The problem of Jacobian matrix w.r.t world frame with free type joints #2056
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LHTLiu
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This is not reproducible. Please make a simple, minimal model so that the model and your code together constitute a Minimal Reproducing Example. |
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Intro
I am a student, I use MuJoCo for computing Jacobian matrix with free joint
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 a site position relative to the world coordinate system, but I think there is a problem with the result. I use
pinocchio
to perform the same calculation, but the results are not the same.The first three lines are inconsistent, and the last three lines are consistent,why?
In mujoco
In pinocchio
@yuvaltassa
thanks
Minimal model and/or code that explain my question
No response
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