How would one program the joints, in C++, to move up and down ever five seconds?

[MotorCityCobra]

Under the control section of the simulate.cc file, I would like to modify it to make all joints move -1 and then move 1 every five seconds.

The block of code below is from line 912 in the simulate.cc. My modification is a while loop commented with // My code here.

I would like to do this just in order to learn if it is possible for movement of joints / actuators to be controlled in real time with programming in the cc file before it is compiled. I know torque and other forces are determined by the conditions in the XML file, but I want to know if I can have an input of time and direction in the cc file.

If you're curious, I want to do this because I would like to deploy a trained neural network into the model. A neural network model that has been trained on a physical robot. I got somewhat of an answer here, but I don't understand MuJoCo well enough to know where to begin with this. "Define a C function of type [mjfAct](gainprm = "0") that outputs the torque for a given actuator ID.". Sorry, I don't see anything like this in the samples, so I'm not sure what a function like this would look like.

// make control section of UI
void makecontrol(int oldstate)
{
    int i;
    mjuiDef defControl[] =
    {
        {mjITEM_SECTION, "Control", oldstate, NULL, "AC"},
        {mjITEM_BUTTON,  "Clear all", 2},
        {mjITEM_END}
    };
    mjuiDef defSlider[] =
    {
        {mjITEM_SLIDERNUM, "", 2, NULL, "0 1"},
        {mjITEM_END}
    };

    // add section
    mjui_add(&ui1, defControl);
    defSlider[0].state = 2;

    // add controls, exit if UI limit reached (Clear button already added)
    int itemcnt = 1;
    for( i=0; i<m->nu && itemcnt<mjMAXUIITEM; i++ )
    {
        // skip if actuator group is disabled
        if( !vopt.actuatorgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->actuator_group[i]))] )
            continue;

        // set data and name
        defSlider[0].pdata = d->ctrl + i;
        if( m->names[m->name_actuatoradr[i]] )
            mju_strncpy(defSlider[0].name, m->names+m->name_actuatoradr[i],
                        mjMAXUINAME);
        else
            sprintf(defSlider[0].name, "control %d", i);
            
            // My code here
            while(1 = 1)
            {
                defSlider[0].state = -1
                Sleep(5000);
                defSlider[0].state = 1
            }

        // set range
        if( m->actuator_ctrllimited[i] )
            sprintf(defSlider[0].other, "%.4g %.4g",
                m->actuator_ctrlrange[2*i], m->actuator_ctrlrange[2*i+1]);
        else
            strcpy(defSlider[0].other, "-1 1");

        // add and count
        mjui_add(&ui1, defSlider);
        itemcnt++;
    }
}