Fixed a bug in Jacobian computation with pyroki#7
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sh8 wants to merge 1 commit intoarmlabstanford:mainfrom
Open
Fixed a bug in Jacobian computation with pyroki#7sh8 wants to merge 1 commit intoarmlabstanford:mainfrom
sh8 wants to merge 1 commit intoarmlabstanford:mainfrom
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Hi! Thank you so much for the great work. The Pyroki integration script currently computes the analytic Jacobian instead of the geometric one, which causes a bug in orientation tracking. Could you merge this PR when you get a chance? Thanks!