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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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mjx/mujoco/mjx/test_data/constraints.xml
+5 -5
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@@ -24,7 +24,7 @@
<body name="anchor2" pos="-1 0 0"/>
<body name="beam2" pos="-1 0 0">
<freejoint/>
<freejoint align="false"/>
<geom class="box"/>
</body>
@@ -44,22 +44,22 @@
</body>
<body name="box_condim1" pos="4 0 0">
<freejoint/>
<freejoint align="false"/>
<geom class="box" condim="1"/>
</body>
<body name="box_condim3" pos="5 0 0">
<freejoint/>
<freejoint align="false"/>
<geom class="box" condim="3"/>
</body>
<body name="box_condim4" pos="6 0 0">
<freejoint/>
<freejoint align="false"/>
<geom class="box" condim="4"/>
</body>
<body name="box_condim6" pos="7 0 0">
<freejoint/>
<freejoint align="false"/>
<geom class="box" condim="6"/>
</body>
</worldbody>