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Is there way to get Jacobian (or manipulability) in python with MoveIt?

asked 2019-06-03 20:50:48 -0600

longjie0723
56 ●3 ●5 ●9

updated 2019-06-13 18:54:40 -0600

I'm using compute_ik service in Python, but I wonder if I can get Jacobian matrix (actually I want manipulability). I want to check if the IK solution is healthy with the specified pose. I know I can do it in C++, but I'd be happy if I can quickly check it in Python. Thanks.

Edit: We are currently working on the pull requset.

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