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Add frame element to MJCF.

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PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
This commit is contained in:
Alessio Quaglino
2023-11-27 03:31:25 -08:00
committed by Copybara-Service
parent 8010aad7be
commit eb9568a48b
13 changed files with 411 additions and 17 deletions
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test/engine/testdata/frame.xml
Vendored
+43
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@@ -0,0 +1,43 @@
<mujoco>
<default>
<geom type="box" size=".1 .2 .3"/>
</default>
<worldbody>
<frame euler="0 0 30">
<geom pos=".5 0 0" euler="0 0 20"/>
</frame>
<frame quat="0 1 0 0">
<geom quat="0 -1 0 0"/>
</frame>
<body pos="0 .5 0">
<frame quat="0 1 0 0">
<geom/>
</frame>
</body>
<frame euler="0 0 30">
<frame euler="0 0 20">
<geom/>
</frame>
</frame>
<body>
<frame pos="0 1 0">
<geom pos="0 1 0"/>
<body pos="1 0 0">
<geom pos="0 0 1"/>
</body>
</frame>
</body>
<body>
<geom/>
<frame euler="90 0 0">
<joint type="hinge" axis="0 0 1"/>
</frame>
</body>
</worldbody>
</mujoco>