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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/mjmodel.h
+8
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@@ -761,6 +761,7 @@ struct mjModel_ {
mjtSize nuserdata; // number of mjtNums reserved for the user
mjtSize nsensordata; // number of mjtNums in sensor data vector
mjtSize npluginstate; // number of mjtNums in plugin state vector
mjtSize nhistory; // number of mjtNums in history buffer
// buffer sizes
mjtSize narena; // number of bytes in the mjData arena (inclusive of stack)
@@ -1180,6 +1181,9 @@ struct mjModel_ {
int* actuator_actadr; // first activation address; -1: stateless (nu x 1)
int* actuator_actnum; // number of activation variables (nu x 1)
int* actuator_group; // group for visibility (nu x 1)
int* actuator_history; // history buffer: [nsample, interp] (nu x 2)
int* actuator_historyadr; // address in history buffer; -1: none (nu x 1)
mjtNum* actuator_delay; // delay time in seconds; 0: no delay (nu x 1)
mjtByte* actuator_ctrllimited; // is control limited (nu x 1)
mjtByte* actuator_forcelimited;// is force limited (nu x 1)
mjtByte* actuator_actlimited; // is activation limited (nu x 1)
@@ -1211,6 +1215,10 @@ struct mjModel_ {
int* sensor_adr; // address in sensor array (nsensor x 1)
mjtNum* sensor_cutoff; // cutoff for real and positive; 0: ignore (nsensor x 1)
mjtNum* sensor_noise; // noise standard deviation (nsensor x 1)
int* sensor_history; // history buffer: [nsample, interp] (nsensor x 2)
int* sensor_historyadr; // address in history buffer; -1: none (nsensor x 1)
mjtNum* sensor_delay; // delay time in seconds; 0: no delay (nsensor x 1)
mjtNum* sensor_interval; // interval: [period, phase] in seconds (nsensor x 2)
mjtNum* sensor_user; // user data (nsensor x nuser_sensor)
int* sensor_plugin; // plugin instance id; -1: not a plugin (nsensor x 1)