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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