Fixes Jacobian joint indices for floating base articulations #1033
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lorenwel
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Dhoeller19,
kellyguo11 and
Mayankm96
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Mayankm96
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Sep 24, 2024
Mayankm96
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Thanks a lot for the fix! :) |
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iamdrfly
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Nov 21, 2024
…im#1033) # Description Adds `6` to the joint indices when indexing the Jacobian tensor in floating base systems. This is required because, in floating base articulations, the first 6 elements of the last dimensions are w.r.t to the root pose, not the joints. Fixes isaac-sim#1032 ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
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Description
Adds
6to the joint indices when indexing the jacobian tensor in floating base systems.This is required because for floating bases, the first 6 elements of the last dimensions are w.r.t to the root pose, not the joints.
Fixes #1032
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there