For what I was doing before I was able to use ObjectVel function instead... but now I am back to needing the jacobian. Preferably analytically...
As always thanks a lot! Ya I have basically recreated everything you had in the synthesis and stabilization paper as well as the boxqp variant...
Thanks for all of your prompt replies it has certainly helped. The way I interpreted your response was that it is fine to just run FD just like...
I have a model with a multibar linkage and when I calculate the jacobian for one of the feet the matrix I get back seems to be incorrect. Namely...
In the derivative.cpp example it first computes derivative w.r.t force, then velocity, and finally qpos. Care was taken to make sure quaternions...
I am attempting to code iLQG in mujoco for a model that contains a couple equality constraints. My state x is a subset of the mujoco state qpos...
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