feat(schemas): tendons schema-fragment API (additive)#10
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Add the additive schema-fragment framework for the tendons family, mirroring the merged rigid-body pilot. Core gains the FixedTendonFragment / SpatialTendonFragment markers and the apply_fixed_tendon_properties / apply_spatial_tendon_properties family writers. Tendons are a tune-not-apply family, so the writers dispatch each fragment's func without applying a new anchor schema. PhysX gains PhysxFixedTendonCfg / PhysxSpatialTendonCfg data-carrier fragments that override func with thin apply_fixed_tendon / apply_spatial_tendon wrappers delegating to the existing multi-instance modify_fixed_/spatial_tendon_properties writers. The from_files spawn slots are widened to accept fragment lists with a transition bridge; legacy cfgs and writers stay intact. The legacy writer's mjc:* branch is kept inline with a future-split-candidate note.
No behavior change; collapse over-explained inline comments to terse intent.
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Description
Additive tendons fragment family (override func, tune-not-apply)
FixedTendonFragment/SpatialTendonFragmentmarkers +apply_fixed_tendon_properties/apply_spatial_tendon_propertiesPhysxFixedTendonCfg/PhysxSpatialTendonCfgoverridefuncto delegate to the existing multi-instance tendon writers (tune existingPhysxTendonAxisRootAPI:<inst>).fixed_tendons_props/spatial_tendons_propsaccept fragment lists + bridge.Decision: the legacy
mjc:*tendon branch is kept inline (future split candidate, commented). Status: authored, ruff clean, sim verification pending.Fixes # (N/A — part of the staged physics schema-fragment refactor; no tracked public issue)
Type of change
Screenshots
N/A — no user-facing visual changes.
Checklist
ruff+ruff-format) on the changed files./isaaclab.sh -d; not separately authored)source/<pkg>/changelog.d/for every touched packageCONTRIBUTORS.md