Set R to have a negative state priority

Author: YingboMa

src/joints.jl

@@ -1013,8 +1013,8 @@ end
     @components begin
         frame_a = Frame()
         frame_b = Frame()
-        prismatic = Prismatic(; n, state_priority=0, render = false)
-        revolute = Revolute(; n, state_priority=0, color = cylinder_color, radius = cylinder_diameter/2)
+        prismatic = Prismatic(; n, render = false)
+        revolute = Revolute(; n, color = cylinder_color, radius = cylinder_diameter/2)
     end
 
     @variables begin

src/orientation.jl

@@ -39,7 +39,7 @@ The primary difference between `NumRotationMatrix` and `RotationMatrix` is that
 
 Never call this function directly from a component constructor, instead call `f = Frame(); R = ori(f)` and add `f` to the subsystems.
 """
-function NumRotationMatrix(; R = collect(1.0I(3)), w = zeros(3), name=:R, varw = false, state_priority=nothing)
+function NumRotationMatrix(; R = collect(1.0I(3)), w = zeros(3), name=:R, varw = false, state_priority=-1)
     # The reason for not calling this directly is that all R vaiables have to have the same name since they are treated as connector variables (otherwise a connection error is thrown). A component with more than one rotation matrix will thus have two different R variables that overwrite each other
     R = at_variables_t(:R, 1:3, 1:3; default = R, state_priority) #[description="Orientation rotation matrix ∈ SO(3)"]
     # @variables w(t)[1:3]=w [description="angular velocity"]