Merge pull request #1450 from v-r-a:angmomMat

PiperOrigin-RevId: 612835207 Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
2024-03-05 07:35:15 -08:00
parent 49ddb7ca2e 93f9154d44
commit 6b7d714291
12 changed files with 279 additions and 9 deletions
@@ -307,6 +307,18 @@ mj_jacPointAxis

 Compute translation end-effector Jacobian of point, and rotation Jacobian of axis.

+.. _mj_angmomMat:
+
+mj_angmomMat
+~~~~~~~~~~~~
+
+.. mujoco-include:: mj_angmomMat
+
+This function computes the ``3 x nv`` angular momentum matrix :math:`H(q)`, providing the linear mapping from
+generalized velocities to subtree angular momentum. More precisely if :math:`h` is the subtree angular momentum of
+body index ``body`` in ``mjData.subtree_angmom`` (reported by the :ref:`subtreeangmom<sensor-subtreeangmom>` sensor)
+and :math:`\dot q` is the generalized velocity ``mjData.qvel``, then :math:`h = H \dot q`.
+
 .. _mj_name2id:

 mj_name2id