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robotlearn / raisimpy

Raisimpy: Python wrappers for RaiSim
MIT License
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Jacobian Dimension is wrong in get_dense_linear_jacobian #28

Closed xdaumich closed 4 years ago

xdaumich commented 4 years ago

The get_dense_linear_jacobian in articulated_system.cpp initialize the jacobian with getGeneralizedCoordinateDim(). For floating-based, because of the quaternion, the dimension is 7+N.

I think the Jacobian is respect to the \dot{q}, whose dimension is 6+N from from getDOF

jhwangbo commented 4 years ago

thx for reporting the bug. the fix is pushed