chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add mj_jacDot: Time derivative of kinematic Jacobian.

Browse Source 
PiperOrigin-RevId: 670505417
Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
This commit is contained in:
Yuval Tassa
2024-09-03 04:48:44 -07:00
committed by Copybara-Service
parent fb38727303
commit 2d3d5415b7
12 changed files with 363 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/APIreference/functions_override.rst
+9 -1
View File
@@ -184,13 +184,21 @@ frame (``point``) treated as attached to the body, the Jacobian has both transla
(``jacr``) components. Passing ``NULL`` for either pointer will skip that part of the computation. Each component is a
3-by-nv matrix. Each row of this matrix is the gradient of the corresponding coordinate of the specified point with
respect to the degrees-of-freedom. The :ref:`pipeline stages<piStages>` required for Jacobian computations to be
consistent with the current generalized positions ``mjData.qpos`` are :ref:`mj_kinematics` and :ref:`mj_comPos`.
consistent with the current generalized positions ``mjData.qpos`` are :ref:`mj_kinematics` and :ref:`mj_comPos` (in
that order).
.. _mj_jacBody:
This and the remaining variants of the Jacobian function call mj_jac internally, with the center of the body, geom or
site. They are just shortcuts; the same can be achieved by calling mj_jac directly.
.. _mj_jacDot:
This function computes the time-derivative of an end-effector kinematic Jacobian computed by :ref:`mj_jac`.
The minimal :ref:`pipeline stages<piStages>` required for computation to be
consistent with the current generalized positions and velocities ``mjData.{qpos, qvel}`` are
:ref:`mj_kinematics`, :ref:`mj_comPos`, :ref:`mj_comVel` (in that order).
.. _mj_angmomMat:
This function computes the ``3 x nv`` angular momentum matrix :math:`H(q)`, providing the linear mapping from