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
@@ -3687,6 +3687,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                 doc='damping coefficient',
                 array_extent=('ntendon',),
             ),
+             StructFieldDecl(
+                 name='tendon_armature',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='inertia associated with tendon velocity',
+                 array_extent=('ntendon',),
+             ),
             StructFieldDecl(
                 name='tendon_frictionloss',
                 type=PointerType(
@@ -11324,6 +11332,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                 ),
                 doc='solver impedance: tendon friction',
             ),
+             StructFieldDecl(
+                 name='armature',
+                 type=ValueType(name='double'),
+                 doc='inertia associated with tendon velocity',
+             ),
             StructFieldDecl(
                 name='limited',
                 type=ValueType(name='int'),