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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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src/engine/engine_derivative_fd.c
+7
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@@ -295,6 +295,10 @@ void mjd_smooth_velFD(const mjModel* m, mjData* d, mjtNum eps) {
void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
mjtNum* DyDq, mjtNum* DyDv, mjtNum* DyDa, mjtNum* DyDu,
mjtNum* DsDq, mjtNum* DsDv, mjtNum* DsDa, mjtNum* DsDu) {
if (m->nhistory) {
mjERROR("delays are not supported");
}
int nq = m->nq, nv = m->nv, na = m->na, nu = m->nu, ns = m->nsensordata;
int ndx = 2*nv+na; // row length of Dy Jacobians
mj_markStack(d);
@@ -540,6 +544,9 @@ void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_cente
if (m->opt.integrator == mjINT_RK4) {
mjERROR("RK4 integrator is not supported");
}
if (m->nhistory) {
mjERROR("delays are not supported");
}
int nv = m->nv, na = m->na, nu = m->nu, ns = m->nsensordata;
int ndx = 2*nv+na; // row length of state Jacobians