From c060385505f875d66171a20a957a9dd753fb2fd1 Mon Sep 17 00:00:00 2001 From: Sam Haves Date: Wed, 22 Oct 2025 08:34:59 -0700 Subject: [PATCH] Add section in mjcPhysics documentation for MjcTendon. PiperOrigin-RevId: 822602481 Change-Id: Icf2b3accd323ee9506ca1838c9a2bfc0f0d159c7 --- doc/OpenUSD/mjcPhysics.rst | 10 ++++++++++ 1 file changed, 10 insertions(+) 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``.