Why animation gets stuck while using mj_jac?

[Rukendu]

I was using API with C to control a biped. It is a double pendulum with a sphere attached at the end and it has a torso. I wanted to find the jacobian of foot(sphere) wrt hip. But everytime the animation gets stuck while i hit the code. What could be the issue?

The control code is something like :
double jacp[6]={0};
double point[3]={d->sensordata[0]-d->sensordata[3],d->sensordata[1]-d->sensordata[4],d->sensordata[2]-d->sensordata[5]};
int body = 3;
mj_jac(m,d,jacp,NULL,point,body);

[yuvaltassa]

We can't help you without being able to reproduce the issue. Here's the implementation, since you know C perhaps just build from source and track down the issue yourself?

[Rukendu]

I think I have messed up with the dimension of jacp[]. Anyway, thanks for sharing the links.