p and r suffix

Discussion in 'Priority support' started by OkayHuman, Jan 15, 2019.

  1. Emo Todorov

    Emo Todorov Administrator Staff Member

    jacp is 3-by-nv position jacobian.
    jacr is 3-by-nv rotation jacobian.
    xvelp = jacp * qvel is translation velocity in 3D Cartesian coordinates.

    Note that mujoco_py is developed by OpenAI and I am not supporting it because I know very little about it. So I can only tell you what the underlying mj_XXX() functions do.
    OkayHuman likes this.