Transformation between local frames

Discussion in 'Simulation' started by Jędrzej Orbik, Jan 7, 2020.

  1. Is there any function in Mujoco which allows the easy transformation between reference frames? For example if I would like to transform body_xpos to an arbitrary body frame or to do a transform between two local frames? One can of course do it with xmat and xpos, but maybe there is an easier, ready to use API call for mujoco?