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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/user/user_model.h
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@@ -349,6 +349,7 @@ class mjCModel : public mjCModel_, private mjSpec {
void CopyPaths(mjModel*); // copy paths, compute path addresses
void CopyObjects(mjModel*); // copy objects outside kinematic tree
void CopyTree(mjModel*); // copy objects inside kinematic tree
void FinalizeSimple(mjModel* m); // finalize simple bodies/dofs including tendon information
void CopyPlugins(mjModel*); // copy plugin data
int CountNJmom(const mjModel* m); // compute number of non-zeros in actuator_moment matrix