Internal

RevoluteWithLengthConstraint

Revolute joint where the rotation angle is computed from a length constraint (1 degree-of-freedom, no potential state)

Prismatic joint where the translational distance is computed from a length constraint (1 degree-of-freedom, no potential state)

Rolling constraint for wheel that is always perpendicular to x-y plane

Internal model to initialize r_rel_a for Joints.FreeMotionScalarInit

Internal model to initialize the angels for Joints.FreeMotionScalarInit

Internal model to initialize w_rel_b for Joints.FreeMotionScalarInit