Add contact frame visualisation.

This is useful when writing or modifying collision functions, when the actual direction of the x and y axes of a contact can be important. PiperOrigin-RevId: 437256700 Change-Id: I5eab737fc98018399e151552778c6109088bf614
2022-03-25 08:44:40 -07:00
parent 21338e6178
commit d627374545
4 changed files with 71 additions and 67 deletions
@@ -569,8 +569,9 @@ ENUMS: Mapping[str, EnumDecl] = dict([
             ('mjFRAME_SITE', 3),
             ('mjFRAME_CAMERA', 4),
             ('mjFRAME_LIGHT', 5),
-             ('mjFRAME_WORLD', 6),
-             ('mjNFRAME', 7),
+             ('mjFRAME_CONTACT', 6),
+             ('mjFRAME_WORLD', 7),
+             ('mjNFRAME', 8),
         ]),
     )),
    ('mjtVisFlag',