TendonRenderer

Render MuJoCo tendons as tubes

Renders MuJoCo tendons as smooth tube geometry. Useful for visualizing tendon-driven systems (e.g., robotic hands).

Usage

<MujocoCanvas config={config}>
  <TendonRenderer />
</MujocoCanvas>

Props

TendonRenderer takes no props. Tendons are rendered with default styling.

How It Works

1. On model load, creates one Mesh per tendon with a shared MeshStandardMaterial and initial TubeGeometry
2. Each frame, updates the CatmullRomCurve3 control points from data.wrap_xpos
3. Rebuilds only the TubeGeometry from the updated curve — the material and mesh objects are reused
4. Tendons with fewer than 2 valid wrap points are hidden automatically

Defaults

Property	Value
Color	rgb(0.3, 0.3, 0.8)
Tube radius	0.002
Radial segments	6

Notes

• Requires tendons defined in the MJCF model
• ten_rgba and ten_width may not be available in the active MuJoCo WASM binding — defaults are used instead
• If the model has no tendons, this component renders nothing
• Meshes and material are created once and reused — only geometry is rebuilt per frame