Fix regression in DynamicPinocchio::computeGenericEndeffJacobian

src/sot-dynamic-pinocchio.cpp

@@ -713,8 +713,16 @@ dg::Matrix& DynamicPinocchio::computeGenericEndeffJacobian(const bool isFrame, c
     jid = frame.parent;
 
     M = frame.placement.inverse();
-    if (!isLocal)  // Express the jacobian is world coordinate system.
-      M.rotation() = m_data->oMf[fid].rotation() * M.rotation();
+
+    if (!isLocal)  {// Express the jacobian is world coordinate system.
+      // Need to compute frame placement for oMf.
+      pinocchio::updateFramePlacement(*m_model, *m_data, fid);
+
+      pinocchio::SE3 T;
+      T.rotation() = m_data->oMf[fid].rotation();
+      T.translation().setZero();
+      M = T * M;
+    }
   } else {
     jid = (pinocchio::JointIndex)id;
     if (!isLocal) {  // Express the jacobian is world coordinate system.