPOS | mjSTATE_QVEL | mjSTATE_ACT | mjSTATE_HISTORY,
mjSTATE_FULLPHYSICS = mjSTATE_TIME | mjSTATE_PHYSICS | mjSTATE_PLUGIN,
mjSTATE_USER = mjSTATE_CTRL | mjSTATE_QFRC_APPLIED | mjSTATE_XFRC_APPLIED |
mjSTATE_EQ_ACTIVE | mjSTATE_MOCAP_POS | mjSTATE_MOCAP_QUAT |
@@ -255,6 +256,7 @@ struct mjData_ {
mjtNum* qpos; // position (nq x 1)
mjtNum* qvel; // velocity (nv x 1)
mjtNum* act; // actuator activation (na x 1)
mjtNum* history; // history buffer (nhistory x 1)
mjtNum* qacc_warmstart; // acceleration used for warmstart (nv x 1)
mjtNum* plugin_state; // plugin state (npluginstate x 1)