Add frame element to MJCF.

PiperOrigin-RevId: 585598244 Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
2023-11-27 03:31:25 -08:00
parent 8010aad7be
commit eb9568a48b
13 changed files with 411 additions and 17 deletions
@@ -7,10 +7,11 @@ Upcoming version (not yet released)

 General
 ^^^^^^^
-
 - Improved convergence of Signed Distance Function (SDF) collisions by using line search and a new objective function
  for the optimization. This allows to decrease the number of initial points needed for finding the contacts and is more
  robust for very small or large geom sizes.
+- Added :ref:`frame<frame>` to MJCF, a :ref:`meta-element<meta-element>` which defines a pure coordinate transformation
+  on its direct children, without requiring a :ref:`body<body>`.

 Plugins
 ^^^^^^^