Why are the calculation results of mj jac and mj jac Site inconsistent? #2051
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Sorry, I don't understand where the inconsistency is? Here is the implementation of mj_jacSite, it is literally one line: // compute site Jacobian
void mj_jacSite(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int site) {
mj_jac(m, d, jacp, jacr, d->site_xpos + 3*site, m->site_bodyid[site]);
} |
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Please make a minimal model and code that can reproduce the issue, and maybe we'll be able to help. |
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Intro
Hi!
I am a student, I use MuJoCo for computing Jacobian matrix with mj_jac and mj_jacSite.
My setup
Apple M1 Pro macOS Sonoma 14.6.1
PyCharm 2023.3.5 (Community Edition)
mujoco 3.2.2
My question
I want to calculate the jacobian matrix of Flange relative to the world coordinate system. Why are the results calculated by mj_jac and mj_jacSite inconsistent?
@yuvaltassa Thanks
Minimal model and/or code that explain my question
If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).
Model:
minimal XML
Code:
Confirmations
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