Accessing Site Names for Spatial Tendons in MjSpec

[nbadie]

Intro

Hi!

I am a graduate student at University of Stuttgart and I use MuJoCo for my research on musculoskeletal simulation and RL.

My setup

I am using mujoco 3.2.7.

My question

I'm currently working on modifying tendons and muscles using MjSpec, but I’ve run into a limitation: spec.tendons doesn’t seem to expose site names for spatial tendons. Is there a recommended way to access or work around this limitation?

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[yuvaltassa]

hmm @quagla what's the right way to do this? I expected the mjsTendon to point me to a list of mjsWrap which would have what @nbadie is looking for, but I looked and now I'm not sure how one would get this from the mjSpec API...

As a workaround, I can tell you how to do this from the mjModel, would that be helpful?