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Add tendon actuator force limits and tendon actuator force sensor.

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PiperOrigin-RevId: 745096883
Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
This commit is contained in:
Taylor Howell
2025-04-08 05:15:27 -07:00
committed by Copybara-Service
parent 16e49f2761
commit 96dda6ea75
26 changed files with 464 additions and 74 deletions
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doc/modeling.rst
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@@ -724,7 +724,10 @@ Force clamping at joint input with :ref:`joint/actuatorfrcrange<body-joint-actua
:ref:`jointactuatorfrc<sensor-jointactuatorfrc>` sensor to report the total actuator force acting on a joint.
The standard :ref:`actuatorfrc<sensor-actuatorfrc>` sensor will continue to report the pre-clamped actuator force.
The three clamping options above are non-exclusive and can be combined as required.
Force clamping at tendon input with :ref:`tendon/actuatorfrcrange<tendon-spatial-actuatorfrcrange>`:
This tendon attribute clamps input forces from all actuators acting on the tendon.
The clamping options above are non-exclusive and can be combined as required.
.. _CLengthRange: