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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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python/mujoco/introspect/functions.py
+150
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@@ -2636,6 +2636,156 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Copy state from src to dst.',
)),
('mj_readCtrl',
FunctionDecl(
name='mj_readCtrl',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='id',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='time',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='interp',
type=ValueType(name='int'),
),
),
doc='Read ctrl value for actuator at given time. Returns d->ctrl[id] if no history, otherwise reads from history buffer. interp: 0=zero-order-hold, 1=linear, 2=cubic spline.', # pylint: disable=line-too-long
)),
('mj_readSensor',
FunctionDecl(
name='mj_readSensor',
return_type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='id',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='time',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='result',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='interp',
type=ValueType(name='int'),
),
),
doc='Read sensor value from history buffer at given time. Returns pointer to sensordata (no history) or history buffer (exact match), or NULL if interpolation performed (writes to result). interp: 0=zero-order-hold, 1=linear, 2=cubic spline.', # pylint: disable=line-too-long
)),
('mj_initCtrlHistory',
FunctionDecl(
name='mj_initCtrlHistory',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='id',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='times',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
nullable=True,
),
FunctionParameterDecl(
name='values',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
),
doc='Initialize history buffer for actuator; if times is NULL, uses existing buffer timestamps.', # pylint: disable=line-too-long
)),
('mj_initSensorHistory',
FunctionDecl(
name='mj_initSensorHistory',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='id',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='times',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
nullable=True,
),
FunctionParameterDecl(
name='values',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='phase',
type=ValueType(name='mjtNum'),
),
),
doc='Initialize history buffer for sensor; if times is NULL, uses existing buffer timestamps. phase sets the user slot (last computation time for interval sensors).', # pylint: disable=line-too-long
)),
('mj_setKeyframe',
FunctionDecl(
name='mj_setKeyframe',