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

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PiperOrigin-RevId: 584394256
Change-Id: I0afcb6ced81b98898988cc66f46742175a9a55c5
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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
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doc/XMLreference.rst
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@@ -216,11 +216,11 @@ any effect. The settings here are global and apply to the entire model.
.. _compiler-eulerseq: .. _compiler-eulerseq:
:at:`eulerseq`: :at-val:`string, "xyz"` :at:`eulerseq`: :at-val:`string, "xyz"`
This attribute specifies the sequence of Euler rotations for all euler attributes of elements that have spatial 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 frames, as explained in :ref:`COrientation`. This must be a string with exactly 3 characters from the set {x, y, z,
characters from the set {'x', 'y', 'z', 'X', 'Y', 'Z'}. The character at position n determines the axis around which X, Y, Z}. The character at position n determines the axis around which the n-th rotation is performed. Lower case
the n-th rotation is performed. Lower case denotes axes that rotate with the frame, while upper case denotes axes letters denote axes that rotate with the frame (intrinsic), while upper case letters denote axes that remain fixed in
that remain fixed in the parent frame. The "rpy" convention used in URDF corresponds to the default "xyz" in MJCF. the parent frame (extrinsic). The "rpy" convention used in URDF corresponds to "XYZ" in MJCF.
.. _compiler-meshdir: .. _compiler-meshdir: