Internal change

PiperOrigin-RevId: 606364067
Change-Id: I43e6fa961ac5c893ad8d9d54ba3b04a60a6224d3

README.md

@@ -27,13 +27,13 @@ Brax offers four distinct physics pipelines that are easy to swap:
 
 * [MuJoCo XLA - MJX](https://mujoco.readthedocs.io/en/stable/mjx.html) - a JAX
 reimplementation of the MuJoCo physics engine.
-* [Generalized](https://github.com/google/brax/blob/main/brax/v2/generalized/)
+* [Generalized](https://github.com/google/brax/blob/main/brax/generalized/)
 calculates motion in [generalized coordinates](https://en.wikipedia.org/wiki/Generalized_coordinates)
 using dynamics algorithms similar to [MuJoCo](https://mujoco.org/) and [TDS](https://github.com/erwincoumans/tiny-differentiable-simulator).
-* [Positional](https://github.com/google/brax/blob/main/brax/v2/positional/)
+* [Positional](https://github.com/google/brax/blob/main/brax/positional/)
 uses [Position Based Dynamics](https://matthias-research.github.io/pages/publications/posBasedDyn.pdf),
 a fast but stable method of resolving joint and collision constraints.
-* [Spring](https://github.com/google/brax/blob/main/brax/v2/spring/) provides
+* [Spring](https://github.com/google/brax/blob/main/brax/spring/) provides
 fast and cheap simulation for rapid experimentation, using simple impulse-based
 methods often found in video games.
 

brax/test_data/capsule.xml

@@ -9,7 +9,7 @@
     </tuple>
   </custom>
   <default>
-    <joint armature="1" damping="1" limited="true"/>
+    <joint armature="1" damping="1"/>
     <geom conaffinity="0" condim="3" density="5.0" friction="1 0.5 0.5" margin="0.01" rgba="0.8 0.6 0.4 1"/>
   </default>
   <worldbody>

brax/test_data/world_body_transform.xml

@@ -2,7 +2,7 @@
   <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
   <option timestep="0.01" />
   <default>
-    <joint armature="1" damping="1" limited="true"/>
+    <joint armature="1" damping="1"/>
     <geom conaffinity="0" condim="3" density="5.0" friction="1 0.5 0.5" margin="0.01" rgba="0.8 0.6 0.4 1"/>
   </default>
   <worldbody>

brax/test_data/world_fromto.xml

@@ -1,7 +1,6 @@
 <mujoco model="humanoid">
     <compiler angle="degree" inertiafromgeom="true" />
     <default>
-        <joint limited="true" />
         <geom rgba=".8 .6 .4 1" condim="3" />
         <default class="damped_joint">
             <joint damping="2" stiffness="2.0" armature="0.02" />