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Add invdiscrete flag to enable discrete-time inverse dynamics with mj_inverse.

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PiperOrigin-RevId: 560161140
Change-Id: If3e30be5e9af4982571dd310172f2fc0d8d1c551
This commit is contained in:
Tom Erez
2023-08-25 12:07:28 -07:00
committed by Copybara-Service
parent 4db3377467
commit 819b5cb982
16 changed files with 268 additions and 29 deletions
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doc/computation.rst
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@@ -1607,6 +1607,8 @@ The top-level function :ref:`mj_inverse` invokes the following sequence of compu
#. Compute sensor data that depends on velocity, and the kinetic energy if enabled.
#. Compute all passive forces.
#. Compute the reference constraint acceleration.
#. If the :ref:`invdiscrete<option-flag-invdiscrete>` flag is set and the :ref:`integrator<option-integrator>` is not
``RK4``, convert input accelerations from discrete to continuous time.
#. Compute the constraint force. This is done analytically, without using a numerical solver.
#. Compute the inverse dynamics for the unconstrained system.
#. Compute sensor data that depends on force and acceleration if enabled.