Add actuator and sensor delays. Fixes #1004

PiperOrigin-RevId: 866478839 Change-Id: Id21a6da0f98454c8fa39ea5af8a5e213d6eae497
2026-02-06 08:46:45 -08:00
parent 84fa527723
commit 6419534bad
48 changed files with 6282 additions and 219 deletions
@@ -25,6 +25,9 @@ extern "C" {

 //-------------------------------- sensors ---------------------------------------------------------

+// compute value for one sensor, write to sensordata, apply cutoff
+void mj_computeSensor(const mjModel* m, mjData* d, int i, mjtNum* sensordata);
+
 // position-dependent sensors
 MJAPI void mj_sensorPos(const mjModel* m, mjData* d);