Add tendon actuator force limits and tendon actuator force sensor.

PiperOrigin-RevId: 745096883 Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
2025-04-08 05:15:27 -07:00
parent 16e49f2761
commit 96dda6ea75
26 changed files with 464 additions and 74 deletions
@@ -628,7 +628,9 @@ typedef struct mjsTendon_ {        // tendon specification

  // length range
  int limited;                     // does tendon have limits (mjtLimited)
+  int actfrclimited;               // does tendon have actuator force limits
  double range[2];                 // length limits
+  double actfrcrange[2];           // actuator force limits
  double margin;                   // margin value for tendon limit detection
  mjtNum solref_limit[mjNREF];     // solver reference: tendon limits
  mjtNum solimp_limit[mjNIMP];     // solver impedance: tendon limits