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Add section in mjcPhysics documentation for MjcTendon.

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PiperOrigin-RevId: 822602481
Change-Id: Icf2b3accd323ee9506ca1838c9a2bfc0f0d159c7
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Sam Haves
2025-10-22 08:34:59 -07:00
committed by Copybara-Service
parent f217a8f987
commit c060385505
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doc/OpenUSD/mjcPhysics.rst
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@@ -95,3 +95,13 @@ In MJCF this is the ``<keyframe>`` element and has a ``time`` attribute. In USD
The order of the values in the keyframes should map to the depth first ordered traversal of rigidbodies in the composed
stage.
MjcTendon
^^^^^^^^^
This type represents both fixed and spatial tendons.
In MJCF this is the ``<tendon>`` element. The tendon path is represented by the ordered list of targets in the
``mjc:path`` relationship attribute. In MJCF we can specify attributes such as ``sidesite`` and ``divisor`` on
path targets; but in USD we cannot attach data to relationship attributes as elegantly, so these become indexed
array attributes such as ``mjc:sideSites`` and ``mjs:path:divisors``.