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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 .. mujoco-include:: mj_jac
This function computes an "end-effector" Jacobian, which is unrelated to the constraint Jacobian above. Any MuJoCo body This function computes an end-effector kinematic Jacobian, describing the local linear relationship between the
can be treated as end-effector, and the point for which the Jacobian is computed can be anywhere in space (it is treated degrees-of-freedom and a given point. Given a body specified by its integer id (``body``) and a 3D point in the world
as attached to the body). The Jacobian has translational (jacp) and rotational (jacr) components. Passing NULL for frame (``point``) treated as attached to the body, the Jacobian has both translational (``jacp``) and rotational
either pointer will skip part of the computation. Each component is a 3-by-nv matrix. Each row of this matrix is the (``jacr``) components. Passing ``NULL`` for either pointer will skip that part of the computation. Each component is a
gradient of the corresponding 3D coordinate of the specified point with respect to the degrees of freedom. The ability 3-by-nv matrix. Each row of this matrix is the gradient of the corresponding coordinate of the specified point with
to compute end-effector Jacobians analytically is one of the advantages of working in minimal coordinates - so use it! 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: .. _mj_jacBody:
doc/APIreference/functions_override.rst
+7 -6
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@@ -128,12 +128,13 @@ space.
.. _mj_jac: .. _mj_jac:
This function computes an "end-effector" Jacobian, which is unrelated to the constraint Jacobian above. Any MuJoCo body This function computes an end-effector kinematic Jacobian, describing the local linear relationship between the
can be treated as end-effector, and the point for which the Jacobian is computed can be anywhere in space (it is treated degrees-of-freedom and a given point. Given a body specified by its integer id (``body``) and a 3D point in the world
as attached to the body). The Jacobian has translational (jacp) and rotational (jacr) components. Passing NULL for frame (``point``) treated as attached to the body, the Jacobian has both translational (``jacp``) and rotational
either pointer will skip part of the computation. Each component is a 3-by-nv matrix. Each row of this matrix is the (``jacr``) components. Passing ``NULL`` for either pointer will skip that part of the computation. Each component is a
gradient of the corresponding 3D coordinate of the specified point with respect to the degrees of freedom. The ability 3-by-nv matrix. Each row of this matrix is the gradient of the corresponding coordinate of the specified point with
to compute end-effector Jacobians analytically is one of the advantages of working in minimal coordinates - so use it! 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: .. _mj_jacBody: