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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 The order of the values in the keyframes should map to the depth first ordered traversal of rigidbodies in the composed
stage. 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``.