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

asked 2019-06-03 20:50:48 -0500

longjie0723 gravatar image

updated 2019-06-13 18:54:40 -0500

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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answered 2019-06-21 21:05:30 -0500

longjie0723 gravatar image

Now we have get_jacobian_matrix function in Python. https://github.com/ros-planning/movei...

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Congratulations

jayess gravatar imagejayess ( 2019-06-22 11:18:33 -0500 )edit

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Asked: 2019-06-03 20:50:48 -0500

Seen: 515 times

Last updated: Jun 21