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Fix tendon.xml example model.

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PiperOrigin-RevId: 530073629
Change-Id: I1fbfa55bc1ec9bbf11ab5a33771ad56537a16c07
This commit is contained in:
Yuval Tassa
2023-05-07 02:01:08 -07:00
committed by Copybara-Service
parent 49efa9cc15
commit f204e03575
2 changed files with 33 additions and 37 deletions
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doc/XMLreference.rst
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@@ -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`