[Bug Report] mujoco_utils.get_joint_qvel() returning shifted values.
Closed this issue · 1 comments
FabioRaff commented
Hi, I think I found a small bug in the mujoco_utils.get_joint_qvel() function.
In line 202:
joint_addr = model.jnt_qposadr[joint_id]
the joint address is taken from jnt_qposadr but I think it should be jnt_dofadr like in mujoco_utils.set_joint_qvel().
This becomes a problem when qvel array has different size than qpos (e.g. when using constraints) as the function returns shifted values.
rodrigodelazcano commented
Hey @FabioRaff thank you for finding this. I'll fix this for the next release.