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

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PiperOrigin-RevId: 743649968
Change-Id: I1d893e3e06afc48b652575bc7837750ab3573670
This commit is contained in:
Yuval Tassa
2025-04-03 12:05:30 -07:00
committed by Copybara-Service
parent f96f3e1c22
commit e1f5ceb65a
14 changed files with 140 additions and 11 deletions
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mjx/mujoco/mjx/_src/types.py
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@@ -771,6 +771,7 @@ class Model(PyTreeNode):
tendon_margin: min distance for limit detection (ntendon,)
tendon_stiffness: stiffness coefficient (ntendon,)
tendon_damping: damping coefficient (ntendon,)
tendon_armature: inertia associated with tendon velocity (ntendon,)
tendon_frictionloss: loss due to friction (ntendon,)
tendon_lengthspring: spring resting length range (ntendon, 2)
tendon_length0: tendon length in qpos0 (ntendon,)
@@ -1113,6 +1114,7 @@ class Model(PyTreeNode):
tendon_margin: jax.Array
tendon_stiffness: jax.Array
tendon_damping: jax.Array
tendon_armature: jax.Array
tendon_frictionloss: jax.Array
tendon_lengthspring: jax.Array
tendon_length0: jax.Array