From 2785dbc0da0516f5a3c2ea5af952b2a892c0f291 Mon Sep 17 00:00:00 2001
From: Erik Frey <erikfrey@google.com>
Date: Tue, 24 Sep 2024 15:45:40 -0700
Subject: [PATCH] Add tendon types to MJX name2id and id2name.

PiperOrigin-RevId: 678424789
Change-Id: I2634be0810f8f7dafec597919c512752d2efcfa6
---
 mjx/mujoco/mjx/_src/support.py | 2 ++
 mjx/mujoco/mjx/_src/types.py   | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/mjx/mujoco/mjx/_src/support.py b/mjx/mujoco/mjx/_src/support.py
index 03e510a0..891c973c 100644
--- a/mjx/mujoco/mjx/_src/support.py
+++ b/mjx/mujoco/mjx/_src/support.py
@@ -200,6 +200,7 @@ def _getnum(m: Union[Model, mujoco.MjModel], obj: mujoco._enums.mjtObj) -> int:
       mujoco.mjtObj.mjOBJ_HFIELD: m.nhfield,
       mujoco.mjtObj.mjOBJ_PAIR: m.npair,
       mujoco.mjtObj.mjOBJ_EQUALITY: m.neq,
+      mujoco.mjtObj.mjOBJ_TENDON: m.ntendon,
       mujoco.mjtObj.mjOBJ_ACTUATOR: m.nu,
       mujoco.mjtObj.mjOBJ_SENSOR: m.nsensor,
       mujoco.mjtObj.mjOBJ_NUMERIC: m.nnumeric,
@@ -222,6 +223,7 @@ def _getadr(
       mujoco.mjtObj.mjOBJ_HFIELD: m.name_hfieldadr,
       mujoco.mjtObj.mjOBJ_PAIR: m.name_pairadr,
       mujoco.mjtObj.mjOBJ_EQUALITY: m.name_eqadr,
+      mujoco.mjtObj.mjOBJ_TENDON: m.name_tendonadr,
       mujoco.mjtObj.mjOBJ_ACTUATOR: m.name_actuatoradr,
       mujoco.mjtObj.mjOBJ_SENSOR: m.name_sensoradr,
       mujoco.mjtObj.mjOBJ_NUMERIC: m.name_numericadr,
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index dceed8f5..6688bd9a 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -768,6 +768,7 @@ class Model(PyTreeNode):
     name_meshadr: mesh name pointers                          (nmesh,)
     name_pairadr: geom pair name pointers                     (npair,)
     name_eqadr: equality constraint name pointers             (neq,)
+    name_tendonadr: tendon name pointers                      (ntendon,)
     name_actuatoradr: actuator name pointers                  (nu,)
     name_sensoradr: sensor name pointers                      (nsensor,)
     name_numericadr: numeric name pointers                    (nnumeric,)
@@ -1081,6 +1082,7 @@ class Model(PyTreeNode):
   name_hfieldadr: np.ndarray
   name_pairadr: np.ndarray
   name_eqadr: np.ndarray
+  name_tendonadr: np.ndarray
   name_actuatoradr: np.ndarray
   name_sensoradr: np.ndarray
   name_numericadr: np.ndarray