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Use sparse (uncompressed) actuator_moment in mj_transmission.

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PiperOrigin-RevId: 692179704
Change-Id: Ic30ac5a98dc13de2028e378df65dc88ba3912bf5
This commit is contained in:
Taylor Howell
2024-11-01 08:05:14 -07:00
committed by Copybara-Service
parent 1d58576d28
commit a51f346059
13 changed files with 230 additions and 81 deletions
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python/LQR.ipynb
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@@ -491,7 +491,15 @@
},
"outputs": [],
"source": [
"ctrl0 = np.atleast_2d(qfrc0) @ np.linalg.pinv(data.actuator_moment)\n",
"actuator_moment = np.zeros((model.nu, model.nv))\n",
"mujoco.mju_sparse2dense(\n",
" actuator_moment,\n",
" data.actuator_moment,\n",
" data.moment_rownnz,\n",
" data.moment_rowadr,\n",
" data.moment_colind,\n",
")\n",
"ctrl0 = np.atleast_2d(qfrc0) @ np.linalg.pinv(actuator_moment)\n",
"ctrl0 = ctrl0.flatten() # Save the ctrl setpoint.\n",
"print('control setpoint:', ctrl0)"
]