Free joint input problem

[LHTLiu]

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

for free joint
joint_angles = [trans[0], trans[1], trans[2], quat.w, quat.x, quat.y, quat.z,......]
Regarding the freee joint, is the order of the last four input parameters quat.w, quat.x, quat.y, quat.z correct?

For pinocchio, this sequence is reversed (quat.x, quat.y, quat.z, quat.w), right?

Minimal model and/or code that explain my question

Thanks
@YUVA

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[yuvaltassa]

Regarding the freee joint, is the order of the last four input parameters quat.w, quat.x, quat.y, quat.z correct?

Yes

For pinocchio, this sequence is reversed (quat.x, quat.y, quat.z, quat.w), right?

I don't know, read their docs I guess.

[LHTLiu]

Thanks