Wrong Jacobian matrix calculation for UR5

[lidonghui-ai]

Using pytorch_kinematics to calculate the Jacobian matrix of UR5 robot seems to get the wrong answer.
Is this because that Jacobian calculation assumes frame of child link is the same as the joint frame?
Hope you can help me！
Thanks!

[LemonPi]

Hi @lidonghui-ai , can you provide some sample code and what you expect?