First thanks for this great library!
It seems mujoco already offers a mj_jacSite function to compute Jacobian in an analytic manner. Do we still to perturb each joint and manually calculate it every time when we solve? Also how should we calculate the Jacobian if the joint type is spherical joint?
First thanks for this great library!
It seems mujoco already offers a
mj_jacSitefunction to compute Jacobian in an analytic manner. Do we still to perturb each joint and manually calculate it every time when we solve? Also how should we calculate the Jacobian if the joint type is spherical joint?