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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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include/mujoco/mjxmacro.h
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@@ -475,12 +475,14 @@
XMJV( int, tendon_matid, ntendon, 1 ) \
XMJV( int, tendon_group, ntendon, 1 ) \
XMJV( mjtByte, tendon_limited, ntendon, 1 ) \
XMJV( mjtByte, tendon_actfrclimited, ntendon, 1 ) \
XMJV( mjtNum, tendon_width, ntendon, 1 ) \
X ( mjtNum, tendon_solref_lim, ntendon, mjNREF ) \
X ( mjtNum, tendon_solimp_lim, ntendon, mjNIMP ) \
X ( mjtNum, tendon_solref_fri, ntendon, mjNREF ) \
X ( mjtNum, tendon_solimp_fri, ntendon, mjNIMP ) \
XMJV( mjtNum, tendon_range, ntendon, 2 ) \
XMJV( mjtNum, tendon_actfrcrange, ntendon, 2 ) \
X ( mjtNum, tendon_margin, ntendon, 1 ) \
XMJV( mjtNum, tendon_stiffness, ntendon, 1 ) \
XMJV( mjtNum, tendon_damping, ntendon, 1 ) \