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UM-ARM-Lab / pytorch_kinematics

Robot kinematics implemented in pytorch
MIT License
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What jacobian is computed exactly? #34

Closed JonathanKuelz closed 1 month ago

JonathanKuelz commented 7 months ago

Hey, I have short question regarding the Jacobian matrix: Looking through the code, I am still not entirely sure which Jacobian exactly is computed.

In the second last line of the implementation the jacobian is "converted" to the world frame. The code before looks like a geometric derivation of this Jacobian. Am I correct assuming the result is the geometric Jacobian, expressed in the world frame?

Thanks in advance!

powertj commented 7 months ago

Yes, the jacobian calculated is the geometric jacobian in the world frame.