From f685c305d44b2951bbca71976bff0089fb022db7 Mon Sep 17 00:00:00 2001
From: HiroIshida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 7 Jun 2024 11:08:59 +0900
Subject: [PATCH] com q + 7

---
 src/kinematics.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/kinematics.cpp b/src/kinematics.cpp
index 36bed9f..48a628c 100644
--- a/src/kinematics.cpp
+++ b/src/kinematics.cpp
@@ -259,7 +259,7 @@ Eigen::MatrixXd
 KinematicModel::get_com_jacobian(const std::vector<size_t> &joint_ids,
                                  bool with_base) {
   constexpr size_t jac_rank = 3;
-  const size_t dim_dof = joint_ids.size() + with_base * 6;
+  const size_t dim_dof = joint_ids.size() + with_base * 7;
   Eigen::MatrixXd jac_average = Eigen::MatrixXd::Zero(jac_rank, dim_dof);
   double mass_total = 0.0;
   for (const auto &com_link : com_dummy_links_) {