Suggestion on Diffik_nullspace

[101Priyansh]

Hey,

Amazing work!

I am trying to integrate the same with Xarm in my environment. I am facing an issue with the mj_integratePose line in the "diffik_nullspcae.py". My data.nv is of size 20 and data.nq is 19, out of which I just need only the first 7 joints. I am able to calculate the jacobian but while running the integratepose function, there is a size mismatch(as the arguments takes "model", q,qdot,dt).
Can you please suggest what can be done to avoid this?

Thanks!