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Rephrase documentation in places where "parent body" creates ambiguity between "the body which contains the element" and "the parent body of the body which contains the element".

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Fixes #1127

PiperOrigin-RevId: 576486971
Change-Id: I54d0c351e95101c5f7907a3c5bb6be18904c03ad
This commit is contained in:
Yuval Tassa
2023-10-25 04:31:12 -07:00
committed by Copybara-Service
parent 8eb36d9a7c
commit 190bfac2d6
2 changed files with 21 additions and 20 deletions
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doc/modeling.rst
+3 -3
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@@ -198,8 +198,8 @@ Coordinate frames
~~~~~~~~~~~~~~~~~
The positions and orientations of all elements defined in the kinematic tree are expressed in local coordinates,
relative to the parent body for bodies, and relative to the body that owns the element for geoms, joints, sites, cameras
and lights.
relative to the parent body for bodies, and relative to the body that contains the element for geoms, joints, sites,
cameras and lights.
A related attribute is :ref:`compiler/angle<compiler-angle>`. It specifies whether angles in the MJCF file are expressed
in degrees or radians (after compilation, angles are always expressed in radians).
@@ -981,7 +981,7 @@ Cameras
Besides the default, user-controllable, free camera, "fixed" cameras can be attached to the kinematic tree.
Extrinsics
By default, camera frames are attached to the parent body. The optional :ref:`mode<body-camera-mode>` and
By default, camera frames are attached to the containing body. The optional :ref:`mode<body-camera-mode>` and
:ref:`target<body-camera-target>` attributes can be used to specify camera that track (move with) or target (look at)
a body or subtree. Cameras look towards the negative Z axis of the camera frame, while positive X and Y correspond to
*right* and *up* in the image plane, respectively.