diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst index ff2783ef..02d9c4df 100644 --- a/doc/XMLreference.rst +++ b/doc/XMLreference.rst @@ -4580,14 +4580,12 @@ wrapping around specified obstacle geoms. The objects along the path are defined which split the path in multiple branches. Each branch of the tendon path must start and end with a site, and if it has multiple obstacle geoms they must be separated by sites - so as to avoid the need for an iterative solver at the tendon level. This example illustrates a multi-branch tendon acting as a finger extensor, with a counter-weight -instead of an actuator. +instead of an actuator: `tendon.xml <_static/tendon.xml>`__. MuJoCo 2.0 introduced a second form of wrapping, where the tendon is constrained to pass through a geom rather than wrap around it. This is enabled automatically when a sidesite is specified and its position is inside the volume of the obstacle geom. -`tendon.xml <_static/tendon.xml>`__ - .. _tendon-spatial-name: :at:`name`: :at-val:`string, optional` diff --git a/doc/_static/tendon.xml b/doc/_static/tendon.xml index e333c6f1..ab1c4227 100644 --- a/doc/_static/tendon.xml +++ b/doc/_static/tendon.xml @@ -1,52 +1,50 @@ - - - - - - - - - - + + + + + + + - - - - + + + + + - + - - - - - + + + + + - - - - - - - + + + + + + + - - - - - - + + + + + + - +