Commit bd37cb24 authored by Carlos Mastalli's avatar Carlos Mastalli
Browse files

[bugfix] Used the right joint index

parent 573dd0b5
......@@ -249,7 +249,7 @@ namespace tsid
const Model::FrameIndex index,
Data::Matrix6x & J) const
{
return se3::getJacobian<se3::WORLD>(m_model, data, index, J);
return se3::getJacobian<se3::WORLD>(m_model, data, m_model.frames[index].parent, J);
}
void RobotWrapper::frameJacobianLocal(const Data & data,
......
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