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Wrong Jacobian matrix calculation for UR5 #31

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lidonghui-ai opened this issue Nov 30, 2023 · 1 comment
Open

Wrong Jacobian matrix calculation for UR5 #31

lidonghui-ai opened this issue Nov 30, 2023 · 1 comment

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@lidonghui-ai
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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
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LemonPi commented Aug 28, 2024

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

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@LemonPi @lidonghui-ai