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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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unity/Runtime/Bindings/MjBindings.cs
+33 -28
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@@ -357,34 +357,35 @@ public enum mjtSensor : int{
mjSENS_ACTUATORVEL = 14,
mjSENS_ACTUATORFRC = 15,
mjSENS_JOINTACTFRC = 16,
mjSENS_BALLQUAT = 17,
mjSENS_BALLANGVEL = 18,
mjSENS_JOINTLIMITPOS = 19,
mjSENS_JOINTLIMITVEL = 20,
mjSENS_JOINTLIMITFRC = 21,
mjSENS_TENDONLIMITPOS = 22,
mjSENS_TENDONLIMITVEL = 23,
mjSENS_TENDONLIMITFRC = 24,
mjSENS_FRAMEPOS = 25,
mjSENS_FRAMEQUAT = 26,
mjSENS_FRAMEXAXIS = 27,
mjSENS_FRAMEYAXIS = 28,
mjSENS_FRAMEZAXIS = 29,
mjSENS_FRAMELINVEL = 30,
mjSENS_FRAMEANGVEL = 31,
mjSENS_FRAMELINACC = 32,
mjSENS_FRAMEANGACC = 33,
mjSENS_SUBTREECOM = 34,
mjSENS_SUBTREELINVEL = 35,
mjSENS_SUBTREEANGMOM = 36,
mjSENS_GEOMDIST = 37,
mjSENS_GEOMNORMAL = 38,
mjSENS_GEOMFROMTO = 39,
mjSENS_E_POTENTIAL = 40,
mjSENS_E_KINETIC = 41,
mjSENS_CLOCK = 42,
mjSENS_PLUGIN = 43,
mjSENS_USER = 44,
mjSENS_TENDONACTFRC = 17,
mjSENS_BALLQUAT = 18,
mjSENS_BALLANGVEL = 19,
mjSENS_JOINTLIMITPOS = 20,
mjSENS_JOINTLIMITVEL = 21,
mjSENS_JOINTLIMITFRC = 22,
mjSENS_TENDONLIMITPOS = 23,
mjSENS_TENDONLIMITVEL = 24,
mjSENS_TENDONLIMITFRC = 25,
mjSENS_FRAMEPOS = 26,
mjSENS_FRAMEQUAT = 27,
mjSENS_FRAMEXAXIS = 28,
mjSENS_FRAMEYAXIS = 29,
mjSENS_FRAMEZAXIS = 30,
mjSENS_FRAMELINVEL = 31,
mjSENS_FRAMEANGVEL = 32,
mjSENS_FRAMELINACC = 33,
mjSENS_FRAMEANGACC = 34,
mjSENS_SUBTREECOM = 35,
mjSENS_SUBTREELINVEL = 36,
mjSENS_SUBTREEANGMOM = 37,
mjSENS_GEOMDIST = 38,
mjSENS_GEOMNORMAL = 39,
mjSENS_GEOMFROMTO = 40,
mjSENS_E_POTENTIAL = 41,
mjSENS_E_KINETIC = 42,
mjSENS_CLOCK = 43,
mjSENS_PLUGIN = 44,
mjSENS_USER = 45,
}
public enum mjtStage : int{
mjSTAGE_NONE = 0,
@@ -5569,12 +5570,14 @@ public unsafe struct mjModel_ {
public int* tendon_matid;
public int* tendon_group;
public byte* tendon_limited;
public byte* tendon_actfrclimited;
public double* tendon_width;
public double* tendon_solref_lim;
public double* tendon_solimp_lim;
public double* tendon_solref_fri;
public double* tendon_solimp_fri;
public double* tendon_range;
public double* tendon_actfrcrange;
public double* tendon_margin;
public double* tendon_stiffness;
public double* tendon_damping;
@@ -6398,8 +6401,10 @@ public unsafe struct model {
public int* tendon_matid;
public int* tendon_group;
public byte* tendon_limited;
public byte* tendon_actfrclimited;
public double* tendon_width;
public double* tendon_range;
public double* tendon_actfrcrange;
public double* tendon_stiffness;
public double* tendon_damping;
public double* tendon_frictionloss;