Add mjs_bodyToFrame() to convert a body to a frame.

Also add test for attaching the world body. PiperOrigin-RevId: 685603933 Change-Id: I3cfe7d226d6f032b5a587e44d0f4f18207977188
2024-10-14 00:38:26 -07:00
parent 52a0149cd1
commit 766cd20273
12 changed files with 169 additions and 6 deletions
@@ -4400,6 +4400,15 @@ mjs_resolveOrientation

 Resolve alternative orientations to quat, return error if any.

+.. _mjs_bodyToFrame:
+
+mjs_bodyToFrame
+~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_bodyToFrame
+
+Transform body into a frame.
+
 .. _ElementInitialization:

 Element initialization