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
@@ -593,8 +593,10 @@ struct mjvSceneState_ {
    int* tendon_matid;
    int* tendon_group;
    mjtByte* tendon_limited;
+    mjtByte* tendon_actfrclimited;
    mjtNum* tendon_width;
    mjtNum* tendon_range;
+    mjtNum* tendon_actfrcrange;
    mjtNum* tendon_stiffness;
    mjtNum* tendon_damping;
    mjtNum* tendon_frictionloss;