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Updates joint/ref attribute documentation to clarify that the initial model configuration is unmodified.

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PiperOrigin-RevId: 787679025
Change-Id: I4eab9d2ea1b411d40c780c087fa44ccff0b10094
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Yuval Tassa
2025-07-27 04:53:55 -07:00
committed by Copybara-Service
parent 83435361fa
commit e4eb654573
1 changed files with 5 additions and 4 deletions
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doc/XMLreference.rst
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@@ -2161,10 +2161,11 @@ rotations as unit quaternions.
:at:`ref`: :at-val:`real, "0"`
The reference position or angle of the joint. This attribute is only used for slide and hinge joints. It defines the
joint value corresponding to the initial model configuration. The amount of spatial transformation that the joint
applies at runtime equals the current joint value stored in mjData.qpos minus this reference value stored in
mjModel.qpos0. The meaning of these vectors was discussed in the :ref:`Stand-alone <Standalone>` section in
the Overview chapter.
joint value corresponding to the initial model configuration. Note that the initial configuration itself is
unmodified, only the value of the joint at this configuration. The amount of spatial transformation that the joint
applies at runtime equals the current joint value stored in ``mjData.qpos`` minus this reference value stored in
``mjModel.qpos0``. The meaning of these vectors is discussed in the :ref:`Kinematic tree <Kinematic>` section in the
Overview chapter.
.. _body-joint-springref: