Word Meaning: Frolicked

During a sunny day at the park, children laughed and played on the swings while dogs frolicked in the grass. The air was filled with the exhilarating scent of freshly baked cookies from the nearby food stand. A girl named Emma held a colorful kite, waiting for the perfect moment to let it soar into the sky. She visualized the kite dancing with the wind, its vibrant colors shining against the blue backdrop. Suddenly, with a whoosh, she released the string and watched as the kite climbed higher.

In this passage, the word 'frolicked' is used to describe the dogs. What does 'frolicked' mean in this context?