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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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introspect/functions.py
+70
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@@ -7533,6 +7533,76 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Finite differenced transition matrices (control theory notation) d(x_next) = A*dx + B*du d(sensor) = C*dx + D*du required output matrix dimensions: A: (2*nv+na x 2*nv+na) B: (2*nv+na x nu) D: (nsensordata x 2*nv+na) C: (nsensordata x nu)', # pylint: disable=line-too-long
)),
('mjd_inverseFD',
FunctionDecl(
name='mjd_inverseFD',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='eps',
type=ValueType(name='mjtNum'),
),
FunctionParameterDecl(
name='flg_actuation',
type=ValueType(name='mjtByte'),
),
FunctionParameterDecl(
name='DfDq',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='DfDv',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='DfDa',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='DsDq',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='DsDv',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='DsDa',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='DmDq',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
),
doc='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', # pylint: disable=line-too-long
)),
('mjp_defaultPlugin',
FunctionDecl(
name='mjp_defaultPlugin',