Add tendon armature to MJX.

PiperOrigin-RevId: 769294284 Change-Id: Idfbd4f355eb26fba5035973ab989a9d3af05c85f
2025-06-09 14:26:18 -07:00
parent b8768aa1cd
commit caaf7b3a69
6 changed files with 250 additions and 0 deletions
@@ -73,6 +73,7 @@ def fwd_position(m: Model, d: Data) -> Data:
  d = smooth.camlight(m, d)
  d = smooth.tendon(m, d)
  d = smooth.crb(m, d)
+  d = smooth.tendon_armature(m, d)
  d = smooth.factor_m(m, d)
  d = collision_driver.collision(m, d)
  d = constraint.make_constraint(m, d)
@@ -93,6 +94,7 @@ def fwd_velocity(m: Model, d: Data) -> Data:
  d = smooth.com_vel(m, d)
  d = passive.passive(m, d)
  d = smooth.rne(m, d)
+  d = smooth.tendon_bias(m, d)
  return d