From dafd041ad8f1d56bb6d5528d7a944d2071d73052 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Mon, 6 Nov 2023 06:35:26 -0800 Subject: [PATCH] Minor documentation improvements. PiperOrigin-RevId: 579825348 Change-Id: Iba81616fe9fc7d57a640775efd46afb5fc2f27bf --- doc/XMLreference.rst | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst index 6ff6b45d..5620fec3 100644 --- a/doc/XMLreference.rst +++ b/doc/XMLreference.rst @@ -2982,6 +2982,8 @@ and the +Y axis points up. Thus the frame position and orientation are the key a :at:`quat`, :at:`axisangle`, :at:`xyaxes`, :at:`zaxis`, :at:`euler` Orientation of the camera frame. See :ref:`COrientation`. + Note that specifically for cameras, the :at:`xyaxes` attribute is semantically convenient as the X and Y axes + correspond to the directions "right" and "up" in pixel space, respectively. .. _body-camera-user: @@ -6970,7 +6972,7 @@ attached to and what stage of computation it needs before the data can be comput referenced here can be a tuple, which in turn can reference a custom collection of MuJoCo objects -- for example several bodies whose center of mass is of interest. -If a user sensor is of :ref:`stage` "vel" or "acc", then :ref:`mj_subtreeVel` and +If a user sensor is of :ref:`stage` "vel" or "acc", then :ref:`mj_subtreeVel` or :ref:`mj_rnePostConstraint` will be triggered, respectively. .. _sensor-user-name: