Add mjtSameFrame enum to specify frame alignment of bodies with their children.

PiperOrigin-RevId: 666303674 Change-Id: I53dc56e1ca52afa280ae5abaf4158edc465fb1e0
2024-08-22 05:16:02 -07:00
parent a2649d6cec
commit 8b03daa09b
13 changed files with 173 additions and 109 deletions
@@ -346,6 +346,16 @@ These are the possible sensor data types, used in ``mjData.sensor_datatype``.
 .. mujoco-include:: mjtDataType


+.. _mjtSameFrame:
+
+mjtSameFrame
+~~~~~~~~~~~~
+
+Types of frame alignment of elements with their parent bodies. Used as shortcuts during :ref:`mj_kinematics` in the
+last argument to :ref:`mj_local2global`.
+
+.. mujoco-include:: mjtSameFrame
+

 .. _tyDataEnums:

@@ -551,7 +551,7 @@ mj_local2Global

 .. mujoco-include:: mj_local2Global

-Map from body local to global Cartesian coordinates.
+Map from body local to global Cartesian coordinates, sameframe takes values from mjtSameFrame.

 .. _mj_getTotalmass: