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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/mjxmacro.h
+9
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@@ -153,6 +153,7 @@
X( nuserdata ) \
X( nsensordata ) \
X( npluginstate ) \
X( nhistory ) \
X( narena ) \
X( nbuffer )
@@ -563,6 +564,9 @@
X ( int, actuator_actadr, nu, 1 ) \
X ( int, actuator_actnum, nu, 1 ) \
X ( int, actuator_group, nu, 1 ) \
X ( int, actuator_history, nu, 2 ) \
X ( int, actuator_historyadr, nu, 1 ) \
X ( mjtNum, actuator_delay, nu, 1 ) \
X ( mjtByte, actuator_ctrllimited, nu, 1 ) \
X ( mjtByte, actuator_forcelimited, nu, 1 ) \
X ( mjtByte, actuator_actlimited, nu, 1 ) \
@@ -594,6 +598,10 @@
X ( int, sensor_adr, nsensor, 1 ) \
X ( mjtNum, sensor_cutoff, nsensor, 1 ) \
X ( mjtNum, sensor_noise, nsensor, 1 ) \
X ( int, sensor_history, nsensor, 2 ) \
X ( int, sensor_historyadr, nsensor, 1 ) \
X ( mjtNum, sensor_delay, nsensor, 1 ) \
X ( mjtNum, sensor_interval, nsensor, 2 ) \
X ( mjtNum, sensor_user, nsensor, MJ_M(nuser_sensor) ) \
X ( int, sensor_plugin, nsensor, 1 )
@@ -708,6 +716,7 @@
X ( mjtNum, qpos, nq, 1 ) \
X ( mjtNum, qvel, nv, 1 ) \
X ( mjtNum, act, na, 1 ) \
X ( mjtNum, history, nhistory, 1 ) \
X ( mjtNum, qacc_warmstart, nv, 1 ) \
X ( mjtNum, plugin_state, npluginstate, 1 ) \
X ( mjtNum, ctrl, nu, 1 ) \