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
@@ -118,6 +118,7 @@ class mjCModel_ : public mjsElement {
  mjtSize ntexdata;        // number of texture bytes
  mjtSize nwrap;           // number of wrap objects in all tendon paths
  mjtSize nsensordata;     // number of mjtNums in sensor data vector
+  mjtSize nhistory;        // number of mjtNums in history buffer
  mjtSize nnumericdata;    // number of mjtNums in all custom fields
  mjtSize ntextdata;       // number of chars in all text fields, including 0
  mjtSize ntupledata;      // number of objects in all tuple fields