- changed status to resolved
J_omega not computed correctly
Issue #126
resolved
This only applies to the new dynamics engine (not tao).
J_omega always contains only 0s and 1s, which does not make sense (J_omega's columns are the axes of rotation expressed in the ground frame).
Run the pr2 example and cout J_omega for the end-effector.
Add this code after line 238 in CTaskOpPos.cpp std::cout << data_->J_6_.block(3,0,3,data_->robot_->dof_) << std::endl;
Thanks for having a look!
Comments (1)
-
repo owner - Log in to comment
Fixed as of 71f02d1f37ab7d2b088fc43ec8a3dbd54443cf40