chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Correct documentation of eulerseq attribute w.r.t URDF conventions.

Browse Source 
PiperOrigin-RevId: 584394256
Change-Id: I0afcb6ced81b98898988cc66f46742175a9a55c5
This commit is contained in:
Yuval Tassa
2023-11-21 12:10:27 -08:00
committed by Copybara-Service
parent 2bc2bc902f
commit b41f6d0942
1 changed files with 5 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/XMLreference.rst
+5 -5
View File
@@ -216,11 +216,11 @@ any effect. The settings here are global and apply to the entire model.
.. _compiler-eulerseq:
:at:`eulerseq`: :at-val:`string, "xyz"`
This attribute specifies the sequence of Euler rotations for all euler attributes of elements that have spatial
frames, as explained in :ref:`COrientation`. This must be a string with exactly 3
characters from the set {'x', 'y', 'z', 'X', 'Y', 'Z'}. The character at position n determines the axis around which
the n-th rotation is performed. Lower case denotes axes that rotate with the frame, while upper case denotes axes
that remain fixed in the parent frame. The "rpy" convention used in URDF corresponds to the default "xyz" in MJCF.
This attribute specifies the sequence of Euler rotations for all :at:`euler` attributes of elements that have spatial
frames, as explained in :ref:`COrientation`. This must be a string with exactly 3 characters from the set {x, y, z,
X, Y, Z}. The character at position n determines the axis around which the n-th rotation is performed. Lower case
letters denote axes that rotate with the frame (intrinsic), while upper case letters denote axes that remain fixed in
the parent frame (extrinsic). The "rpy" convention used in URDF corresponds to "XYZ" in MJCF.
.. _compiler-meshdir: