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
32 lines
851 B
XML
32 lines
851 B
XML
<mujoco>
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<default>
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<joint damping=".01" frictionloss=".1"/>
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</default>
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<worldbody>
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<light pos="0 0 1"/>
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<geom type="plane" size="1 1 .01" pos="0 0 -1"/>
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<body pos="0.15 0 0">
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<joint name="hinge" axis="0 1 0"/>
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<geom type="capsule" size="0.02" fromto="0 0 0 .1 0 0"/>
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<body pos="0.1 0 0">
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<joint type="slide" axis="1 0 0" stiffness="200"/>
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<geom type="capsule" size="0.015" fromto="-.1 0 0 .1 0 0"/>
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<body pos=".1 0 0">
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<joint type="ball"/>
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<geom type="box" size=".02" fromto="0 0 0 0 .1 0"/>
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<body pos="0 .1 0">
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<joint axis="1 0 0"/>
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<geom type="capsule" size="0.02" fromto="0 0 0 0 0 .1"/>
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</body>
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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="hinge"/>
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</actuator>
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</mujoco>
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