Fix bug in inverse dynamics when tendon armature is present.

PiperOrigin-RevId: 773604419 Change-Id: Iaffe3d831c6a5aba8a0a99c05aa76cbd862745f5
2025-06-20 02:23:53 -07:00
parent 2ca9602d3c
commit 4ce6293217
3 changed files with 22 additions and 7 deletions
@@ -129,7 +129,7 @@
      <geom geom="wrapping" sidesite="sidesite"/>
      <site site="anchor2"/>
    </spatial>
-    <spatial name="knee" limited="true" range=".4 .5" rgba="1 0 1 1">
+    <spatial name="knee" limited="true" range=".4 .5" rgba="1 0 1 1" armature="0.1">
      <site site="anchor_knee"/>
      <site site="knee_2"/>
    </spatial>