Clean up tendon wrapping code.

PiperOrigin-RevId: 675185000 Change-Id: I3d93d7ce65b617c4869eb002dfe9440efa9abf66
2024-09-16 09:45:40 -07:00
parent ebcffaf121
commit 48fee9487e
3 changed files with 85 additions and 77 deletions
@@ -30,7 +30,7 @@ extern "C" {

 // wrap tendons around spheres and cylinders
 mjtNum mju_wrap(mjtNum* wpnt, const mjtNum* x0, const mjtNum* x1,
-                const mjtNum* xpos, const mjtNum* xmat, const mjtNum* size,
+                const mjtNum* xpos, const mjtNum* xmat, mjtNum radius,
                int type, const mjtNum* side);

 // normalized muscle length-gain curve