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Add tendon armature

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PiperOrigin-RevId: 743939992
Change-Id: I587214f5d6fabbc0cc273c33d82decbe9ad8f919
This commit is contained in:
Yuval Tassa
2025-04-04 07:42:40 -07:00
committed by Copybara-Service
parent e1f5ceb65a
commit d05251af2a
22 changed files with 735 additions and 44 deletions
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src/engine/engine_inverse.c
+3 -2
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@@ -45,8 +45,9 @@ void mj_invPosition(const mjModel* m, mjData* d) {
mj_tendon(m, d);
TM_END(mjTIMER_POS_KINEMATICS);
mj_crb(m, d); // timed internally (POS_INERTIA)
mj_factorM(m, d); // timed internally (POS_INERTIA)
mj_crb(m, d); // timed internally (POS_INERTIA)
mj_tendonArmature(m, d); // timed internally (POS_INERTIA)
mj_factorM(m, d); // timed internally (POS_INERTIA)
mj_collision(m, d); // timed internally (POS_COLLISION)