Add automatic free-joint alignment.

PiperOrigin-RevId: 671010083 Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef
2024-09-04 10:06:29 -07:00
parent ae4987026c
commit 8954a088ce
18 changed files with 308 additions and 13 deletions
@@ -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'),