From a0ab1940bfd16499ec39bdfb98c2fdc0a37645fa Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C3=A1lint=20Hodossy?= <bkh16@ic.ac.uk>
Date: Thu, 15 Dec 2022 15:36:14 +0000
Subject: [PATCH] Fix ignored units of springref

---
 unity/Runtime/Components/Joints/MjJointSettings.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/unity/Runtime/Components/Joints/MjJointSettings.cs b/unity/Runtime/Components/Joints/MjJointSettings.cs
index 26924474..f2f3d72e 100644
--- a/unity/Runtime/Components/Joints/MjJointSettings.cs
+++ b/unity/Runtime/Components/Joints/MjJointSettings.cs
@@ -72,7 +72,7 @@ namespace Mujoco {
       var springDamper = mjcf.GetVector2Attribute("springdamper", Vector2.zero);
       TimeConstant = springDamper.x;
       DampingRatio = springDamper.y;
-      EquilibriumPose = mjcf.GetFloatAttribute("springref", 0.0f);
+      EquilibriumPose = MjSceneImportSettings.AnglesInDegrees? mjcf.GetFloatAttribute("springref", 0.0f) : mjcf.GetFloatAttribute("springref", 0.0f) * Mathf.Rad2Deg;
       Damping = mjcf.GetFloatAttribute("damping", 0.0f);
       Stiffness = mjcf.GetFloatAttribute("stiffness", 0.0f);
     }