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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 4 months ago

JonathanKuelz commented 10 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 10 months ago

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