Fix tendon sphere wrapping when using external sidesite.

PiperOrigin-RevId: 668391942 Change-Id: I78b44e1f90bb26fa6f5544eeb884c8ea22e41d33
2024-08-28 04:29:00 -07:00
parent 72a0ab145d
commit 3e701b2125
3 changed files with 73 additions and 14 deletions
@@ -25,6 +25,8 @@ General
  parent model, but only on the first attachment.
 - Added the :ref:`mjtSameFrame` enum which contains the possible frame alignments of bodies and their children. These
  alignments are used as shortcuts in :ref:`mj_kinematics`.
+- Fixed a bug in tendon wrapping around spheres. Before this fix, tendons that wrapped around spheres with an
+  externally-placed :ref:`sidesite<spatial-geom-sidesite>` could jump inside the sphere instead of wrapping around it.

 MJX
 ^^^