Add automatic free-joint alignment.

PiperOrigin-RevId: 671010083
Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef

introspect/enums.py

@@ -759,6 +759,16 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjLIMITED_AUTO', 2),
          ]),
      )),
+    ('mjtAlignFree',
+     EnumDecl(
+         name='mjtAlignFree',
+         declname='enum mjtAlignFree_',
+         values=dict([
+             ('mjALIGNFREE_FALSE', 0),
+             ('mjALIGNFREE_TRUE', 1),
+             ('mjALIGNFREE_AUTO', 2),
+         ]),
+     )),
     ('mjtInertiaFromGeom',
      EnumDecl(
          name='mjtInertiaFromGeom',

introspect/structs.py

@@ -8361,6 +8361,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='mjtByte'),
                  doc='if false, use old formula',
              ),
+             StructFieldDecl(
+                 name='alignfree',
+                 type=ValueType(name='int'),
+                 doc='align free joints with inertial frame',
+             ),
              StructFieldDecl(
                  name='LRopt',
                  type=ValueType(name='mjLROpt'),
@@ -8792,6 +8797,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='double'),
                  doc='value at reference configuration: qpos0',
              ),
+             StructFieldDecl(
+                 name='align',
+                 type=ValueType(name='int'),
+                 doc='align free joint with body com (mjtAlignFree)',
+             ),
              StructFieldDecl(
                  name='stiffness',
                  type=ValueType(name='double'),