Add mjModel.tendon_armature (in preparation, not yet implemented)

PiperOrigin-RevId: 743649968 Change-Id: I1d893e3e06afc48b652575bc7837750ab3573670
2025-04-03 12:05:30 -07:00
parent f96f3e1c22
commit e1f5ceb65a
14 changed files with 140 additions and 11 deletions
@@ -617,13 +617,14 @@ typedef struct mjsTendon_ {        // tendon specification
  mjsElement* element;             // element type
  mjString* name;                  // name

-  // stiffness, damping, friction
+  // stiffness, damping, friction, armature
  double stiffness;                // stiffness coefficient
  double springlength[2];          // spring resting length; {-1, -1}: use qpos_spring
  double damping;                  // damping coefficient
  double frictionloss;             // friction loss
  mjtNum solref_friction[mjNREF];  // solver reference: tendon friction
  mjtNum solimp_friction[mjNIMP];  // solver impedance: tendon friction
+  double armature;                 // inertia associated with tendon velocity

  // length range
  int limited;                     // does tendon have limits (mjtLimited)