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wkentaro/get_jacobian_panda.py

Created February 14, 2020 19:34
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get_jacobian_panda.py
#!/usr/bin/env python
import skrobot
panda = skrobot.models.Panda()
viewer = skrobot.viewers.TrimeshSceneViewer()
viewer.add(panda)
viewer.show()
jacobian = panda.rarm.calc_jacobian_from_link_list(panda.rarm.end_coords)
print(jacobian)
print(jacobian.shape)
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wkentaro commented Feb 14, 2020 •
edited
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[[ 4.4794700e-08  3.6671513e-01 -1.1814101e-02 -1.1712865e-01
  -3.4258461e-03  1.0696432e-01 -3.5475110e-17]
 [-2.0000038e-01 -1.4464229e-02 -4.1491583e-01  8.5819177e-03
  -1.3262923e-01 -2.7629153e-03 -1.9057560e-17]
 [-1.4177047e-09  1.9984494e-01 -6.4382618e-03 -4.1036728e-01
  -2.6454533e-17 -8.8000000e-02 -4.1774487e-33]]
(3, 7)

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