I am trying to use xbot_interface in Python to compute kinematic quantities on Centauro.
J_wheel_1 = model.getJacobian('wheel_1') returns a 6x48 array as expected.
However, J_wheel_1_rel = model.getRelativeJacobian('wheel_1', 'ankle1_2') returns also a 6x48. Shouldn't the relative Jacobian have size 6xn, where n is the number of joints between the two links (in this case n=1)?
Hi @alaurenzi @liesrock,
I am trying to use
xbot_interfacein Python to compute kinematic quantities on Centauro.J_wheel_1 = model.getJacobian('wheel_1')returns a 6x48 array as expected.However,
J_wheel_1_rel = model.getRelativeJacobian('wheel_1', 'ankle1_2')returns also a 6x48. Shouldn't the relative Jacobian have size 6xn, where n is the number of joints between the two links (in this case n=1)?