Add tendon armature

PiperOrigin-RevId: 743939992 Change-Id: I587214f5d6fabbc0cc273c33d82decbe9ad8f919
2025-04-04 07:42:40 -07:00
parent e1f5ceb65a
commit d05251af2a
22 changed files with 735 additions and 44 deletions
@@ -102,10 +102,11 @@ static void set0(mjModel* m, mjData* d) {
  memset(m->flex_rigid, 0, m->nflex);

  // run remaining computations
+  mj_tendon(m, d);
  mj_crb(m, d);
+  mj_tendonArmature(m, d);
  mj_factorM(m, d);
  mj_flex(m, d);
-  mj_tendon(m, d);
  mj_transmission(m, d);

  // restore flex rigidity