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
@@ -470,6 +470,11 @@ public enum mjtLimited : int{
  mjLIMITED_TRUE = 1,
  mjLIMITED_AUTO = 2,
 }
+public enum mjtAlignFree : int{
+  mjALIGNFREE_FALSE = 0,
+  mjALIGNFREE_TRUE = 1,
+  mjALIGNFREE_AUTO = 2,
+}
 public enum mjtInertiaFromGeom : int{
  mjINERTIAFROMGEOM_FALSE = 0,
  mjINERTIAFROMGEOM_TRUE = 1,