The problem of Jacobian matrix w.r.t world frame with free type joints

[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

I want to calculate the Jacobian matrix of a site position relative to the world coordinate system, but I think there is a problem with the result. I use pinocchio to perform the same calculation, but the results are not the same.

The first three lines are inconsistent, and the last three lines are consistent，why？

In mujoco

mujoco.mj_jacSite(m, d, Flange_site_jacp, Flange_site_jacr, Flange_site_id)
Flange_site_jacobian = np.vstack((Flange_site_jacp, Flange_site_jacr))  # vstack函数将多个数组沿垂直（行）方向堆叠的函数
print("带有floating joint的Flange_site处的雅可比矩阵（相对于world）: \n", Flange_site_jacobian)

In pinocchio

Flange_Jaco = pin.computeFrameJacobian(model, data, q, Flange_Id, pin.WORLD)
print("Flange_Jaco \n", Flange_Jaco)

@yuvaltassa
thanks

Minimal model and/or code that explain my question

No response

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]

This is not reproducible. Please make a simple, minimal model so that the model and your code together constitute a Minimal Reproducing Example.

[LHTLiu]

this is reproducible after changing some files paths.

Test_MM_FK_Jacobian.zip

thanks @yuvaltassa