Wrong Jacobian matrix calculation for UR5

UM-ARM-Lab / pytorch_kinematics

Robot kinematics implemented in pytorch

MIT License

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Wrong Jacobian matrix calculation for UR5 #31

Open lidonghui-ai opened 12 months ago

lidonghui-ai commented 12 months ago

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 commented 3 months ago

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