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Add mjd_inverseFD for finite-difference approximations of inverse dynamics Jacobians.

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Fixes #703.

PiperOrigin-RevId: 527899700
Change-Id: I10e41a381dcecf62c53b3b9aa72a4ce666161366
This commit is contained in:
Yuval Tassa
2023-04-28 09:03:39 -07:00
committed by Copybara-Service
parent 90e14ac8d0
commit c50177d301
13 changed files with 515 additions and 30 deletions
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include/mujoco/mujoco.h
+19 -1
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@@ -1200,7 +1200,25 @@ MJAPI mjtNum mju_sigmoid(mjtNum x);
MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_centered,
mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);
// Finite differenced Jacobians of (force, sensors) = mj_inverse(state, acceleration)
// All outputs are optional. Output dimensions (transposed w.r.t Control Theory convention):
// DfDq: (nv x nv)
// DfDv: (nv x nv)
// DfDa: (na x nv)
// DsDq: (nv x nsensordata)
// DsDv: (nv x nsensordata)
// DsDa: (nv x nsensordata)
// DmDq: (nv x nM)
// single-letter shortcuts:
// inputs: q=qpos, v=qvel, a=qacc
// outputs: f=qfrc_inverse, s=sensordata, m=qM
// notes:
// optionally computes mass matrix Jacobian DmDq
// flg_actuation specifies whether to subtract qfrc_actuator from qfrc_inverse
MJAPI void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte flg_actuation,
mjtNum *DfDq, mjtNum *DfDv, mjtNum *DfDa,
mjtNum *DsDq, mjtNum *DsDv, mjtNum *DsDa,
mjtNum *DmDq);
//---------------------- Plugins -------------------------------------------------------------------