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While debugging an internal development inside Crocoddyl, I noticed that the Jacobians of the different operators in a double pendulum with continuous joints are always identity matrices. Do you think this makes sense? I understand that these Jacobians are identity matrices for double pendulums with revolute or prismatic joints.
Below, I share a code that reproduces this. Just in case, there is a bug:
importnumpyasnpimportpinocchioimportexample_robot_data# Load a double pendulum with both continuous jointspendulum=example_robot_data.load("double_pendulum_continuous")
nq, nv=pendulum.model.nq, pendulum.model.nvassert (nq!=nv)
# Generate random configurations for computing Jacobiansq0=np.random.random(nq)
q1=np.random.random(nq)
J0, J1=pinocchio.dDifference(pendulum.model, q0, q1)
print(J0, J1) # These are identity matrices, which I don't expect to get with random numbers
The text was updated successfully, but these errors were encountered:
Dear all,
While debugging an internal development inside Crocoddyl, I noticed that the Jacobians of the different operators in a double pendulum with continuous joints are always identity matrices. Do you think this makes sense? I understand that these Jacobians are identity matrices for double pendulums with revolute or prismatic joints.
Below, I share a code that reproduces this. Just in case, there is a bug:
The text was updated successfully, but these errors were encountered: