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Add support for querying of MjsTendon path from Python.

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Fixes #2670

PiperOrigin-RevId: 822215254
Change-Id: Ice5a264e54f963776093511c6e4ac830aae6d4f8
This commit is contained in:
Sam Haves
2025-10-21 11:50:24 -07:00
committed by Copybara-Service
parent 2f65e23779
commit ac2cd5dfd6
9 changed files with 411 additions and 11 deletions
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doc/changelog.rst
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@@ -12,6 +12,15 @@ General
- Increase Windows stack size to 16MB to enable models with deep nested body hierarchies.
- Added a new :ref:`mj_extractState` function that allows a subset of a state that was previously returned by
:ref:`mj_getState` to be extracted without having to be written back into ``mjData`` first.
- Tendon paths can now be queried from Python via ``MjsTendon.path``, the returned object
is iterable and indexing it will give the ``MjsWrap`` at the given index in the path.
- ``MjsWrap`` now exposes:
- ``type -> mujoco.mjtWrap``
- ``target -> MjsSite|MjsJoint|MjsGeom|None``
- ``sidesite -> MjsSite|None``
- ``coef -> real``
- ``divisor -> real``
Version 3.3.7 (October 13, 2025)
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