I’m trying to repeat the example franka_osc.py on another arm unitree-z1, but the jacobian i get using “gym.acquire_jacobian_tensor” is very strange. It’s shape is (num_env, 7 ,6, 12). However, it’s supposed to be (num_env, num_link, 6, num_dof) and the num_dof of unitree-z1 is 6. So, I’m really confused since i also don’t understand how Isaac Gym acquire this jacobian.
Does anyone meet similar problems before or understand why this happpen.
The urdf link of the arm unitree-z1 is: https://github.com/unitreerobotics/unitree_ros/tree/master/robots/z1_description.
Best Regards
Peter