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
@@ -1523,6 +1523,7 @@ class mjCTendon : public mjCTendon_, private mjsTendon {
  void SetModel(mjCModel* _model);

  bool is_limited() const;
+  bool is_actfrclimited() const;

 private:
  void Compile(void);                         // compiler