diff --git a/doc/OpenUSD/mjcPhysics.rst b/doc/OpenUSD/mjcPhysics.rst index b0f6fb96..454eb6b0 100644 --- a/doc/OpenUSD/mjcPhysics.rst +++ b/doc/OpenUSD/mjcPhysics.rst @@ -95,3 +95,13 @@ In MJCF this is the ```` 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 ```` 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``.