mj_jac function

Discussion in 'Simulation' started by Jongwoo Lee, Mar 24, 2018.

  1. Code:
    void mj_jac(const mjModel* m,const mjData* d, mjtNum* jacp, mjtNum* jacr,const mjtNum point[3],int body);
    Hi all,

    The mj_jac has input arguments as above but I don't fully understand what 'int body' is for. Does it mean that this function considers the 'point' is with respect to the 'body' coordinate frame?

    Thank you!
  2. It is given a 3D point and a MuJoCo body to which this point is considered to be attached.

    - documentation

    does it consider the 3D point with body coordinates or world coordinates? I assume body coordinates.
    Last edited: Mar 26, 2018
  3. Emo Todorov

    Emo Todorov Administrator Staff Member

    The 3D point is in world coordinates.
  4. Great, thank you so much!!