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Improve mj_jac documentation. Fixes #994

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PiperOrigin-RevId: 560748977
Change-Id: Ic776d6450175a6620eb32ab8631dcca68c3088df
This commit is contained in:
Yuval Tassa
2023-08-28 10:22:52 -07:00
committed by Copybara-Service
parent d1d79f396e
commit 5fe4850643
2 changed files with 14 additions and 12 deletions
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doc/APIreference/functions.rst
+7 -6
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@@ -244,12 +244,13 @@ mj_jac
.. mujoco-include:: mj_jac
This function computes an "end-effector" Jacobian, which is unrelated to the constraint Jacobian above. Any MuJoCo body
can be treated as end-effector, and the point for which the Jacobian is computed can be anywhere in space (it is treated
as attached to the body). The Jacobian has translational (jacp) and rotational (jacr) components. Passing NULL for
either pointer will skip part of the computation. Each component is a 3-by-nv matrix. Each row of this matrix is the
gradient of the corresponding 3D coordinate of the specified point with respect to the degrees of freedom. The ability
to compute end-effector Jacobians analytically is one of the advantages of working in minimal coordinates - so use it!
This function computes an end-effector kinematic Jacobian, describing the local linear relationship between the
degrees-of-freedom and a given point. Given a body specified by its integer id (``body``) and a 3D point in the world
frame (``point``) treated as attached to the body, the Jacobian has both translational (``jacp``) and rotational
(``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 ability to compute end-effector Jacobians efficiently and analytically is one of
the advantages of working in minimal coordinates.
.. _mj_jacBody:
doc/APIreference/functions_override.rst
+7 -6
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@@ -128,12 +128,13 @@ space.
.. _mj_jac:
This function computes an "end-effector" Jacobian, which is unrelated to the constraint Jacobian above. Any MuJoCo body
can be treated as end-effector, and the point for which the Jacobian is computed can be anywhere in space (it is treated
as attached to the body). The Jacobian has translational (jacp) and rotational (jacr) components. Passing NULL for
either pointer will skip part of the computation. Each component is a 3-by-nv matrix. Each row of this matrix is the
gradient of the corresponding 3D coordinate of the specified point with respect to the degrees of freedom. The ability
to compute end-effector Jacobians analytically is one of the advantages of working in minimal coordinates - so use it!
This function computes an end-effector kinematic Jacobian, describing the local linear relationship between the
degrees-of-freedom and a given point. Given a body specified by its integer id (``body``) and a 3D point in the world
frame (``point``) treated as attached to the body, the Jacobian has both translational (``jacp``) and rotational
(``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 ability to compute end-effector Jacobians efficiently and analytically is one of
the advantages of working in minimal coordinates.
.. _mj_jacBody: