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Add automatic free-joint alignment.

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PiperOrigin-RevId: 671010083
Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef
This commit is contained in:
Yuval Tassa
2024-09-04 10:06:29 -07:00
committed by Copybara-Service
parent ae4987026c
commit 8954a088ce
18 changed files with 308 additions and 13 deletions
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doc/XMLschema.rst
+3 -1
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@@ -56,6 +56,8 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`inertiafromgeom<compiler-inertiafromgeom>` | :ref:`inertiagrouprange<compiler-inertiagrouprange>` | :ref:`exactmeshinertia<compiler-exactmeshinertia>` | :ref:`assetdir<compiler-assetdir>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`alignfree<compiler-alignfree>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| compiler |br| |_| |L| | | .. table:: |
| :ref:`lengthrange | ? | :class: mjcf-attributes |
@@ -290,7 +292,7 @@
| :ref:`freejoint | \* | :class: mjcf-attributes |
| <body-freejoint>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<body-freejoint-name>` | :ref:`group<body-freejoint-group>` | | | |
| | | | :ref:`name<body-freejoint-name>` | :ref:`group<body-freejoint-group>` | :ref:`align<body-freejoint-align>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |