fix analytic jacob
@@ -1164,8 +1164,8 @@ class ETS(BaseETS):
T = self.eval(q, tool=tool)
J = self.jacob0(q, tool=tool)
-
- A = rotvelxform(t2r(T), inverse=True, representation=analytic)
+ if analytic is not None:
+ A = rotvelxform(t2r(T), full=True, inverse=True, representation=analytic)
J = A @ J
return J
