From f15b6e5e219b901a50d123f8a44fa247e7df7ff8 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 17 Jun 2024 03:06:22 -0700
Subject: [PATCH] Set orientation type in composite box. Fixes #1732.

PiperOrigin-RevId: 643937520
Change-Id: I9ba9d9a8feae6815df35c5d21b0314165713c9d6
---
 src/user/user_composite.cc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/user/user_composite.cc b/src/user/user_composite.cc
index 3ff3c280..ae1fe677 100644
--- a/src/user/user_composite.cc
+++ b/src/user/user_composite.cc
@@ -1156,6 +1156,7 @@ bool mjCComposite::MakeBox(mjCModel* model, mjsBody* body, char* error, int erro
           BoxProject(b->pos);
 
           // reorient body
+          b->alt.type = mjORIENTATION_ZAXIS;
           mjuu_copyvec(b->alt.zaxis, b->pos, 3);
           mjuu_normvec(b->alt.zaxis, 3);