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
@@ -72,7 +72,7 @@ TEST_F(EllipsoidFluidTest, GeomsEquivalentToBodies) {
    <option wind="5 5 0" density="10"/>
    <worldbody>
      <body pos="1 2 3">
-        <freejoint/>
+        <freejoint align="false"/>
        <geom type="box" size=".1 .01 0.01" pos="0.1 0 0" euler="40 0 0" fluidshape="ellipsoid"/>
        <geom type="box" size=".1 .01 0.01" pos="-.1 0 0" euler="0 20 0" fluidshape="ellipsoid"/>
      </body>