There is no documentation for order of generalized (angular part + linear part) variables.

[jslee02]

There are some variables consist of angular part and linear part in one variable such as Jacobian, velocity, and acceleration. Generalized velocity, for example, is 6-dim vector. The first 3 segments is for angular velocity and last 3 segments is for linear velocity.

This should be documented well in the code.

[jslee02]

Planned to provide accessors for linear and angular terms separately.