Add tendon actuator force limits and tendon actuator force sensor.

PiperOrigin-RevId: 745096883
Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056

mjx/mujoco/mjx/_src/support_test.py

@@ -349,7 +349,7 @@ class SupportTest(parameterized.TestCase):
     self.assertEqual(
         str(e.exception),
         'mjSpec signature does not match mjx.Model signature:'
-        ' 4300287342280373816 != 9887180086914550999',
+        ' 17856615236057737915 != 12517827274439268436',
     )
 
   _CONTACTS = """

mjx/mujoco/mjx/_src/types.py

@@ -763,11 +763,13 @@ class Model(PyTreeNode):
     tendon_adr: address of first object in tendon's path      (ntendon,)
     tendon_num: number of objects in tendon's path            (ntendon,)
     tendon_limited: does tendon have length limits            (ntendon,)
+    tendon_actfrclimited: tendon has actuator force limits    (ntendon,)
     tendon_solref_lim: constraint solver reference: limit     (ntendon, mjNREF)
     tendon_solimp_lim: constraint solver impedance: limit     (ntendon, mjNIMP)
     tendon_solref_fri: constraint solver reference: friction  (ntendon, mjNREF)
     tendon_solimp_fri: constraint solver impedance: friction  (ntendon, mjNIMP)
     tendon_range: tendon length limits                        (ntendon, 2)
+    tendon_actfrcrange: tendon actuator force limits          (ntendon, 2)
     tendon_margin: min distance for limit detection           (ntendon,)
     tendon_stiffness: stiffness coefficient                   (ntendon,)
     tendon_damping: damping coefficient                       (ntendon,)
@@ -1106,11 +1108,13 @@ class Model(PyTreeNode):
   tendon_adr: np.ndarray
   tendon_num: np.ndarray
   tendon_limited: np.ndarray
+  tendon_actfrclimited: np.ndarray
   tendon_solref_lim: jax.Array
   tendon_solimp_lim: jax.Array
   tendon_solref_fri: jax.Array
   tendon_solimp_fri: jax.Array
   tendon_range: jax.Array
+  tendon_actfrcrange: jax.Array
   tendon_margin: jax.Array
   tendon_stiffness: jax.Array
   tendon_damping: jax.Array