Is your feature request related to a problem? Please describe.
I hope to obtain the Jacobian matrix in the velocity constraint, but after using the following loop output code, although the manipulator is in motion, its output remains unchanged. I want to know why.
auto& model = pinocchioInterfacePtr_->getModel();
auto& data = pinocchioInterfacePtr_->getData();
auto id = model.getBodyId("panda_hand");
ocs2::vector_t q; // pinocchio joint positions
ocs2::matrix_t J1 = ocs2::matrix_t::Zero(6,model.nq);
ocs2::matrix_t J2 = ocs2::matrix_t::Zero(6,model.nq);
//pinocchio::forwardKinematics(model, data, q);
pinocchio::updateFramePlacements(model, data);
pinocchio::computeJointJacobians(model, data);
const ocs2::vector_t posa = data.oMf[id].translation();
//id = id +2;
pinocchio::getFrameJacobian(model,data,id,pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED,J1);
pinocchio::getJointJacobian(model,data,id,pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED,J2);
std::cout<<"Hello!I AM pos！"<<std::endl;
std::cout<<posa<<std::endl;
std::cout<<"Hello!I AM jacobian 1！"<<std::endl;
std::cout<<J1<<std::endl;
std::cout<<"Hello!I AM jacobian 2！"<<std::endl;
std::cout<<J2<<std::endl;
Another question, I want to use this code to get the manipulator's end effector velocity
Is your feature request related to a problem? Please describe. I hope to obtain the Jacobian matrix in the velocity constraint, but after using the following loop output code, although the manipulator is in motion, its output remains unchanged. I want to know why.
Another question, I want to use this code to get the manipulator's end effector velocity
however, it always gives me zero, but the manipulator is moving!