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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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src/user/user_init.c
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@@ -104,6 +104,7 @@ void mjs_defaultJoint(mjsJoint* joint) {
joint->axis[2] = 1;
joint->limited = mjLIMITED_AUTO;
joint->actfrclimited = mjLIMITED_AUTO;
joint->align = mjALIGNFREE_AUTO;
mj_defaultSolRefImp(joint->solref_limit, joint->solimp_limit);
mj_defaultSolRefImp(joint->solref_friction, joint->solimp_friction);
}