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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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src/xml/xml_native_writer.cc
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@@ -729,6 +729,7 @@ void mjXWriter::OneTendon(XMLElement* elem, const mjCTendon* tendon, mjCDef* def
WriteAttr(elem, "margin", 1, &tendon->margin, &def->Tendon().margin);
WriteAttr(elem, "stiffness", 1, &tendon->stiffness, &def->Tendon().stiffness);
WriteAttr(elem, "damping", 1, &tendon->damping, &def->Tendon().damping);
WriteAttr(elem, "armature", 1, &tendon->armature, &def->Tendon().armature);
WriteAttr(elem, "frictionloss", 1, &tendon->frictionloss, &def->Tendon().frictionloss);
if (tendon->springlength[0] != tendon->springlength[1] ||
def->Tendon().springlength[0] != def->Tendon().springlength[1]) {