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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/structs.py
+107
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@@ -1277,6 +1277,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='mjtSize'),
doc='number of mjtNums in plugin state vector',
),
StructFieldDecl(
name='nhistory',
type=ValueType(name='mjtSize'),
doc='number of mjtNums in history buffer',
),
StructFieldDecl(
name='narena',
type=ValueType(name='mjtSize'),
@@ -4157,6 +4162,30 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='group for visibility',
array_extent=('nu',),
),
StructFieldDecl(
name='actuator_history',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='history buffer: [nsample, interp]',
array_extent=('nu', 2),
),
StructFieldDecl(
name='actuator_historyadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address in history buffer; -1: none',
array_extent=('nu',),
),
StructFieldDecl(
name='actuator_delay',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='delay time in seconds; 0: no delay',
array_extent=('nu',),
),
StructFieldDecl(
name='actuator_ctrllimited',
type=PointerType(
@@ -4389,6 +4418,38 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='noise standard deviation',
array_extent=('nsensor',),
),
StructFieldDecl(
name='sensor_history',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='history buffer: [nsample, interp]',
array_extent=('nsensor', 2),
),
StructFieldDecl(
name='sensor_historyadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='address in history buffer; -1: none',
array_extent=('nsensor',),
),
StructFieldDecl(
name='sensor_delay',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='delay time in seconds; 0: no delay',
array_extent=('nsensor',),
),
StructFieldDecl(
name='sensor_interval',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='interval: [period, phase] in seconds',
array_extent=('nsensor', 2),
),
StructFieldDecl(
name='sensor_user',
type=PointerType(
@@ -5402,6 +5463,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='actuator activation',
array_extent=('na',),
),
StructFieldDecl(
name='history',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='history buffer',
array_extent=('nhistory',),
),
StructFieldDecl(
name='qacc_warmstart',
type=PointerType(
@@ -9173,6 +9242,21 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'),
doc='group',
),
StructFieldDecl(
name='nsample',
type=ValueType(name='int'),
doc='number of samples in history buffer',
),
StructFieldDecl(
name='interp',
type=ValueType(name='int'),
doc='interpolation order (0=ZOH, 1=linear, 2=cubic)',
),
StructFieldDecl(
name='delay',
type=ValueType(name='double'),
doc='delay time in seconds; 0: no delay',
),
StructFieldDecl(
name='userdata',
type=PointerType(
@@ -9268,6 +9352,29 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='double'),
doc='noise stdev',
),
StructFieldDecl(
name='nsample',
type=ValueType(name='int'),
doc='number of samples in history buffer',
),
StructFieldDecl(
name='interp',
type=ValueType(name='int'),
doc='interpolation order (0=ZOH, 1=linear, 2=cubic)',
),
StructFieldDecl(
name='delay',
type=ValueType(name='double'),
doc='delay time in seconds',
),
StructFieldDecl(
name='interval',
type=ArrayType(
inner_type=ValueType(name='double'),
extents=(2,),
),
doc='[period, time_prev] in seconds',
),
StructFieldDecl(
name='userdata',
type=PointerType(