but I cannot spot anything in there.
robot_dg.createJacobianEndEffWorld('jac_cnt_FL', 'FL_FOOT')
np.array(robot_dg.jac_cnt_FL.value)
array([[ 0.46, 0.25, -0.85, -0.13, 0.12, -0.03, -0.05, -0.05, -0.16,
0. , 0. , 0. , 0. , 0. , 0. , 0. , 0. , 0. ],
[ 0. , 0.96, 0.28, 0.15, -0.06, 0.19, 0.13, 0. , 0. ,
0. , 0. , 0. , 0. , 0. , 0. , 0. , 0. , 0. ],
[ 0.89, -0.13, 0.45, 0.07, -0.19, -0.19, 0.03, -0.12, 0. ,
0. , 0. , 0. , 0. , 0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0.46, 0.25, -0.85, 0.46, 0. , 0. ,
0. , 0. , 0. , 0. , 0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0. , 0.96, 0.28, 0. , 1. , 1. ,
0. , 0. , 0. , 0. , 0. , 0. , 0. , 0. , 0. ],
[ 0. , 0. , 0. , 0.89, -0.13, 0.45, 0.89, 0. , 0. ,
0. , 0. , 0. , 0. , 0. , 0. , 0. , 0. , 0. ]])
endeff_id = robot_pin.model.getFrameId('FL_FOOT')
pin.forwardKinematics(robot_pin.model, robot_pin.data, q, v)
pin.updateFramePlacement(robot_pin.model, robot_pin.data, endeff_id)
pin.computeJointJacobians(robot_pin.model, robot_pin.data, q)
print(pin.getFrameJacobian(robot_pin.model, robot_pin.data, endeff_id, pin.ReferenceFrame.LOCAL))
[[ 0.46 0.25 -0.85 -0.13 0.12 -0.03 -0.05 -0.05 -0.16 0. 0. 0.
0. 0. 0. 0. 0. 0. ]
[ 0. 0.96 0.28 0.15 -0.06 0.19 0.13 -0. -0. 0. 0. 0.
0. 0. 0. 0. 0. 0. ]
[ 0.89 -0.13 0.45 0.07 -0.19 -0.19 0.03 -0.12 0. 0. 0. 0.
0. 0. 0. 0. 0. 0. ]
[ 0. 0. 0. 0.46 0.25 -0.85 0.46 0. 0. 0. 0. 0.
0. 0. 0. 0. 0. 0. ]
[ 0. 0. 0. 0. 0.96 0.28 0. 1. 1. 0. 0. 0.
0. 0. 0. 0. 0. 0. ]
[ 0. 0. 0. 0.89 -0.13 0.45 0.89 0. 0. 0. 0. 0.
0. 0. 0. 0. 0. 0. ]]
print(pin.getFrameJacobian(robot_pin.model, robot_pin.data, endeff_id, pin.ReferenceFrame.LOCAL_WORLD_ALIGNED))
[[ 1. 0. 0. 0. -0.11 -0.18 0. -0.13 -0.07 0. 0. 0.
0. 0. 0. 0. 0. 0. ]
[ 0. 1. 0. 0.11 0. 0.2 0.11 0. -0.04 0. 0. 0.
0. 0. 0. 0. 0. 0. ]
[ 0. 0. 1. 0.18 -0.2 0. 0.09 -0.01 0.14 0. 0. 0.
0. 0. 0. 0. 0. 0. ]
[ 0. 0. 0. 1. 0. 0. 1. 0. 0. 0. 0. 0.
0. 0. 0. 0. 0. 0. ]
[ 0. 0. 0. 0. 1. 0. 0. 0.96 0.96 0. 0. 0.
0. 0. 0. 0. 0. 0. ]
[ 0. 0. 0. 0. 0. 1. 0. 0.28 0.28 0. 0. 0.
0. 0. 0. 0. 0. 0. ]]