Yuval Tassa
228264c92b
- Add `qH` and `qHDiagInv` to `mjData` to save factorized modified inertia. - Add `mj_EulerSkip`, `mj_implicitSkip`, to `engine_forward.c`. - Using the above functions, implement `mj_stepSkip` in `engine_derivative.c`. - Add `mjd_stepFD` and `mjd_transitionFD` to `engine_derivative.c` to compute `mj_step` Jacobians. - Exploit "Skip" functionality for speed. - Correctly handle quaternion derivatives. - Handle warmstarts and control limits. PiperOrigin-RevId: 456584811 Change-Id: Iee8541f11e7b66feb8f431cb102d9bbe65461f79
29 lines
672 B
XML
29 lines
672 B
XML
<mujoco>
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<!-- linear dynamical system with fixed, anaylticaly computable derivatives -->
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<default>
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<joint axis="1 0 0" damping=".01" stiffness=".1"/>
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<geom type="box" size=".05 .05 .05"/>
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</default>
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<worldbody>
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<light pos="0 0 1"/>
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<body>
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<joint name="joint0"/>
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<geom/>
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<body pos=".15 0 0">
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<joint name="joint1"/>
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<geom/>
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<body pos=".15 0 0">
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<joint/>
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<geom/>
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</body>
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</body>
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</body>
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</worldbody>
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<actuator>
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<motor joint="joint0" ctrllimited="true" ctrlrange="-1 1"/>
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<motor joint="joint1" ctrllimited="true" ctrlrange="-1 1"/>
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</actuator>
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</mujoco>
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