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

Fixes #703. PiperOrigin-RevId: 527899700 Change-Id: I10e41a381dcecf62c53b3b9aa72a4ce666161366
2023-04-28 09:03:39 -07:00
parent 90e14ac8d0
commit c50177d301
13 changed files with 515 additions and 30 deletions
@@ -5,6 +5,10 @@
    <geom type="box" size=".05 .05 .05"/>
  </default>

+  <option>
+    <flag gravity="disable"/>
+  </option>
+
  <worldbody>
    <light pos="0 0 1"/>
    <body>
@@ -12,6 +16,7 @@
      <geom/>
      <body pos=".15 0 0">
        <joint name="joint1"/>
+        <site name="accelerometer" pos="0 0 -1"/>
        <geom/>
        <body pos=".15 0 0">
          <joint/>
@@ -25,4 +30,10 @@
    <motor joint="joint0" ctrllimited="true" ctrlrange="-1 1"/>
    <motor joint="joint1" ctrllimited="true" ctrlrange="-1 1"/>
  </actuator>
+
+  <sensor>
+    <jointvel joint="joint1"/>
+    <jointpos joint="joint0"/>
+    <accelerometer site="accelerometer"/>
+  </sensor>
 </mujoco>